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L7 System Steady State Error Notes

This document discusses steady-state error in control systems. It begins by defining steady-state error as the difference between the input and output of a system after transients have decayed. Step, ramp, and parabolic inputs are commonly used to analyze steady-state error performance. The steady-state error can be calculated from the closed-loop transfer function T(s) or open-loop transfer function G(s). The limits of G(s) as s approaches zero are called static error constants, which characterize the system type and steady-state error for different inputs. System type 0 has a finite Kp, type 1 has a finite Kv, and type 2 has a finite Ka. Specifications like Kv

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175 views32 pages

L7 System Steady State Error Notes

This document discusses steady-state error in control systems. It begins by defining steady-state error as the difference between the input and output of a system after transients have decayed. Step, ramp, and parabolic inputs are commonly used to analyze steady-state error performance. The steady-state error can be calculated from the closed-loop transfer function T(s) or open-loop transfer function G(s). The limits of G(s) as s approaches zero are called static error constants, which characterize the system type and steady-state error for different inputs. System type 0 has a finite Kp, type 1 has a finite Kv, and type 2 has a finite Ka. Specifications like Kv

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Su Yi
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© © All Rights Reserved
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CHAPTER 6

STEADY-STATE ERROR

Analysis Objectives
of Control Systems?
1. Producing the desired transient response:
2. Achieving stability: A system that can produce a
consistent/steady output is a stable system..
3. Reducing steady state error: Steady state response only
exists for stable systems.

How to Measure SSE?


The system is stimulated with some standard input, typically,
a step function of time or a ramp
The system comes to a steady state

ERROR = Difference between the Input and Output

DEFINITION
Steady state error
The difference between the input and the output of a
system after the natural response has decayed to zero - i.e.
the steady state has been reached.
or

The difference between the input and the output for a


prescribed test input as t

Test waveforms for steady-state errors analysis and design for


position control systems

In order to explain how these test signals are used, let


us assume a position control system where the output
position follows the input commanded position.

Step Input represent constant position and thus are useful


in determining the ability of the control system to position
itself with respect to a stationary target such as a satellite in
geostationary orbit.
Ramp Input represent constant velocity inputs to a
position control system by their linearly increasing input to
track a constant velocity target. For example, a position
control system that tracks a satellite that moves across the
sky at a constant angular velocity would be tested with
ramp input
Parabolas represent constant acceleration inputs to
position control systems and can be used to represent
acceleration target such as the missile to determine the
steady state error performance.

Tracking
system

Test inputs for steady-state error analysis


and design vary with target type

EVALUATING STEADY STATE


ERRORS.
Let us examine the concept of steady state errors.

In Figure (a) a step input shows two possible


outputs. Output 1 has zero steady state error and
output 2 has a finite (limited) steady state error,
e2()

In Figure (b) a ramp input is compared with


output 1 , which has zero steady state error and
output 2 has a finite steady state error, e2() as
measured vertically between the input and output
2 after the transients have died down. If the
output slope is different from that of the input,
output 3 will result. Here the steady state error is
infinite (immeasurable or endless) after the
transient have died down and t approaches
infinity.

The most general block diagram with unity feedback


Error is the difference between the input and the output of a system
The error, E(s) is formed by taking the difference between the input and the output
as shown in Figure (a).
Here we are interested in the steady state, or final value of e(t). For unity
feedback systems (where the feedback, H(s) = 1), E(s) appears as shown in
Figure (b).

(a) general representation


(b) representation for unity feedback systems

Steady State Error in Terms of T(s)


-CLOSED LOOP TRANSFER FUNCTION-

Steady State Error in Terms of T(s)


A systems SSE can be calculated from a systems closed-loop TF, T(s)
Closed-loop control system error
representation for unity feedback
systems

To find E(s) the error, between the input R(s) , and the output, C(s), we write:

But

E(s) = R(s) - C(s)

(6.1)

C(s)= R(s)T(s)

(6.2)

Finally substituting Eq (7.2) into Eq. (7.1) and solving for E(s) yields

E(s) R(s)[1 T (s)]

(6.3)

e() lim sR(s)[1 T (s)]


s 0

(6.5)

Tutorial Exercise!
Find the steady state error for CLTF with unit step input

5
T ( s) 2
( s 7 s 10)
e() lim sR( s )[1 T ( s )]
s 0

So, e()

1
2

Steady State Error in Terms of G(s)


-OPEN LOOP TRANSFER FUNCTION-

Steady State Error in Terms of G(s)


Many unity feedback system with a forward transfer function is configured as a G(s).
Closed-loop control system error
representation for unity feedback
systems

