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Tutorial section 5

The document provides a tutorial on steady-state error for various unity feedback systems with different input types, including step, ramp, and parabolic inputs. It details the steady-state errors for specific inputs and presents calculations for system parameters such as Kv and static error constants. Additionally, it includes closed-loop transfer functions and discusses the system types and their corresponding steady-state errors.

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4 views

Tutorial section 5

The document provides a tutorial on steady-state error for various unity feedback systems with different input types, including step, ramp, and parabolic inputs. It details the steady-state errors for specific inputs and presents calculations for system parameters such as Kv and static error constants. Additionally, it includes closed-loop transfer functions and discusses the system types and their corresponding steady-state errors.

Uploaded by

gamedewandile63
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Section 5 Steady state error: Tutorial

1. For the unity feedback system shown in Figure 1, where

find the steady-state errors for the following test inputs: 25u(t); 37tu(t); 47t2u(t).

Figure 1
Answers
25
For step input e ( ∞ ) =0
s
37
For ramp input 2 e ( ∞= ) 6.07 × 10−2
s
47
For parobolic input 3 e ( ∞ ) =0
s

2. For the unity feedback system shown in Figure 1, where

Find the steady-state error if the input is 80t2u(t).

Answer
e ( ∞ ) =2.83

3. For the system shown in Figure 2, what steady-state error can be expected for the following test
inputs: 10u(t); 10tu(t); 10t2u(t).

Figure 2
25
For step input e ( ∞ ) =0
s
37
For ramp input 2 e ( ∞= ) 6.07 × 10−2
s
47
For parobolic input 3 e ( ∞ ) =0
s

4. Given the unity feedback system shown in Figure 1, where

find the value of α to yield a Kv =35000.

Answer α=60

5. For the unity feedback system of Figure 1, where

find the value of K to yield a static error constant of 10,000.

Answer K=7291.66

6. Given the system in Figure 3 find the following:


a. The closed-loop transfer function
b. The system type
c. The steady-state error for an input of 5u(t)
d. The steady-state error for an input of 5tu(t)
e. Discuss the validity of your answers to Parts c and d.

Figure 3

20
a. T (S ) =
s + 8s + 19s 2 + 32s + 20
4 3

20
b. For the unity feedback form G(s ) = the system is type 1
s(s + 8s + 19s + 32)
3 2
c. For type 1 e(∞)=0
20 5
d. Kv
= lim s = , e (∞
= ) 8
s →0 s(s + 8s + 19s + 32) 8
3 2

7. For each of the systems shown in Figure 4, find the following:


a. The system type
b. The appropriate static error constant
c. The input waveform to yield a constant error
d. The steady-state error for a unit input of the waveform found in Part c
e. The steady-state value of the actuating signal

Figure 4
Answer

10 ( s + 10 )
G(s ) =
(11s + 132s + 300)
2

a. Type 0,
10 ( s + 10 ) 1
=b. K p lim =
s → 0 (11s + 132s + 300)
2
3
c. Step Input
1 3
(∞)
d. e= =
1+ K p 4
1
sR ( s ) s
e. ea (∞) lim= lim
= = s 0
1 + G ( s ) H ( s ) s →0 10 ( s + 10 )( s + 4 )
1+
s →0
s ( s + 2)
8. For each of the systems shown in Figure 5, find the appropriate static error constant as well as
the steady-state error, r ( ∞ ) − c ( ∞ ) , for unit step, ramp, and parabolic inputs.

Figure 5
5(s + 4)
G (s ) =
s + 15s + 41
2

20
Kp =
41
1
a. e ( ∞ ) step = = 0.67
1+ K p
e ( ∞ ) ramp =
∞
e ( ∞ ) parabola =
∞

200 ( s + 4 )
G (s ) =
s 2 + 15s + 41
1
b. e ( ∞ ) step = 1+ K p
=−20

e ( ∞ ) ramp =
∞
e ( ∞ ) parabola =
∞

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