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Steady State Error

The document discusses steady-state errors in control systems. It introduces different types of steady-state errors that can occur due to the system's inability to follow certain input types, like ramp inputs. The standard test input signals of step, ramp, and parabolic inputs are examined. The steady-state error of a unity feedback system is determined for these three inputs. System type is defined based on the number of integrations in the open-loop transfer function, and how this impacts steady-state accuracy and stability. Examples are provided to illustrate steady-state error calculations and how to design gains to meet error specifications. The analysis is extended to non-unity feedback systems by transforming them into an equivalent unity feedback system.

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Hassan El Sayed
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142 views20 pages

Steady State Error

The document discusses steady-state errors in control systems. It introduces different types of steady-state errors that can occur due to the system's inability to follow certain input types, like ramp inputs. The standard test input signals of step, ramp, and parabolic inputs are examined. The steady-state error of a unity feedback system is determined for these three inputs. System type is defined based on the number of integrations in the open-loop transfer function, and how this impacts steady-state accuracy and stability. Examples are provided to illustrate steady-state error calculations and how to design gains to meet error specifications. The analysis is extended to non-unity feedback systems by transforming them into an equivalent unity feedback system.

Uploaded by

Hassan El Sayed
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Steady-State Errors

Introduction
o A type of steady-state error that is caused by the incapability of a
system to follow particular types of inputs shall be investigated. Any
physical control system inherently suffers steady-state error in
response to certain types of inputs. A system may have no steady-
state error to a step input, but the same system may exhibit nonzero
steady-state error to a ramp input. (The only way we may be able to
eliminate this error is to modify the system structure.) Whether a
given system will exhibit steady-state error for a given type of input
depends on the type of open-loop transfer function of the system.

o Control systems may be classified according to their ability to follow


step inputs, ramp inputs, parabolic inputs, and so on. This is a
reasonable classification scheme, because actual inputs may
frequently be considered combinations of such inputs. The
magnitudes of the steady-state errors due to these individual inputs
are indicative of the goodness of the system.

2
Standard Test Input Signals
The standard test input signals commonly used are the step input, the
ramp input, and the parabolic input.

3
Steady-State Error
 One of the fundamental reasons for using feedback, despite its cost
and increased complexity, is the attendant improvement in the
reduction of the steady-state error of the system.

 It is useful to determine the steady-state error of the system for the


three standard test inputs for the unity feedback system.

 Later in this section we will consider steady-state tracking errors for


non-unity feedback systems.

System type and Steady-State Error Definition


Consider the unity-feedback control system with the following open-loop
transfer function G(s):

4
System type and Steady-State Error Definition
 A system is called type 0, type 1, type 2,p , if N = 0, N = 1, N =
2, …, respectively. Note that this classification is different from
that of the order of a system. As the type number is increased,
accuracy is improved; however, increasing the type number
aggravates the stability problem. A compromise between steady-
state accuracy and relative stability is always necessary

Steady-State Error In terms of T.F. (T(s))


Example # 1

1 5
𝐸 𝑠 = 𝑅 𝑠 1 − 𝑇(𝑠) = 1− 2
𝑠 𝑠 + 7𝑠 + 10

𝑒 𝑡 = ∞ = 𝑒𝑠𝑠 = lim𝑠→0 𝑠𝐸(𝑠)

6
Steady-State Error In terms of G(s)

Note: 𝐺(𝑠) is called the forward-path


transfer function, which is different from
the closed-loop transfer function
Steady-State Error In terms of G(s)

Note: 𝐺(𝑠) is called the forward-path


transfer function, which is different from
the closed-loop transfer function
Static Error Constants and System Type
Steady-state error performance specifications are called static error
constants.

In what follows, we shall call the output “position,” the rate of change of the
output “velocity,” and so on. This means that in a temperature control system
“position” represents the output temperature, “velocity” represents the rate of
change of the output temperature, and so on.
Static Error Constants and System Type
Example # 2 Case -1

10
Static Error Constants and System Type
Example # 2 Case -2

11
Static Error Constants and System Type

Example # 2 Case -3

12
Static Error Constants and System Type

We define system type to be the value of n in the denominator, namely,


the number of pure integrations in the forward path.

13
Static Error Constants and System Type
Example # 3

14
Static Error Constants and System Type
Example # 4 Gain Design to Meet a Steady-State Error Specification

15
Steady-State Error for Nonunity Feedback Systems

16
Steady-State Error for Nonunity Feedback Systems
Conclusion

𝑍(𝑠)

We can transform the nonunity feedback system (left hand side figure)
into a unity feedback system whose forward path transfer function is:

𝐺 𝑠
𝑍 𝑠 =
1 + 𝐺 𝑠 𝐻 (𝑠) − 𝐺(𝑠)

17
Steady-State Error for Nonunity Feedback Systems
Example # 5

𝐺 𝑠
𝑍 𝑠 =
1 + 𝐺 𝑠 𝐻 (𝑠) − 𝐺(𝑠)

100 1
𝐺 𝑠 = 𝐻 𝑠 =
𝑠(𝑠 + 10) 𝑠+5

100
𝑠(𝑠 + 10)
𝑍 𝑠 =
100 100
1+ −
𝑠(𝑠 + 5)(𝑠 + 100) 𝑠(𝑠 + 10)

100(𝑠 + 5)
= 3
𝑠 + 15𝑠 2 + 50𝑠 − 100𝑠 − 400

18
Steady-State Error for Nonunity Feedback Systems

19
Summary (Steady-State Errors)-Unity Feedback System

20

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