S E V E N

Steady-State Errors
SOLUTIONS TO CASE STUDIES CHALLENGES
Antenna Control: Steady-State Error Design via Gain
76.39K
a. G(s) = . System is Type 1. Step input: e(∞) = 0; Ramp input:
s(s+150)(s+1.32)
1 1 2.59
e(∞) = K = 76.39K = K ; Parabolic input: e(∞) = ∞.
v
150 x 1.32
1 2.59
b. = = 0.2. Therefore, K = 12.95. Now test the closed-loop transfer function,
Kv K
989.25
T(s) = 3 , for stability. Using Routh-Hurwitz, the system is stable.
s +151.32s2+198s+989.25

s3 1 198

s2 151.32 989.25

s1 191.46253 0

s0 989.25 0

Video Laser Disc Recorder: Steady-State Error Design via Gain

a. The input, 15t2 , transforms into 30/s3. e(∞) = 30/Ka = 0.005.
0.2*600 30
Ka = * K1K2K3 = 6x10-3 K1K2K3. Therefore: e(∞) = 30/Ka = −3
20000 6x10 K1 K2 K3

= 5x10-3. Therefore K1K2K3 = 106.

2x10 5 (s + 600)
b. Using K1K2K3 = 106, G(s) = . Therefore, T(s) =
s2 (s + 2x104 )
2x10 5 (s + 600)
.
s3 + 2x104 s2 + 2x10 5 s + 1.2x10 8
Making a Routh table,
7-2 Chapter 7: Steady-State Errors

s3 1 2x105

s2 2x104 1.2x108

s1 194000 0

s0 120000000 0

we see that the system is stable.

c.
Program:
numg=200000*[1 600];
deng=poly([0 0 -20000]);
G=tf(numg,deng);
'T(s)'
T=feedback(G,1)
poles=pole(T)

Computer response:
ans =

T(s)

Transfer function:
200000 s + 1.2e008
------------------------------------
s^3 + 20000 s^2 + 200000 s + 1.2e008

poles =

1.0e+004 *

-1.9990
-0.0005 + 0.0077i
-0.0005 - 0.0077I

ANSWERS TO REVIEW QUESTIONS

1. Nonlinear, system configuration
2. Infinite
3. Step(position), ramp(velocity), parabola(acceleration)
4. Step(position)-1, ramp(velocity)-2, parabola(acceleration)-3
5. Decreases the steady-state error
6. Static error coefficient is much greater than unity.
7. They are exact reciprocals.
8. A test input of a step is used; the system has no integrations in the forward path; the error for a step input
is 1/10001.
9. The number of pure integrations in the forward path
 Solutions to Problems 7-3

10. Type 0 since there are no poles at the origin

11. Minimizes their effect
12. If each transfer function has no pure integrations, then the disturbance is minimized by decreasing the
plant gain and increasing the controller gain. If any function has an integration then there is no control over
its effect through gain adjustment.
13. No
14. A unity feedback is created by subtracting one from H(s). G(s) with H(s)-1 as feedback form an
equivalent forward path transfer function with unity feedback.
15. The fractional change in a function caused by a fractional change in a parameter
16. Final value theorem and input substitution methods

SOLUTIONS TO PROBLEMS
1.

The system is type 1, so for a step input 𝑒𝑠𝑠 = 0. For the ramp 32𝑡𝑢(𝑡), 𝐾𝑣 = lim 𝑠𝐺(𝑠) = 6750, 𝑒𝑠𝑠 =
𝑠→0
32
= 0.00474. For the parabolic input 𝑒𝑠𝑠 = ∞.
𝐾𝑣

2.

a. From the figure 𝑒𝑠𝑠 = 𝑟𝑠𝑠 − 𝑐𝑠𝑠 = 6 − 4 = 2.

b. Since the system is linear, and because the original input was 𝑟(𝑡) = 2𝑡𝑢(𝑡), the new steady state
2
error is 𝑒𝑠𝑠 = = 1.
2

3.
8
The system is type 2, 𝐾𝑎 = lim 𝑠 2 𝐺(𝑠) = 9492.19, 𝑒𝑠𝑠 = 2 = 0.001868.
𝑠→0 𝐾𝑎

