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    Steady State Errors

    Uploaded by

    Chetan Kotwal
    This document discusses steady state errors in control systems. It defines steady state error as the difference between the input and output signals as time approaches infinity. It presents three key concepts: 1) The type of a system, defined by the number of integrators, determines which types of input signals it can track with zero steady state error. A system needs one integrator to track steps, two for ramps, and three for parabolas. 2) Static error constants - the position (Kp), velocity (Kv), and acceleration (Ka) constants - determine the steady state error for step, ramp, and parabolic inputs, respectively. 3) Nonunity feedback systems can be analyzed by transforming them

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    © All Rights Reserved
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    Steady State Errors

    Uploaded by

    Chetan Kotwal
    93 views13 pages
    This document discusses steady state errors in control systems. It defines steady state error as the difference between the input and output signals as time approaches infinity. It presents three key concepts: 1) The type of a system, defined by the number of integrators, determines which types of input signals it can track with zero steady state error. A system needs one integrator to track steps, two for ramps, and three for parabolas. 2) Static error constants - the position (Kp), velocity (Kv), and acceleration (Ka) constants - determine the steady state error for step, ramp, and parabolic inputs, respectively. 3) Nonunity feedback systems can be analyzed by transforming them

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    This document discusses steady state errors in control systems. It defines steady state error as the difference between the input and output signals as time approaches infinity. It presents three key concepts: 1) The type of a system, defined by the number of integrators, determines which types of input signals it can track with zero steady state error. A system needs one integrator to track steps, two for ramps, and three for parabolas. 2) Static error constants - the position (Kp), velocity (Kv), and acceleration (Ka) constants - determine the steady state error for step, ramp, and parabolic inputs, respectively. 3) Nonunity feedback systems can be analyzed by transforming them

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    93 views13 pages

    Steady State Errors

    Uploaded by

    Chetan Kotwal
    This document discusses steady state errors in control systems. It defines steady state error as the difference between the input and output signals as time approaches infinity. It presents three key concepts: 1) The type of a system, defined by the number of integrators, determines which types of input signals it can track with zero steady state error. A system needs one integrator to track steps, two for ramps, and three for parabolas. 2) Static error constants - the position (Kp), velocity (Kv), and acceleration (Ka) constants - determine the steady state error for step, ramp, and parabolic inputs, respectively. 3) Nonunity feedback systems can be analyzed by transforming them

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    Steady State Errors ELEC304-Alper Erdogan

    11

    Lecture 1
    Steady State Errors
    We define the error as the difference between the
    input and output:

    For unity feedback systems error is the input of the


    feedforward block:

    And the steady state error


    e() = lim sE(s)
    s0

    (1)

    Steady State Errors ELEC304-Alper Erdogan

    12

    Steady State Error in Terms of T (s)

    Error can be written as


    E(s) = R(s) C(s)
    Here
    C(s) = R(s)T (s)
    and therefore
    E(s) = R(s) R(s)T (s) = R(s)(1 T (s))
    As a result, the steady state error
    e() = lim sR(s)(1 T (s))
    s0

    Example: For T (s) =


    R(s) = 1s

    s2 +7s+10

    and unit step input

    1
    s2 + 7s + 5
    E(s) = (1 T (s)) =
    s
    s(s2 + 7s + 10)

    Steady State Errors ELEC304-Alper Erdogan

    and the steady state error


    s2 + 7s + 5
    1
    e() = lim sE(s) = lim 2
    =
    s0
    s0 s + 7s + 10
    2
    How about the steady state error for the ramp
    input (R(s) = s12 )?
    1
    s2 + 7s + 5
    E(s) = 2 (1 T (s)) = 2 2
    s
    s (s + 7s + 10)
    and the steady state error
    s2 + 7s + 5
    e() = lim sE(s) = lim
    =
    s0
    s0 s(s2 + 7s + 10)

    13

    Steady State Errors ELEC304-Alper Erdogan

    14

    Steady State Error in Terms of G(s)

    Note that
    E(s) = R(s) C(s)
    and
    C(s) = E(s)G(s)
    which yield
    E(s) =

    R(s)
    1 + G(s)

    Therefore the steady state error


    sR(s)
    e() = lim sE(s) = lim
    s0
    s0 1 + G(s)
    For a step input R(s) =

    1
    s

    s 1s
    1
    e() = lim
    =
    s0 1 + G(s)
    1 + lims0 G(s)

