CHAPTER 6

STEADY STATE
ERROR
 Static Error Constants and System Type

Learning Outcome

01 Understand the basic concept of steady-state error.

02 Analyze 3 different test inputs for steady-state error.

03 Determine steady-state error for unity feedback system

Steady-state error performance specifications (Static Error Constants)

04 and System Type
 Steady-state condition

Basic concept Steady-state error, ess

01 of steady-state
error, ess
{
Defined as the difference between the input and
output of a system in the limit as time goes to
infinity (i.e. when the response has reached the
steady state).

Steady-state error analysis only applicable when

the system response is stable. Unstable system
cannot be analyzed for steady-state error.
02 Test input, R(s) for steady-state error, ess

Waveform Name Time domain Laplace

(t) transform

Unit step input 1 1

𝑠

Ramp input 𝑡 1
𝑠2

Parabolic input 𝑡2 1
𝑠3
 error
Steady-state 𝑅(𝑠) 𝐸(𝑠) 𝐶(𝑠)
03 error (ess) for +
-
𝐺 𝑠

unity feedback
system unity feedback

General Equation

1
𝑒𝑠𝑠 ∞ = lim 𝑠𝑅(𝑠)
𝑠→0 1 + 𝐺(𝑠)
 Steady-state error (ess) for
03 unity feedback system
Example General equation:

𝑅(𝑠) 120(𝑠 + 2) 𝐶(𝑠) 1

𝑒𝑠𝑠 ∞ = lim 𝑠𝑅(𝑠)
+ (𝑠 + 3)(𝑠 + 4) 𝑠→0 1 + 𝐺(𝑠)
-
𝐹𝑜𝑟 5𝑢 𝑡 ;
Determine the steady state error for the inputs below
i. 5u t 5 1
ii. 5tu t 𝑒𝑠𝑠 ∞ = lim 𝑠
𝑠→0 𝑠 120(𝑠 + 2)
iii. 5t 2 u(t) 1 + (𝑠 + 3)(𝑠 + 4)

Solution: 5u t
Laplace transforms 5 5 1
𝑠 𝑒𝑠𝑠 ∞ = lim 𝑠
𝑠→0 𝑠 120(𝑠 + 2)
Laplace transforms 5
1 + (𝑠 + 3)(𝑠 + 4)
5tu t
𝑠2
Laplace transforms 5
5t 2u(t)
𝑠3
 Steady-state error (ess) for unity
03 feedback system
Solution: 5 1
𝐹𝑜𝑟 5𝑡𝑢 𝑡 ; 𝑒𝑠𝑠 ∞ = lim 𝑠
𝑠→0 𝑠2 120(𝑠 + 2)
1 1+
(𝑠 + 3)(𝑠 + 4)
𝑒𝑠𝑠 ∞ = lim 5 120(0 + 2)
𝑠→0
1+ 5 1
(0 + 3)(0 + 4) 𝑒𝑠𝑠 ∞ = =∞⋕
0 120(0 + 2)
1+
(0 + 3)(0 + 4)
5
𝑒𝑠𝑠 ∞ = 120(2)
1+
(3)(4) 5 1
𝐹𝑜𝑟 5𝑡 2 𝑡 ; 𝑒𝑠𝑠 ∞ = lim 𝑠
5 5 𝑠→0 𝑠 32 120(𝑠 + 2)
1 + (𝑠 + 3)(𝑠 + 4)
= = ⋕
240 21
1 + 12
5 1
𝑒𝑠𝑠 ∞ = =∞⋕
0 120(0 + 2)
1+
(0 + 3)(0 + 4)
04 Static Error Constants

For underdamped system, we have performance specification such as damping

ratio, natural frequency, settling time, percent overshoot, and so on.

In steady-state error, the performance specifications are called Static Error

Constants as shown below.
𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝐾𝑝 = lim 𝐺(𝑠)
𝑠→0

Velocity 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝐾𝑣 = lim 𝑠𝐺(𝑠)

𝑠→0

Acceleration 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝐾𝑎 = lim 𝑠 2 𝐺(𝑠)

𝑠→0
04 System Type

“System type is defined as the number of pure integrators in the forward

path of a unity-feedback system. That is, the system type is equal to the
value of n when the system is represented as in the following figure.”

