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 )
s0

 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 ()   eram p ()  
1  lim G ( s ) 21 lim sG ( s )
s 0 s 0

5
eram p ()  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
Gs  
i. Type 0
s  1s  3
K 0.5s  1
Gs  
ii.
Type 1
 
ss  12s  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
Rs   R s ess  lim 
s 0 1  G s  

  1  lim
s 0
G( s)

 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
Rs   R s ess  lim 
s 0 1  Gs  

2

  lim
s 0
sG ( s)

 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
Rs   R s ess  lim 
s 0 1  G s  

3
2
  s 0 G( s)
lim 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, Kv  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 5s  1
G s   ; H s  
ss  12 s5
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  
 5s  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
 
 5s  1 
 lim   
s 0 s  12 s  5 
 
 lim 
  
s1 s 2 


1 s 0
1  5 s  1 
12  ss  12 s  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  
 5ss  1   
 lim 
s 0 s  12 s  5 
   lim 
  
s 1 s3 

0 s 0
1  5 s  1 
 ss  12 s  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.