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EEE 3153-Control System: Lecture On Steady State Errors

This document provides an overview of steady state errors in control systems. It discusses: 1) How control systems can exhibit steady state error in response to certain input signals like steps, ramps, or parabolas. 2) Classification of control systems based on their ability to follow different input signals without steady state error. Systems are classified as type 0, 1, 2, etc. 3) How to calculate static error constants like position (Kp), velocity (Kv), and acceleration (Ka) constants which indicate a system's steady state error for step, ramp, and parabolic inputs respectively. 4) Examples are provided to demonstrate calculating the static error constants and steady state errors for given

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36 views31 pages

EEE 3153-Control System: Lecture On Steady State Errors

This document provides an overview of steady state errors in control systems. It discusses: 1) How control systems can exhibit steady state error in response to certain input signals like steps, ramps, or parabolas. 2) Classification of control systems based on their ability to follow different input signals without steady state error. Systems are classified as type 0, 1, 2, etc. 3) How to calculate static error constants like position (Kp), velocity (Kv), and acceleration (Ka) constants which indicate a system's steady state error for step, ramp, and parabolic inputs respectively. 4) Examples are provided to demonstrate calculating the static error constants and steady state errors for given

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Nazmul islam
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© © All Rights Reserved
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EEE 3153-Control System

Lecture on Steady State Errors

Dr. Tushar Kanti Roy


Assistant Professor
Rajshahi University of Engineering & Technology, Rajshahi-6204, Bangladesh
email: [email protected]
URL :https://www.ete.ruet.ac.bd/roykanti03

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 error due
to these individual inputs are indicative of the
goodness of the system.
Type 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
• When the type number is increased, the
accuracy will be improved.
• However, increasing the type number
aggravates the stability problem of a control
system.
• Therefore, a compromise between steady-state
accuracy and relative stability is always
necessary.
Steady State Error of Unity Feedback Systems
• Consider the following unity feedback system whose closed-loop
transfer function is

• 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 and Dynamic Error Coefficients
Error: It is the difference between the input reference and the actual output for a prescribed
test input during steady state.

Static error: If the error is not changed with time then it is called a static error. It can be
calculated when the standard input signals (unit step, unit ramp, and unit parabolic) is
applied to the system because these standard input signals are not changing with respect to
time and the error is not a function of time.
It is represented as ess. We can find steady state error using the final value theorem as
follows.

where E(s) is the Laplace transform of the error signal, e(t).

Dynamic error: If the error is changed with time is called the dynamic error.

Let us first discuss how we can find steady state/static error coefficients
for unity feedback and non-unity feedback control systems one by one.
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 Error Constants
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
Static error coefficients for Unity Feedback
Systems
The following table shows the steady state errors and the error constants for standard
input signals like unit step, unit ramp & unit parabolic signals.

Note − If any of the above input signals has the amplitude other than unity, then multiply
corresponding steady state error with that amplitude.
Note − We can’t define the steady state error for the unit impulse signal because, it exists
only at origin. So, we can’t compare the impulse response with the unit impulse input as t
denotes infinity.
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
Example-2

Solution: The given input signal is a combination of three signals step, ramp and
parabolic. The following table shows the error constants and steady state error values
for these three signals.

We will get the overall steady state error, by adding the above three steady state errors.

Therefore, we got the steady state error ess as 1 for this example.
Steady State Errors for Non-Unity Feedback Systems
Consider the following block diagram of closed loop control system, which is having
nonunity negative feedback.

We can find the steady state errors only for the unity feedback systems. So, we have to
convert the non-unity feedback system into unity feedback system. For this, include one unity
positive feedback path and one unity negative feedback path in the above block diagram. The
new block diagram looks like as shown below.
Steady State Errors for Non-Unity Feedback Systems
Simplify the above block diagram by keeping the unity negative feedback as it is. The
following is the simplified block diagram.
static error specifications
Limitation of static error coefficients

 Do not provide information on the steady state error when inputs are other
than the basic signals (unit step, ramp, and parabolic signals).

 Fail to indicate the exact manner in which error function change with time or
express the error as a function of time.
Dynamic Error coefficient
Dynamic Error coefficient
Dynamic Error coefficient

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