Example:
𝑅(𝑠) 𝐾 𝑠 + 𝑧1 𝑠 + 𝑧2 … 𝐶(𝑠)
𝑅(𝑠) 120(𝑠 + 2) 𝐶(𝑠)
+ 𝑠 𝑛 𝑠 + 𝑝1 𝑠 + 𝑝2 …
- + 𝑠 2 (𝑠 + 3)(𝑠 + 4)
-

Order of system = 4
System Type =2
 Static Error Constants and
04 System Type

Input 𝒆𝒔𝒔 formula Type 0 Type 1 Type 2

Static error 𝒆𝒔𝒔 Static error 𝒆𝒔𝒔 Static error 𝒆𝒔𝒔
constant constant constant

Unit step, 𝑢(𝑡) 1 1 𝐾𝑝 = constant 1 𝐾𝑝 = ∞ 0 𝐾𝑝 = ∞ 0

𝑒𝑠𝑠 = =
1 + lim 𝐺(𝑠) 1 + 𝐾𝑝 1 + 𝐾𝑝
𝑠→0

Ramp, 𝑡𝑢(𝑡) 1 1 𝐾𝑣 = 0 ∞ 𝐾𝑣 = constant 1 𝐾𝑣 = ∞ 0

𝑒𝑠𝑠 = =
lim 𝑠𝐺(𝑠) 𝐾𝑣 𝐾𝑣
𝑠→0

Parabolic, 𝑡2𝑢(𝑡) 1 1 𝐾𝑎 = 0 ∞ 𝐾𝑎 = 0 ∞ 𝐾𝑝 = constant 1

𝑒𝑠𝑠 = 2 =
lim 𝑠 𝐺(𝑠) 𝐾𝑎 𝐾𝑎
𝑠→0
 Static Error Constants and
04 System Type

Example 1:
A unity feedback system has the following forward transfer function:

1000(𝑠 + 8)
𝐺 𝑠 =
(𝑠 + 7)(𝑠 + 9)

a) Evaluate system type, Kp, Kv, and Ka.

b) Use your answers in (a) to find the steady-state errors for the standard
step, ramp, and parabolic inputs
 Static Error Constants and
04 System Type
Velocity 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝐾𝑣 = lim 𝑠𝐺(𝑠)
Solution 1(a): 𝑠→0
1000(𝑠 + 8)
= lim 𝑠
𝑠→0 (𝑠 + 7)(𝑠 + 9)

System type = Type 0 1000(0 + 8)

=0
(0 + 7)(0 + 9)
𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝐾𝑝 = lim 𝐺(𝑠) = 0⋕
𝑠→0

1000(𝑠 + 8) Acceleration 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝐾𝑣 = lim 𝑠 2 𝐺(𝑠)

= lim 𝑠→0
𝑠→0 (𝑠 + 7)(𝑠 + 9)
1000 (𝑠 + 8)
= lim 𝑠 2
1000(0 + 8) 𝑠→0 (𝑠 + 7)(𝑠 + 9)
= lim
𝑠→0 (0 + 7)(0 + 9)
1000(0 + 8)
=0
= 126.98 (0 + 7)(0 + 9)
=0⋕
 Static Error Constants and
04 System Type
Solution 1(b):
For ramp input, t𝑢(𝑡)
For unit step input, 𝑢(𝑡) 1 1 1
𝑒𝑠𝑠,𝑟𝑎𝑚𝑝 = = = =∞⋕
1 1 lim 𝑠𝐺(𝑠) 𝐾𝑣 0
𝑠→0
𝑒𝑠𝑠,𝑠𝑡𝑒𝑝 = =
1 + lim 𝐺(𝑠) 1 + 𝐾𝑝
𝑠→0

1
=
1 + 126.98 For parabolic input, 𝑡 2 𝑢(𝑡)
1 1 1
𝑒𝑠𝑠,𝑝𝑎𝑟𝑎𝑏𝑜𝑙𝑖𝑐 = = = =∞⋕
= 7.8 × 10 −3 ⋕ 2
lim 𝑠 𝐺(𝑠) 𝐾𝑎 0
𝑠→0
 Static Error Constants and
04 System Type

Example 2:
Given the control system in Figure below, find the value of K so that there is
10% error in the steady state

𝑅(𝑠) 𝐾(𝑠 + 5) 𝐶(𝑠)

+ 𝑠(𝑠 + 6)(𝑠 + 7)(𝑠 + 8)
-
 Static Error Constants and
04 System Type
Solution 2:
𝐾𝑣 = 10 = lim 𝑠𝐺(𝑠)
Since the system is Type 1, the 10% error 𝑠→0
stated in the problem must apply to a ramp
𝐾(𝑠 + 5)
input; only a ramp yields a finite error in a lim 𝑠 = 10
Type 1 system. Therefore, 𝑠→0 𝑠(𝑠 + 6)(𝑠 + 7)(𝑠 + 8)

𝐾(0 + 5)
1 = 10
𝑒𝑠𝑠,𝑟𝑎𝑚𝑝 = = 0.1 (0 + 6)(0 + 7)(0 + 8)
𝐾𝑣

∴ 𝐾𝑣 = 10 𝑲 = 𝟔𝟕𝟐 ⋕