Steady State Error
Steady State Error
Steady-State Errors
Introduction
o A type of steady-state error that is caused by the incapability of a
system to follow particular types of inputs shall be investigated. 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. (The only way we may be able to
eliminate this error is to modify the system structure.) 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.
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Standard Test Input Signals
The standard test input signals commonly used are the step input, the
ramp input, and the parabolic input.
Steady‐State Error
One of the fundamental reasons for using feedback, despite its cost
and increased complexity, is the attendant improvement in the
reduction of the steady-state error of the system.
System type and Steady‐State Error Definition
Consider the unity-feedback control system with the following open-loop
transfer function G(s):
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System type and Steady‐State Error Definition
A system is called type 0, type 1, type 2,p , if N = 0, N = 1, N =
2, …, respectively. Note that this classification is different from
that of the order of a system. 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
Example # 1
1 5
1 1
7 10
∞ lim →
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Static Error Constants and System Type
Steady-state error performance specifications are called static error
constants.
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 Error Constants and System Type
Example # 2 Case ‐1
10
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Static Error Constants and System Type
Example # 2 Case ‐2
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Static Error Constants and System Type
Example # 2 Case ‐3
12
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Static Error Constants and System Type
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Static Error Constants and System Type
Example # 3
14
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Static Error Constants and System Type
Example # 4 Gain Design to Meet a Steady‐State Error Specification
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Steady‐State Error for Nonunity Feedback Systems
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Steady‐State Error for Nonunity Feedback Systems
Conclusion
We can transform the nonunity feedback system (left hand side figure)
into a unity feedback system whose forward path transfer function is:
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Steady‐State Error for Nonunity Feedback Systems
Example # 5
100 1
10 5
100
10
100 100
1
5 100 10
100 5
15 50 100 400
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Steady‐State Error for Nonunity Feedback Systems
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Summary (Steady‐State Errors)‐Unity Feedback System
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