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Chapter 8 - Steady State Error

This document discusses steady-state error analysis for control systems. It defines steady-state error and explains how to analyze it by investigating the system's transfer function. The document outlines different types of systems (type 0, 1, 2) and their corresponding static error constants for step, ramp, and parabolic inputs. Examples are provided to demonstrate analyzing a system's steady-state error and identifying its type and static error constant.

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Alif Rosli
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27 views16 pages

Chapter 8 - Steady State Error

This document discusses steady-state error analysis for control systems. It defines steady-state error and explains how to analyze it by investigating the system's transfer function. The document outlines different types of systems (type 0, 1, 2) and their corresponding static error constants for step, ramp, and parabolic inputs. Examples are provided to demonstrate analyzing a system's steady-state error and identifying its type and static error constant.

Uploaded by

Alif Rosli
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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UNIVERSITI TEKNIKAL MALAYSIA MELAKA AlwaysA Pioneer,AlwaysAhead

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LEARNING OUTCOMES
Students should be able to:
 Familiar with static-error constant and system types.

 Analyze the system performance by investigate the steady state error.


Introduction

• The steady-state error is among the criteria that need to be considered and analyzed in determining the
performance of a particular system apart from its stability and transient response.

• It is defined as the difference between the input and output of a system in the limit as time goes to infinity.

= 1 -0.7
Difference between the actual output and the applied input.
 The steady-state error can be check by choosing the proper type of input (step, ramp, etc) depends on the
system type (0, I, or II).
 Steady-state error analysis is only useful for stable systems. It is important to check for system stability before
performing a steady-state error analysis.
 Steady-state error for a unity feedback system can be analyzed by referring to the forward transfer function, G(s).

E(s) = R(s) − C(s) C (s) = E (s )G (s )

R(s)
E(s) =
1+ G(s)

 Therefore, by applying final value theorem, the steady-state error can be obtained as follows:

∴e(∞) = lim e(t) = lim sE(s)


t→∞ s→0

sR(s)
= lim
s→0 1+ G(s)
EXAMPLE 8.1

For a negative feedback system shown in Figure 8.2, find the steady-state errors for the step input of 5u(t).
Illustrate your answer by drawing the input and output response of the system.

Figure 8.2
TYPES OF SYSTEM AND STATIC ERROR CONSTANTS

 The input response applied to test a system is referred to either step response, ramp response or

parabolic response.

 It depends on the type of system being tested, which is referring to the number of poles that is

situated at the origin of s-plane.

 If there is n pole at the origin, then the system is said to be a Type n system.
 Establishing the static error constants depends on the types of system whether Type 0, Type 1 or

Type 2.

 If the tested system is from Type 0 then the test that is applied to the system will refer to

the position constant, Kp. STEP input

 If it is from Type 1, refer to velocity constant, Kv RAMP input

 If it is from Type 2, refer to acceleration constant, Ka PARABOLIC input


The static error constants for each case mentioned above can be obtained by referring to
the following equations:
Static Error Constant Versus System Type
Static Error Constant Versus System Type
Example 8.2

Identify the system type shown in Figure 8.3 and determine the static error constant for
each case.
Example 8.3

An open-loop transfer function for a feedback control system is given by:


K(s +1)
G(s)H (s) =
s(1+Ts)(1+ 4s)
Determine the error constant and the steady-state error based on the unit step, ramp and parabolic input for K = 30 and T = 6.
Summary
o Analysis that refers to the steady-state error which several methods have been described

on how to perform the analysis.

o Examples are also included in this chapter to help you to clearly understand what is

meant.

o Terms like Static Error Constant are also explained


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