Steady-State Analysis

DNT 354 - CONTROL PRINCIPLE

CONTENTS

Introduction
Steady-State Error for Unity Feedback System

Static Error Constants and System Type

Steady-State Error for Non-Unity Feedback

Systems
INTRODUCTION
Steady-state error, ess: The difference between the input and
the output for a prescribed test input as time, t approaches .

Step Input
INTRODUCTION
Steady-state error, ess: The difference between the input and
the output for a prescribed test input as time, t approaches .

Ramp Input
TEST INPUTS
Test Inputs: Used for steady-state error analysis and design.
Step Input:
Represent a constant position.
Useful in determining the ability of the control system to position itself
with respect to a stationary target.
Ramp Input:
Represent constant velocity input to a position control system by their
linearly increasing amplitude.
Parabolic Input:
Represent constant acceleration inputs to position control.
Used to represent accelerating targets.
TEST INPUTS
UNITY FEEDBACK SYSTEMS
To determine the steady-state error, we apply the Final Value
Theorem:
f () lim sF ( s)
s0

The following system has an open-loop gain, G(s) and a unity

feedback since H(s) is 1. Thus to find E(s),
E ( s) R( s) C ( s) (1)

C ( s) R( s)G ( s) (2)

Substituting the (2) into (1) yields,

R( s)
E (s)
1 G (s)
UNITY FEEDBACK SYSTEMS
By applying the Final Value Theorem, we have:

e() lim sE ( s)
s 0

sR ( s)
lim
s 0 1 G ( s )

This allows the steady-state error to be determined for a given

test input, R(s) and the transfer function, G(s) of the system.
UNITY FEEDBACK SYSTEMS
For a unit step input: s(1 / s)
estep () lim
s 0 1 G ( s )

1

1 lim G ( s)
s 0

The term:
lim G ( s )
s 0

The dc gain of the forward transfer function, as the frequency

variable, s approaches zero.
To have zero steady-state error,
lim G ( s)
s 0
UNITY FEEDBACK SYSTEMS
For a unit ramp input: s (1 / s 2 )
eramp () lim
s 0 1 G ( s )

1

s lim sG ( s )
s 0

1

lim sG ( s )
s 0

To have zero steady-state error,

lim sG ( s )
s 0

If there are no integration in the forward path:

lim sG ( s) 0
s 0

Then, the steady state error will be infinite.

UNITY FEEDBACK SYSTEMS
For a unit parabolic input: s(1 / s 3 )
e parabola() lim
s 0 1 G ( s )

1
2
s lim s 2G ( s)
s 0

1

lim s 2G ( s)
s 0

To have zero steady-state error,

lim s 2G(s)
s 0

If there are one or no integration in the forward path:

lim s 2G(s) 0
s 0

Then, the steady state error will be infinite.

UNITY FEEDBACK SYSTEMS
Example: Find the steady-state errors for inputs of 5u(t), 5tu(t), and
5t2u(t).

5 5 5
estep () eramp ()
1 lim G( s) 21 lim sG ( s)
s 0 s 0

5
eramp () 2

lim s G( s)
s 0
SYSTEM TYPE
System Type: The value of n in the denominator or, the number
of pure integrations in the forward path.

Therefore,
i. If n = 0, system is Type 0
ii. If n = 1, system is Type 1
iii. If n = 2, system is Type 2
SYSTEM TYPE
Example:
K s 2
Gs
i. Type 0
s 1s 3
K 0.5s 1
Gs
ii.
Type 1

ss 12s 1 s 2 s 1
iii. K 2s 1
G s Type 3
s3

Problem: Determine the system type.

STATIC ERROR CONSTANT
Static Error Constants: Limits that determine the steady-state
errors.

Position constant:
K p lim G ( s)
s 0

Velocity constant:
K v lim sG ( s )
s 0

Acceleration constant:
K a lim s 2G(s)
s 0
POSITION ERROR CONSTANT, KP
Steady-state error for step function input, R(s):
sR s R
Rs R s ess lim
s 0 1 G s

1 lim G ( s )
s 0

Position error constant: K p lim G ( s)

s 0

Thus,
R
ess
1 K p
VELOCITY ERROR CONSTANT, KV
Steady-state error for step function input, R(s):
sR s R
Rs R s ess lim
s 0 1 G s

2

lim sG ( s )
s 0

Position error constant: K v lim sG ( s )

s 0

Thus,
R
ess
Kv
ACCELERATION ERROR CONSTANT, KA
Steady-state error for step function input, R(s):
sR s R
Rs R s ess lim
s 0 1 G s

3
2
lim
s 0
s G (s)

Position error constant: K a lim s 2G(s)

s 0

Thus,
R
ess
Ka
STATIC ERROR CONSTANT & SYSTEM TYPE
Relationships between input, system type, static error
constants, and steady-state errors:
ANALYSIS VIA STATIC ERROR CONSTANT
Example: Find the steady-state errors for inputs of 5u(t), 5tu(t), and
5t2u(t) by first evaluating the static error constants.

K p 20, K v 0, K a 0

R 5 R
estep () eramp ()
1 K p 21 Kv

R
eramp ()
Ka
NON-UNITY FEEDBACK SYSTEMS
Example: Calculate the error constants and determine ess for a
unit step, ramp and parabolic functions response of the
following system.
1 5s 1
G s ; H s
ss 12 s5
NON-UNITY FEEDBACK SYSTEMS
Example: Calculate the error constants and determine ess for a
unit step, ramp and parabolic functions response of the
following system.

For step input,

sR s
K p lim G ( s) H ( s) ess lim
s 0 1 G s H s
s 0
5s 1
lim
s 0 s s 12 s 5 s 1 s

lim
s 0
1 5 s 1
s s 12 s 5
1
lim 0
s 0 1

NON-UNITY FEEDBACK SYSTEMS
Example: Calculate the error constants and determine ess for a
unit step, ramp and parabolic functions response of the
following system.

For ramp input,

K v lim sG s H ( s ) sR s
ess lim
s 0 1 G s H s
s 0

5s 1
lim
s 0 s 12 s 5
s1 s 2
lim

1 s 0
1 5 s 1
12 ss 12s 5
12
NON-UNITY FEEDBACK SYSTEMS
Example: Calculate the error constants and determine ess for a
unit step, ramp and parabolic functions response of the
following system.

For parabolic input,

sR s

K a lim s 2G s H s ess lim

s 0 1 G s H s
s 0

5ss 1
lim
s 0 s 12 s 5
s1 s 3
lim
0 s 0
1 5 s 1
ss 12s 5

NON-UNITY FEEDBACK SYSTEMS
Problem: Calculate the error constants and determine ess for a
unit step, ramp and parabolic functions response of the
following system.