4.
Reduce the system to an equivalent unit feedback system by first moving 1/s to the left past
1
the summing junction. This move creates a forward path consisting of a parallel pair ( + 1)
𝑠
3
in cascade with a feedback loop consisting of 𝐺(𝑠) = and 𝐻(𝑠) = 2. Thus,
𝑠+4

𝑠+1 3/(𝑠 + 4)
𝐺𝑒 (𝑠) = ( )( )
𝑠 1 + 24/(𝑠 + 4)

Hence the system is Type 1, and the steady-state errors are as follows:

Steady state error for 10𝑢(𝑡) = 0

7-4 Chapter 7: Steady-State Errors

10 10
Steady state error for 10𝑡𝑢(𝑡) = = = 93.33
𝐾𝑣 3/28

Steady state error for 10𝑡 2 𝑢(𝑡) = ∞

5.

4
System is type 0, so for 4𝑢(𝑡), 𝐾𝑝 = lim 𝐺(𝑠) = 2 , 𝑒𝑠𝑠 = = 1.333. For ramp and parabolic
𝑠→0 1+𝐾𝑝

inputs 𝑒𝑠𝑠 = ∞.

6.
R( s ) 150 / S 4
E ( s) = =
1 + G( s) 1 + 210( S + 4)( S + 6)( S + 11)( S + 13)
S 3 ( S + 7)( S + 14)( S + 19)

Thus,
150
e() = lim sE ( s) = = 0.3875
s →0 (210)(4)(6)(11)(13)
(7)(14)(19)

7.

6
. s2
R(s) s4 3
Therefore, e(∞) = lim s2E(s) = lim s2 1+G(s) = lim = .
s→ 0 s→ 0 s →0 200( s + 2)( s + 3) 50
1+ 2
s ( s + 1)( s + 15)

8.
50
Since 𝐾𝑃 ≠ ∞, the system is type 0. Therefore for 𝑟(𝑡) = 50𝑢(𝑡), 𝑒𝑠𝑠 = = 16.67; and for
1+𝐾𝑝

𝑟(𝑡) = 50𝑡𝑢(𝑡), 𝑒𝑠𝑠 = ∞.

9.
a. The closed-loop transfer function is,
5000
T (s) = 2
s + 75s + 5000
from which, n = 5000 and 2n = 75. Thus,  = 0.53 and
2
%OS= e − / 1− x100 = 14.01%.
4 4
b. Ts = = = 0.107 second.
 n 75 / 2
c. Since system is Type 1, ess for 5u(t) is zero.
 Solutions to Design Problems 7-5

5000 5
d. Since Kv is = 66.67, ess = = 0.075.
75 Kv
e. ess = ∞, since system is Type 1.

10.
83333.3
𝐾𝒗 = lim 𝑠𝐺(𝑠) = = 40000. So 𝛼 = 2.0833.
𝑠→0 ∝

11.
Kx2 x 4 x6
K a = lim s 2 G ( s) = = 10,000 . Therefore, K = 7291.667.
s →0 5 x7

12.
6
One way to solve the problem is obtain 𝑇(𝑠) = using any method. Then 𝐸(𝑠) =
𝑠 3 +6𝑠 2 +11𝑠+18
𝑠 3 +6𝑠 2 +11𝑠+12
(1 − 𝑇(𝑠))𝑅(𝑠) = 𝑅(𝑠).
𝑠 3 +6𝑠 2 +11𝑠+18
12 20
When 𝑟(𝑡) = 20𝑢(𝑡), 𝑒𝑠𝑠 = lim 𝑠𝐸(𝑠) = (20)=13.3333= .Solving we get 𝐾𝑃 = 0.5
𝑠→0 18 1+𝐾𝑃

When 𝑟(𝑡) = 20𝑡𝑢(𝑡), 𝑒𝑠𝑠 = lim 𝑠𝐸(𝑠) = ∞. So 𝐾𝑣 = 0.

𝑠→0

When 𝑟(𝑡) = 20𝑡 2 𝑢(𝑡), 𝑒𝑠𝑠 = lim 𝑠𝐸(𝑠) = ∞. So 𝐾𝑎 = 0.

𝑠→0

Since 𝐾𝑃 = 0.5, 𝐾𝑣 = 0, 𝐾𝑎 = 0 this is a type 0 system.

