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Control Systems (CS) : Lecture-6 Steady State Error

This document discusses steady state error in control systems. It defines types of systems based on their open-loop transfer function and whether they have steady state error for step, ramp, or other inputs. Systems with higher type numbers have better accuracy but worse stability. The static error constants Kp, Kv, and Ka indicate steady state error for unit step, ramp, and parabolic inputs respectively. An example system is analyzed to find its static error constants and expected steady state errors.

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Deepthi
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101 views20 pages

Control Systems (CS) : Lecture-6 Steady State Error

This document discusses steady state error in control systems. It defines types of systems based on their open-loop transfer function and whether they have steady state error for step, ramp, or other inputs. Systems with higher type numbers have better accuracy but worse stability. The static error constants Kp, Kv, and Ka indicate steady state error for unit step, ramp, and parabolic inputs respectively. An example system is analyzed to find its static error constants and expected steady state errors.

Uploaded by

Deepthi
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 PPTX, PDF, TXT or read online on Scribd
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Control Systems (CS)

Lecture-6
Steady State Error

Note: I do not claim any originality in these lectures. The contents of this presentation are
mostly taken from the book of Ogatta, Norman Nise, Bishop and B C. Kuo and various other
internet sources. 1
Introduction
• 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.

• 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.
Classification of Control Systems
• Control systems may be classified according to
their ability to follow step inputs, ramp inputs,
parabolic inputs, and so on.

• The magnitudes of the steady-state errors due


to these individual inputs are indicative of the
goodness of the system.
Classification of Control Systems
• Consider the unity-feedback control system
with the following open-loop transfer function

• It involves the term sN in the denominator,


representing N poles at the origin.

• A system is called type 0, type 1, type 2, ... , if


N=0, N=1, N=2, ... , respectively.
Classification of Control Systems
• 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 of Unity Feedback Systems

• Consider the system shown in following figure.

• The closed-loop transfer function is


Steady State Error of Unity Feedback Systems
• The transfer function between the error signal E(s) and the
input signal R(s) is
E( s ) 1

R( s ) 1  G( s )
• The final-value theorem provides a convenient way to find
the steady-state performance of a stable system.

• Since E(s) is

• The steady state error is


Static Error Constants
• The static error constants are figures of merit of control
systems. The higher the constants, the smaller the steady-
state error.
• In a given system, the output may be the position, velocity,
pressure, temperature, or the like.
• Therefore, 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 Position Error Constant (Kp)
• The steady-state error of the system for a unit-step input is

• The static position error constant Kp is defined by

• Thus, the steady-state error in terms of the static position


error constant Kp is given by
Static Position Error Constant (Kp)
• For a Type 0 system

• For Type 1 or higher systems

• For a unit step input the steady state error ess is


Static Velocity Error Constant (Kv)
• The steady-state error of the system for a unit-ramp input is

• The static position error constant Kv is defined by

• Thus, the steady-state error in terms of the static velocity


error constant Kv is given by
Static Velocity Error Constant (Kv)
• For a Type 0 system

• For Type 1 systems

• For type 2 or higher systems


Static Velocity Error Constant (Kv)
• For a ramp input the steady state error ess is
Static Acceleration Error Constant (Ka)
• The steady-state error of the system for parabolic input is

• The static acceleration error constant Ka is defined by

• Thus, the steady-state error in terms of the static acceleration


error constant Ka is given by
Static Acceleration Error Constant (Ka)
• For a Type 0 system

• For Type 1 systems

• For type 2 systems

• For type 3 or higher systems


Static Acceleration Error Constant (Ka)
• For a parabolic input the steady state error ess is
Summary
Example#1
• For the system shown in figure below evaluate the static
error constants and find the expected steady state errors
for the standard step, ramp and parabolic inputs.

100( s  2 )( s  5)
R(S) C(S)
2
s ( s  8)( s  12)
-
Example#1 (evaluation of Static Error Constants)
100( s  2)( s  5)
G( s ) 
s 2 ( s  8)( s  12)
K p  lim G( s )
s 0 K v  lim sG ( s )
s 0
 100( s  2)( s  5) 
K p  lim  2   100s( s  2 )( s  5) 
s 0  s ( s  8)( s  12)  K v  lim  2 
s 0  s ( s  8)( s  12) 
Kp  
Kv  

K a  lim s 2G( s )  100s 2 ( s  2)( s  5) 


K a  lim  2 
s 0  
s 0
 s ( s  8 )( s  12 ) 
 100( 0  2 )( 0  5) 
K a     10. 4
 ( 0  8)( 0  12) 
Example#1 (Steady Sate Errors)
Kp   Kv   K a  10.4

0

0

 0. 09

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