Steady State Error

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.
Example # 2 Case -1
10
Example # 2 Case -2
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Example # 2 Case -3
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We define system type to be the value of n in the denominator, namely,

the number of pure integrations in the forward path.
13
Example # 3
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Example # 4 Gain Design to Meet a Steady-State Error Specification
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Steady-State Error for Nonunity Feedback Systems
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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
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
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Summary (Steady-State Errors)-Unity Feedback System
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Steady State Error

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Steady-State Errors

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

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

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

System type and Steady-State Error Definition

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

𝑒 𝑡 = ∞ = 𝑒𝑠𝑠 = lim𝑠→0 𝑠𝐸(𝑠)

Note: 𝐺(𝑠) is called the forward-path

Note: 𝐺(𝑠) is called the forward-path

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

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