13.
a. Collapsing the inner loop and multiplying by 1000/s yields the equivalent forward-path transfer
function as,
105 (𝑠 + 2)
𝐺𝑒 (𝑠) =
𝑠(𝑠 2 + 505𝑠 + 1000)

Hence, the system is Type 1.

b. Following the procedure in a., we get that the forward path is

105 (𝑠 + 2)
𝐺𝑒 (𝑠) =
𝑠 3 + 5𝑠 2 + 500𝑠 + 1000

So the system is type 0.

14.

The transfer function from command input to error signal can be found using Mason’s rule or any
other method:
7-6 Chapter 7: Steady-State Errors

10
𝐸(𝑠) 1 − 𝑠(𝑠 + 2) 𝐺2 𝑠(𝑠 + 2) − 10𝐺2
= =
𝑅(𝑠) 1 + 10 𝐺 𝑠(𝑠 + 2) + 10𝐺1
𝑠(𝑠 + 2) 1

1
Letting R ( s ) = and by the final value theorem:
s
G ( s)
ess = Lim sE ( s) = − Lim 2
s →0 s →0 G ( s )
1

a. If G1 is type 0, it is required that 𝐺2 (0) = 0.

b. If G1 is type 1, it is required that 𝐺2 (𝑠) must be type 0, or 𝐺2 (0) = 0.
c. If G1 is type 2, it is required that 𝐺2 (𝑠) must be type 0 or 1, or 𝐺2 (0) = 0.

15.
• R( s )
e()= lims 2 E(s) = lims 2 .
s →0 s →0 1 + G( s)
1 • s
For Type 0, step input: R(s) = , and e()= lim =0
s s →0 1 + G ( s )

1
For Type 0, ramp input: R(s) = 2 , and
s
• 1 1 1
e()= lim = =
s →0 1 + G ( s ) 1 + lim G ( s ) 1 + K p
s →0
1 • 1
For Type 0, parabolic input: R(s) = 3 , and e()= lim = 
s s →0 s + sG ( s )

1 • s
For Type 1, step input: R(s) = , and e()= lim =0
s s →0 1 + G ( s )

1 • 1
For Type 1, ramp input: R(s) = 2 , and e()= lim = 0
s s →0 1 + G ( s )

1 • 1 1
For Type 1, parabolic input: R(s) = 3 , and e()= lim = K
s s →0 s + sG ( s ) v

1 • s
For Type 2, step input: R(s) = , and e()= lim =0
s s →0 1 + G ( s )

1 • 1
For Type 2, ramp input: R(s) = 2 , and e()= lim = 0
s s →0 1 + G ( s )

1 • 1
For Type 2, parabolic input: R(s) = 3 , and e()= lim = 0
s s →0 s + sG ( s )
 Solutions to Design Problems 7-7

16.
30 30 900
e ( ) = = = = 0.005 .
K v Ka / 30 Ka

Hence, Ka = 180000.
17.
𝐾
𝑠(𝑠+3)
Find the equivalent forward loop transfer function 𝐺(𝑠) for a unit feedback system. 𝐺(𝑠) = 9 =
1+
𝑠+3
𝐾 50 50
. Thus 𝑒(∞) = = = 0.05; from which 𝐾 = 12000.
𝑠(𝑠+12) 𝐾𝑣 𝐾/12

18.
10 1 30K
a. e(∞) = = . But, Kv = = 60,000. Hence, K = 10,000. For finite error for a ramp
Kv 6000 5

input, n = 1.
10000( s 2 + 3s + 30)
b. K p = lim G ( s ) = lim =
s →0 s →0 s( s + 5)
10000( s 2 + 3s + 30)
Kv = lim sG( s) = lim s = 60000
s →0 s →0 s( s + 5)
10000( s 2 + 3s + 30)
K a = lim s 2G ( s) = lim s 2 =0
s →0 s →0 s( s + 5)
19.
a. Type 0
R(s) 12 / s 12
b. E(s) =
1 + G(s)
. Thus, e() = lim sE ( s) = lim s = .
s →0 s →0 K ( s + 6s + 6) 1 + 0.08K
2
1+
( s + 5) 2 ( s + 3)

c. e(∞) = ∞, since the system is Type 0.