    Steady State Errors ELEC304-Alper Erdogan

    15

    To have zero steady state error


    lim G(s) =

    s0

    which implies G(s) must take the form


    (s + z1)(s + z2)...
    G(s) = n
    n1
    s (s + p1)(s + p2)...
    i.e. at least one pure integrator!
    For a ramp input R(s) =

    1
    s2

    1
    s s12
    =
    e() = lim
    s0 1 + G(s)
    lims0 sG(s)
    To have zero steady state error
    lim sG(s) =

    s0

    which implies G(s) must take the form


    (s + z1)(s + z2)...
    n2
    G(s) = n
    s (s + p1)(s + p2)...
    i.e. at least two pure integrators!
    For a parabolic input R(s) =

    1
    s3

    s s13
    1
    e() = lim
    =
    s0 1 + G(s)
    lims0 s2G(s)
    To have zero steady state error
    lim s2G(s) =

    s0

    Steady State Errors ELEC304-Alper Erdogan

    16

    which implies G(s) must take the form


    G(s) =

    (s + z1)(s + z2)...
    sn(s + p1)(s + p2)...

    i.e. at least three pure integrators!

    n3

    Steady State Errors ELEC304-Alper Erdogan

    17

    Examples
    Consider the System (with no integrator) in the
    following figure

    The steady state error for r(t) = 5u(t) (R(s) = 5s )


    s 5s
    5
    5
    5
    e() = lim
    =
    =
    =
    s0 1 + G(s)
    1 + lims0 G(s) 1 + 20 21
    The steady state error for r(t) = 5tu(t) (R(s) =
    s s52
    5
    e() = lim
    =
    =
    s0 1 + G(s)
    lims0 sG(s)

    5
    )
    s2

    Steady State Errors ELEC304-Alper Erdogan

    18

    Examples
    Consider the System (with one integrator) in the
    following figure

    The steady state error for r(t) = 5u(t) (R(s) = 5s )


    s 5s
    5
    5
    e() = lim
    =
    =
    =0
    s0 1 + G(s)
    1 + lims0 G(s)
    The steady state error for r(t) = 5tu(t) (R(s) =

    5
    )
    s2

    5
    5
    1
    s s52
    =
    =
    =
    e() = lim
    s0 1 + G(s)
    lims0 sG(s) 100 20
    The steady state error for r(t) = 5t2u(t) (R(s) =

    10
    )
    s3

    s 10
    10
    10
    s3
    e() = lim
    =
    =
    =
    2
    s0 1 + G(s)
    lims0 s G(s)
    0

    Steady State Errors ELEC304-Alper Erdogan

    19

    Type of the System


    The type of the system (the number of integrators in
    the open loop system) determines which type of
    signals we can track:

    Here n is the type of the system.


    If n = 0,
    It can track unit step with a nonzero error
    1
    1
    e() =
    =
    1 + lim G(s) 1 + Kp
    s0 {z
    Kp

    where Kp is the position constant.


    It can not track ramp or parabolic inputs.
    If n = 1,
    It can track unit step with a zero error.
    It can track ramp with a nonzero error.
    1
    1
    e() =
    =
    lim sG(s) Kv
    s0
    |

    {z

    Kv

    Steady State Errors ELEC304-Alper Erdogan

    1 10

    where Kv is the velocity constant.


    It can not track parabolic inputs.
    If n = 2,
    It can track unit step and ramp input with zero
    errors.
    It can track parabolic input with a nonzero error.
    1
    1
    =
    e() =
    lim s2G(s) Ka
    s0

    {z

    Ka

    where Ka is the acceleration constant.

    Steady State Errors ELEC304-Alper Erdogan

    1 11

    Steady State Errors: Static Error


    Constants
    Position constant
    (1)

    Kp = lim G(s)
    s0

    Steady state error for unit step input is e() =

    1
    1+Kp .

    Velocity constant
    Kv = lim sG(s)

    (2)

    s0

    Steady state error for a ramp input is e() =

    1
    KV .

    Acceleration constant
    Ka = lim s2G(s)
    s0

    Steady state error for a parabolic input is e() =

    (3)
    1
    Ka .

    Steady State Errors ELEC304-Alper Erdogan

    1 12

    Example
    Given the control system

    find K such that there is a 10 percent error in steady


    state?
    Solution: Since system type is 1 the finite steady
    state error should be for a ramp input.
    e() =
    So

    1
    = 0.1
    Kv

    5K
    Kv = 10 = lim sG(s) =
    s0
    678
    we obtain K = 672

    Steady State Errors ELEC304-Alper Erdogan

    How About Nonunity Feedback


    Systems
    Easy! Use the following transformation:

    1 13

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