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TUTORIAL 7 - Steady-State Error

This document contains 13 tutorial problems related to analyzing and designing control systems based on their steady-state error characteristics. The problems involve calculating steady-state error for various system transfer functions and input types, as well as designing system parameters like proportional gain (K) to achieve specified steady-state error, damping ratio, natural frequency, and percent overshoot values. Routh-Hurwitz stability analysis is used in some problems to check system stability.

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376 views4 pages

TUTORIAL 7 - Steady-State Error

This document contains 13 tutorial problems related to analyzing and designing control systems based on their steady-state error characteristics. The problems involve calculating steady-state error for various system transfer functions and input types, as well as designing system parameters like proportional gain (K) to achieve specified steady-state error, damping ratio, natural frequency, and percent overshoot values. Routh-Hurwitz stability analysis is used in some problems to check system stability.

Uploaded by

tira
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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BMFA 3313 CONTROL SYSTEMS TUTORIAL

Tutorial – Steady-state Error

1. Solve for the steady-state error of a unity feedback system with a step input of 10 units
and the following forward transfer function:

(s+1)( s+2)(s +3)


G ( s )=
( s +6 ) ( s+7)(s+ 8)

Answer: 9.85

2. A unity feedback system has the following transfer function:

1250
G ( s )=
s ( s+50)

a) Solve for the percent overshoot and the settling time of the system for a unit step
input.
Answer: %OS = 4.32%, Ts = 0.16s

b) Solve for the steady-state error for inputs of 5 u ( t ) , 5 tu (t ), and 5 t 2 u(t ).

Answer: 0, 0.2, inf

3. Determine the value of K that yield a static error constant of 10,000 for a unity
feedback system with the following forward transfer function:

K (s+2)(s +4 )(s +6)


G ( s )=
s2 ( s+5)(s+7)

Answer: 7,291.667

4. Design the value of K that yield a 0.01 error in the steady-state for an input of
100 tu( t) for the following system:

1
BMFA 3313 CONTROL SYSTEMS TUTORIAL

Answer: 110,000
5. Determine the value of K that yield a steady-state error of 0.1 for a ramp input of
25 tu (t) for a unity feedback system with the following forward transfer function:

K ( s+ 10)(s+ 15)
G ( s )=
s ( s+3)(s+7)( s+20)
Answer: 700

6. Determine the value of K that yield a steady-state error of 5% for a unity feedback
system with the following forward transfer function:

K ( s+ 4)
G ( s )=
(s+1)(s2 +10 s +26)

Answer: 123.5

7. A unity feedback system has the following forward transfer function:

K
G ( s )=
s (s+4 )(s +8)

Determine the minimum possible steady-state error if a unit ramp is applied. State the
constraint placed upon the error.

Answer: The system is stable for 0 K 384 . Since the maximum Kv is Kv
, the minimum steady-state error is 1/Kv = 1/12 = 0.083.

8. A unity feedback system has the following forward transfer function:

K
G ( s )=
s (s+α )

The system is subjected to a unit ramp input that yield a steady-state error of 0.01.
The natural frequency of the closed-loop system is 10 rad/s.

a) Design the exact expression for the forward-path transfer function, G(s).

Answer: G(s)=100/(s(s+1))

b) Solve for the system’s damping ratio.

Answer: 0.05

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BMFA 3313 CONTROL SYSTEMS TUTORIAL

9. For the following system, determine:

i. The steady-state error for input of 5 u(t)


ii. The steady-state error for input of 5 tu (t )
iii. The validity of the answers in (i) and (ii) in term of stability.

(a)

Answer: i. 0, ii. 15, iii. System unstable, results are meaningless (must show Routh
table)

(b)

Answer: i. 0, ii. 8, iii. System stable, results are valid (must show Routh table)

10. The system below has K v =10 and ζ =0.5. Design the required value of K 1 and K f to
meet the system’s specifications.

3
BMFA 3313 CONTROL SYSTEMS TUTORIAL

Answer: K 1=10 , K f =0.9


11. A unity feedback system has the following forward transfer function;

K (s+α )
G ( s )=
( s+ β )2

The system is designed so that the steady-state error for a unit step input = 0.1;
damping ratio = 0.5; and natural frequency = √ 10 rad/s.

Determine the value of K , α and β .

Answer: If β=1 , K =1.1623 , α =7.7433; if β =−1 , K =5.1623 , α=1.7434

12. A unity feedback system has the following transfer function;

K
G ( s )=
s ( s+a)

Determine;

a) K and a to yield K v =1 000 and %OS=20 %

Answer: K=831 400 ; α =831.4

b) K and a to yield e ss =1 % and %OS=1 0 %

Answer: K=13 981 ; α =139.81

13. A unity feedback system is to be designed as the following specifications:


i) Forward transfer function
K (s+α )
G ( s )=
s (s + β)

ii) Steady-state position error for a unit ramp input = 1/10


iii) The closed-loop poles locations at −1 ± j1

Determine K , α , and β to meet the requirements.

Answer: K=1.8; α=1.1111 ; β=0.2

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