7-8 Chapter 7: Steady-State Errors

20.
1 1
e(∞) = = = 0.05. Thus, K = 142.5
1 + K p 1 + 2K
15

21.
To meet steady-state error characteristics:

Therefore, K = 92.
K(s+)
To meet the transient requirement: Since T(s) = 2 ,
s + (K+2)s + (2 + K)

n2 = 10 = 2 + K ; 2n = 10 = K+2 Solving for ,  = ±1. For  = +1, K = 1.16 and  = 7.76.

An alternate solution is  = -1, K = 5.16, and  = 1.74.

22.
a. System Type = 1
K 1 1 K
b. Assume G(s) = . Therefore, e(∞) =K = = 0.01, or = 100.
s(s+) v K/ 
G(s) K
But, T(s) = = 2 .
1 + G(s) s +s+K
100
Since n = 10, K = 100, and  = 1. Hence, G(s) = .
s(s+1)
1
c. 2n =  = 1. Thus,  = .
20

23.
a. Since the steady-state output of the system can follow a ramp input with a finite error,
then the system is type-1;

K
b. The velocity error constant is given by: K v = lim sG ( s ) = .
s→0 

1 K
Given that e() = = 0.01 , we have: K v = = 100 .
Kv 
 Solutions to Design Problems 7-9

G( s) K K
But, T ( s ) = = = 2 , where K =  n2 = 25 .
1 + G( s) s( s +  ) + K s +  s + K

K
Thus,  = = 0.25 .
100

0.25
c. But  = 2n = 0.25   = = 0.025
25

C ( s) 4
d. When K = 4 and α = 0.4, T ( s ) = = 2 , then:
R( s) s + 0.4s + 4

K 4 1
Kv = = = 10  e() = = 0.1 ;  n = 4 = 2 rad/sec;
 0.4 Kv

0.4
 = 2n = 0.4   = = 0.1 .
2 2
24.
G(s) K(s+)
T(s) = = 2 . Hence, K+ = 2, K = n2 = (12+12) = 2.
1 + G(s) s +(K+) s+K
1 
Also, e(∞) = = = 0.1. Therefore,  = 0.1K = 0.2, K = 1.8, and  = 1.111.
Kv K

25.
K K
a. For 20% overshoot,  = 0.456. Also, Kv = 1000 = . Since T(s) = 2 , 2n = a, and
a s +as+K

n = K . Hence, a = 0.912 K . Solving for a and K, K = 831,744, and a = 831.744.

1 K K
b. For 10% overshoot,  = 0.591. Also, = 0.01. Thus, Kv = 100 = . Since T(s) = 2 ,
Kv a s +as+K

2n = a, and n = K . Hence, a = 1.182 K . Solving for a and K, K = 13971 and a = 139.71.

26.
a. For the inner loop:
1
s2(s+1) s
G1(s) = = 4 3
1 s +s +1
1+ 3
s (s+1)
1 1
Ge(s) = 2 G1(s) = 5 4 3
s (s+3) s(s +4s +3s +s+3)

Ge(s) 1
T(s) = =
1+Ge(s) s6+4s5+3s4+s2+3s+1

b. From Ge(s), system is Type 1.

7-10 Chapter 7: Steady-State Errors

c. Since system is Type 1, ess = 0

1 5
d. ; From Ge(s), Kv = lim sGe (s) = . Therefore, ess = = 15.
s→ 0 3 Kv

e. Poles of T(s) = -3.0190, -1.3166, 0.3426 ± j0.7762, -0.3495. Therefore, system is unstable and

results of (c) and (d) are meaningless

27.
1 5𝐾 𝐺(𝑠)
The equivalent forward transfer function is 𝐺(𝑠) = 𝑠(𝑠+2+5𝐾 )
. Also 𝑇(𝑠) = 1+𝐺(𝑠) =
𝑓
5𝐾1 5𝐾
𝑠2 +(2+5𝐾𝑓 )𝑠+5𝐾1
. 1
From the problem statement 𝐾𝑣 = 2+5𝐾 = 20 and 2𝜔𝑛 = 2 + 5𝐾𝑓
𝑓

where 𝜔𝑛 = √5𝐾1 . Solving simultaneously for 𝐾1 and 𝐾𝑓 we get 𝐾1 = 156.8, 𝐾𝑓 = 7.44.

