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9-Steady State Specifications

This document discusses steady state error specifications and how to analyze them from static error constants. It also discusses how to calculate steady state error for systems with disturbances. The key points are: 1. Static error constants contain information about a system's steady state error characteristics and stability. 2. For systems with disturbances, the total steady state error is the sum of the error due to the reference input and the error due to the disturbance. 3. The steady state error due to a disturbance can be reduced by increasing the dc gain of the forward path or decreasing the dc gain of the feedback path.

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112 views3 pages

9-Steady State Specifications

This document discusses steady state error specifications and how to analyze them from static error constants. It also discusses how to calculate steady state error for systems with disturbances. The key points are: 1. Static error constants contain information about a system's steady state error characteristics and stability. 2. For systems with disturbances, the total steady state error is the sum of the error due to the reference input and the error due to the disturbance. 3. The steady state error due to a disturbance can be reduced by increasing the dc gain of the forward path or decreasing the dc gain of the feedback path.

Uploaded by

athenalavega
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Steady State Error Specifications

- Static error constants can be used to specify the steady state error
CHARACTERISTICS of control systems.
- the information is contained within the specification of a static error
constant
- We can learn a lot about the system from the static error constants

Example:

1. K v =1000

What conclusions can we draw from here?


o The system is stable
o The system is of type 1,
o A ramp output is a test signal
1
o e ( ∞ )=
Kv
2. What information is contained in the specification K p =1000?
3. Given the control system in the figure below, find the value of K so that there
is 10% error in the steady state:

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


K (s +12)
G ( s )=
( s +14 ) ( s+18)
Find the value of K to yield a 10% error in the steady state. K=189
Steady State Error for Disturbances

Recall:

- Feedback control systems are used to compensate for disturbances or


unwanted inputs that enter a system.
- Advantage of using a feedback is that regardless of these disturbances
the system can be designed to follow the input with small or zero error
See figure below, it is a feedback control system with a disturbance D( s)

D(s) Injected between the controller and the plant

Rederiving the expression for the steady state error with the disturbance included
C ( s ) =E ( s ) G 1 ( s ) G2 ( s ) + D( s)G 2 ( s) (eqn 1)

But
C ( s ) =R ( s )−E( s) (eqn 2)

Substituting eqn 2 to eqn 1


1 G2(s )
E ( s )= R ( s )− D(s)
1+G 1 ( s ) G 2 ( s ) 1+G 1 ( s ) G 2 ( s )

We can think of the first term as the transfer function relating E(s) to R( s) and the
second term as a transfer function relating E(s) to D( s)
To find the steady state value error, apply the final value theorem
s sG2 ( s )
e ( ∞ )=lim sE (s)=lim R ( s ) −lim D(s)
s →0 s →0 1+G 1 ( s ) G2 ( s ) s →0 1+G 1 ( s ) G 2 ( s )

¿ e R ( ∞ ) +e D (∞ )

Where
s
e R ( ∞ ) =lim R ( s)
s →0 1+ G 1 ( s ) G 2 ( s )

sG2 ( s )
e D (∞ )=−lim D(s)
s→0 1+G 1 ( s ) G 2 ( s )

- First term is the steady state error e R ( ∞ ) due to R( s), which we obtained dati
- Second term e D (∞ ), is the steady state error due to the disturbance

1
Assuming that it is a step disturbance D ( s )= s ,substituting it to e D (∞ )

The steady state error due to your disturbance D( s) will now be equal to:
−1
eD ( ∞) =
1
lim + lim G ( s)
s→0 G2 ( s) s →0 1

This equation shows that steady state error produced by the step disturbance can
be reduced by increasing the dc gain of G1 ( s) or decreasing the dc gain of G2 (s)

Sensitivity

- ratio of the fractional change in the function to the fractional change in the
parameter as the fractional change of the parameter approaches zero.

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