MT 323: Automatic Control (1)

MT 421: Automatic Control in

Mechanical Systems
Instructor. Gamal Abdelnasser

Lecture 12 Steady State Error

Dr. Shuaiby Mohamed

 Last Lecture

 Routh-Hurwitz Stability Criterion

 Examples

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 Special Cases in the First Column Array of the Routh’s Table:

1. Case-I: No element in the first column is zero.

2. Case-II: A zero in the first column but some other elements of the row

containing the zero in the first column are nonzero.

3. Case-III: A zero in the first column and the other elements of the row

containing the zero are also zero.

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 Example
Consider the following equation

The auxiliary polynomial obtained from the s4 row.

Taking derivative of the auxiliary polynomial.

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 Example (Cont.)
Consider the following equation

We see that there is one change in sign in the first column of the new array. Thus, the original
equation has one root with a positive real part. By solving for roots of the auxiliary polynomial
equation,

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 Today’s Lecture
Today we are going to discuss the following topics:

 Introduction

 Classification of Control Systems

 Steady State Error

 Static Error Constants

 Examples

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 Introduction
Disturbance

Input Error Output

+ Controller Actuator Process
+-

Sensor

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 Introduction (Cont.)
Closed Loop Position Control System

I/P i o
Potentio- Summing Power Servo-
meter amplifier amplifier D.C Motor
Amp

 o
O/P
Potentio-
meter

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 Introduction (Cont.)
Steady-state error (ESS) of the system is the difference where the controlled variable is and
where it should be.

D.C
Motor

• 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. Try to make this simulation
• 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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 Classification 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.

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 Final-Value Theorem

Taking the limit of all terms

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 Steady State Error of Unity Feedback Systems

Consider the system shown in following figure.

The 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 steady state error is (final-value theorem )

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 Static Error Constants
 When a control system is excited to a standard input signal the steady-state error may
be zero or infinite or constant

 Value of steady-state error depends on the input signal and system type

Static position error constant Kp

Static velocity error constant Kv

Static acceleration error constant Ka

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 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

The steady-state error in terms of the static position error constant Kp is given by

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 Static Position Error Constant (Kp) (Cont.)
For a Type 0 system

For Type 1 or higher systems

For a unit step input the steady state error ess is

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 Static Velocity Error Constant (Kv)
The steady-state error of the system for a unit-ramp input is

The static velocity error constant Kv is defined by

The steady-state error in terms of the static velocity error constant Kv is given by

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 Static Velocity Error Constant (Kv) (Cont.)
For a Type 0 system

For Type 1 systems

For Type 2 or higher systems

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 Static Velocity Error Constant (Kv) (Cont.)
For a ramp input the steady state error ess is

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 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

The steady-state error in terms of the static acceleration error constant Ka is given by

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 Static Acceleration Error Constant (Ka) (Cont.)
For a Type 0 system

For Type 1 systems

For Type 2 systems

For Type 3 or higher systems

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 Static Acceleration Error Constant (Ka) (Cont.)
For a parabolic input the steady state error ess is

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 Summary
A Unity Feedback Systems

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 Example 1
Consider the system shown in the following figure below. Evaluate system type, Kp, Kv, and Ka
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)

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 100( s  2)( s  5)
G( s ) 
s 2 ( s  8)( s  12)
K p  lim G( s ) K v  lim sG( s )
s 0
s 0

 100s( s  2)( s  5) 
 100( s  2)( s  5)  K v  lim  2 
K p  lim  2  s 0  s ( s  8)( s  12) 
s 0  s ( s  8)( s  12) 

Kp   Kv  

 100s 2 ( s  2)( s  5) 
K a  lim s 2G( s ) 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 (Cont.)
Kp   Kv   K a  10.4

0

0

 0.09

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 Example 2

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 Example 3

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 Example 4

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 Example 5
Consider the system shown in the following figure. Find the system type, the appropriate error
constant associated with the system type, and the steady-state error for a unit step input.

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 Any questions or
Comments?!

End of Lecture 12
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