28.
Error due only to disturbance: Rearranging the block diagram to show D(s) as the input,

Therefore,

K2
s(s+4) K2(s+3)
-E(s) = D(s) K1K2(s+2) = D(s) s(s+3)(s+4) + K1K2(s+2)
1 + s(s+3)(s+4)

1 3
For D(s) = s , eD(∞) = lim sE ( s ) = − .
s→0 2 K1
1 1 6
Error due only to input: eR(∞) = K = K K = K K .
v 1 2 1 2
6

Design:
3
eD(∞) = - 0.00001 = - 2K , or K1 = 150,000.
1
 Solutions to Design Problems 7-11

6
eR(∞) = 0.002 = K K , or K2 = 0.02
1 2

29.
35 35
a. The open loop transmission is G ( s) P( s) = , so K P = Lim G ( s ) P( s ) = . For a unit
s+2 s →0 2
1
step input essr = = 0.0541 . Since the input is threefold that we have that
1+ KP
essr = 3(0.0541) = 0.1622

b.
7-12 Chapter 7: Steady-State Errors

7
b. The transfer function from disturbance to error signal is
E (s)
=− s+2 =− 7
D( s) 7 s + 37
1+ 5
s+2
 7  1  7
Using the final value theorem essd = Lim sE ( s) = Lim s −  −  = = 0.1892
s →0 s →0
 s + 37  s  37
c.
 Solutions to Design Problems 7-13

e. etot = essr + essd = 0.1622 + 0.1892 = 0.351

f.
7-14 Chapter 7: Steady-State Errors

30.
C(s) G1 (s)G2 (s) E (s) G1 (s)
= ;  a1 =
R(s) 1 + G2 (s)H1 (s) R(s) 1 + G2 (s)H1 (s)
sR(s)G1 (s)
ea1 () = lim
s →0 1 + G (s)H (s)
2 1
31.
System 1:
Forming a unity-feedback path, the equivalent unity feedback system has a forward transfer function of

10(s + 10)
s(s + 2) 10(s + 10)
Ge (s) = =
10(s + 10)(s + 3) 11s + 132s + 300
2
1+
s(s + 2)
1
a. Type 0 System; b. Kp = K p = lim Ge (s) = 1/ 3 ; c. step input; d. e(∞) = = 3/4;
s→ 0 1 + Kp
1
s 
sR(s) s
e. ea −step () = lim = lim 10(s + 10)(s + 4) = 0
.
s→ 0 1+ G(s)H(s) s→ 0
1+
s(s + 2)
System 2:
Forming a unity-feedback path, the equivalent unity feedback system has a forward transfer function of
 Solutions to Design Problems 7-15

10(s + 10)
s(s + 2) 10(s + 10)
Ge (s) = 10(s + 10)s = s(11s + 102)
1+
s(s + 2)
1
a. Type 1 System; b. Kv = lim sGe (s) = 0.98 ; c. ramp input; d. e() = = 1.02 ;
s→ 0 Kv
1
s 2 
sR(s) s 1
e. ea −ramp () = lim = lim = .
s →0 1 + G(s)H(s) s→0 10(s + 10)(s + 1) 50
1+
s(s + 2)
32.
System 1. Push 5 to the right past the summing junction:

R(s) + s + 4)
5(s+4)
5(
( s + 3)( s + 7) C(s)
(s+ 5)(s+ 8)
-

Produce a unity-feedback system:

R(s) + 5(5(s+4)
s + 4) C(s)
( s + 3)( s + 7)
(s + 5)(s + 8)
- -

5( s + 4)
( s + 3)( s + 7) 5( s + 4) 20 1
Thus, Ge ( s ) = = 2 . Kp = . estep = = 0.67, eramp = ∞,
5( s + 4) s + 15 s + 41 41 1+K p
1+
( s + 3)( s + 7)
eparabola = ∞.
5( s + 4)
Checking for stability, from first block diagram above, T(s) = 2 . The system is stable.
s + 20s + 61

System 2. Push 20 to the right past the summing junction and push 10 to the left past the pickoff point:
7-16 Chapter 7: Steady-State Errors