To find E(s) the error, between the input R(s) , and the output, C(s), we write:

But

E(s) = R(s) - C(s)

(7.1)

C(s)= E(s)G(s)

(7.2)

Finally substituting Eq (7.2) into Eq. (7.1) and solving for E(s) yields
E ( s)

R( s )
1 G ( s)

(7.3)

Apply final value theorem and letting t approach infinity

e() lim e(t ) lim sE ( s)


t

s 0

(7.4)

By substituting Eq. (7.3) into Eq. (7.4) we obtain,

sR ( s)
s 0 1 G ( s )

e () lim

(7.5)

Steady State Error


for Step, Ramp and Parabolic Input
Now we can calculate the steady state error, e(), given the input, R(s), and the system, G(s).

Step input: with R(s) = 1/s, we find

Ramp input: with R(s) = 1/s2, we find

Parabolic input: R(s) = 1/s2, we find

Time for Some Exercise!


Find the steady state errors for inputs 5u(t), 5tu(t) and 5t2u(t).

Revision:
Laplace Transform Table

16

Time for More Exercise!


Find the steady state errors for inputs 5u(t), 5tu(t) and 5t2u(t).

Static Error Constants


and System Type

STATIC ERROR CONSTANT AND SYSTEM TYPE


Steady state error performance specifications are called static error
constants.

In the previous section we derived the following relationships:For. a step input, u(t),

For a ramp input, tu(t),

For a parabolic input,

1 2
t u(t),
2

STATIC ERROR CONSTANT AND SYSTEM TYPE


Each term in the denominator are taken to the limit. We call these limits static
error constant. Individually, their names are:

Depending the form of G(s), the value of steady state error (SSE) could be zero, finite or infinity.
Since the static error constant appears in the denominator of the SSE, the value of the SSE
decreases as the static error constant increases.
Previously we have evaluated SSE by using final value theorem.
Alternatively we can make use of the static error constant. Please refer example 7.4

To determine SSE using Static Error Constants

1
Thus, for a step input:- e()= 1 K
p

Thus, for a ramp input:- e()=

Kv

Thus, for a parabolic input:- e()=

Ka

What is SYSTEM TYPE?

Feedback control system for defining system type

A system with n = 0 is a Type 0 system. If n = 1 or


n=2 , the corresponding system is a Type 1 or Type
2 system respectively.

Relationships between Input, System Type, Static Error


Constants, and Steady-state Errors

Steady-state Error Specifications

STEADY STATE ERROR SPECIFICATIONS


Static error constant can be used to specify the study state error characteristics of control
systems

For example, if a control system has the specification KV = 1000, we can draw
several conclusions:
1.

The system is stable

2.

The system is of Type 1, since only Type 1 systems have Kvs that are finite constants.
Recall that Kv = 0 for Type 0 system, whereas Kv= , for Type 2 systems.

3.

A ramp input is the test signal. Since Kv is specified as a finite constant, and the steady
state error for a ramp input in inversely proportional to Kv, we know the test input is a
ramp.

4.

The steady state error between the input ramp and the output ramp is 1/Kv per unit of
input slope.

Tutorial Questions

Tutorial Exercise Q2
Compute the steady state error for unit step and ramp input

s 4
T ( s) 2
( s 7 s 7)
2

1
E ( s) R( s)[1 T ( s)], whereR ( s) unitstep
s

e() lim sR(s)[1 T (s)]


s 0

So, e()

Tutorial Exercise!
For the transfer function below, solve for test input 5u(t)
(Use final value theorem method)

1 / 50
G( s) 2
( s 2s 2)
Laplace transform of 5u(t) is 5/s, so

Tutorial Exercise Q4
A control system has Kp=1000.
List FOUR (4) conclusions about this system

1. The system is stable


2. The system is of Type 0, since only Type 0 systems have
finite Kp Recall that Kp = for Type 1 system, whereas
Kv= , for Type 2 systems.

3. A step input is the test signal.


4. The steady state error per
1/1+Kp=1/(1+1000)=1/1001

unit

step

is

Tutorial Exercise Q5
For the transfer function below, determine system type. Solve for test input 5u(t), 5tu(t)

Reduce the block diagram

System is Type 1
Next, calculate error for step and ramp input
But for Type 1 system, e step()=0, e ramp()=?
Use static error constant method.

Tutorial Exercise Q6 (a)


Identify system type and find value of K so there is 10%$ error in the steady state

K ( s 12)
G(s)
( s 14)( s 18)

Tutorial Exercise Q6 (b)


Identify system type and find value of K so there is 10%$ error in the steady state

K ( s 4)
G( s)
2
( s 1)(s 10s 26)

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