200( s + 4)
R(s) + 200(s+4) C(s)
( s + 3)( s + 7)
(s+5)(s+8)
-

1
40
Produce a unity-feedback system:

s + 4)
200(s+4)
200(
R(s) + C(s)
( s + 3)( s + 7)
(s+5)(s+8)
-
-

-39
40

200( s + 4)
( s + 3)( s + 7) 200( s + 4) 200(4)
Thus, Ge ( s ) = = 2 . Kp = = −1.05 .
200( s + 4)  39  s − 185s − 759 −759
1−  
( s + 3)( s + 7)  40 
1
estep = = -20, eramp = ∞, eparabola = ∞.
1+Kp
Ge ( s ) 200( s + 4)
Checking for stability, from first block diagram above, T ( s) = = 2 .
1 + Ge ( s ) s + 15s + 41
Ge ( s )
Therefore, system is stable and steady-state error calculations are valid. =
1 + Ge ( s )

33.
Produce a unity-feedback system:
 Solutions to Design Problems 7-17

R(s) + (s+1) C(s)

- s2(s+2)
-

K-1

(s+1)
s2(s+2) s+1 1
Thus, Ge(s) = = 3 2 . Error = 0.001 = .
(s+1)(K-1) s +2s +(K-1)s+(K-1) 1+Kp
1+ 2
s (s+2)
1
Therefore, Kp = 999 = . Hence, K = 1.001001.
K-1
(s+1)
s2(s+2) s+1
Check stability: Using original block diagram, T(s) = = .
K(s+1) s3+2s2+Ks+K
1+ 2
s (s+2)
Making a Routh table:

s3 1 K

s2 2 K
K
s1 2 0

s0 K 0

Therefore, system is stable and steady-state error calculations are valid.

34.
Program:
K=10
numg1=K*poly([-1 -2]);deng1=poly([0 0 -4 -5 -6]);
'G1(s)='
G1=tf(numg1,deng1)
numh1=[1 6];denh1=poly([-8 -9]);
'H1(s)='
H1=tf(numh1,denh1)
'H2(s)=H1-1'
H2=H1-1
7-18 Chapter 7: Steady-State Errors

%Form Ge(s)=G1(s)/(1+G1(s)H2(s)
'Ge(s)=G1(s)/(1+G1(s)H2(s))'
Ge=feedback(G1,H2)
%Test system stability
'T(s)=Ge(s)/(1+Ge(s))'
T=feedback(Ge,1)
pole(T)
Kp=dcgain(Ge)
'sGe(s)'
sGe=tf([1 0],1)*Ge;
sGe=minreal(sGe)
Kv=dcgain(sGe)
's^2Ge(s)'
s2Ge=tf([1 0],1)*sGe;
s2Ge=minreal(s2Ge)
Ka=dcgain(s2Ge)
essstep=30/(1+Kp)
essramp=30/Kv
essparabola=60/Ka

K=1E6
numg1=K*poly([-1 -2]);deng1=poly([0 0 -4 -5 -6]);
'G1(s)='
G1=tf(numg1,deng1)
numh1=[1 6];denh1=poly([-8 -9]);
'H1(s)='
H1=tf(numh1,denh1)
'H2(s)=H1-1'
H2=H1-1
%Form Ge(s)=G1(s)/(1+G1(s)H2(s)
'Ge(s)=G1(s)/(1+G1(s)H2(s))'
Ge=feedback(G1,H2)
%Test system stability
'T(s)=Ge(s)/(1+Ge(s))'
T=feedback(Ge,1)
pole(T)
Kp=dcgain(Ge)
'sGe(s)'
sGe=tf([1 0],1)*Ge;
sGe=minreal(sGe)
Kv=dcgain(sGe)
's^2Ge(s)'
s2Ge=tf([1 0],1)*sGe;
s2Ge=minreal(s2Ge)
Ka=dcgain(s2Ge)
essstep=30/(1+Kp)
essramp=30/Kv
essparabola=60/Ka

Computer response:
K =

10
 Solutions to Design Problems 7-19

ans =

G1(s)=

Transfer function:
10 s^2 + 30 s + 20
-------------------------------
s^5 + 15 s^4 + 74 s^3 + 120 s^2

ans =

H1(s)=

Transfer function:
s + 6
---------------
s^2 + 17 s + 72

ans =

H2(s)=H1-1

Transfer function:
-s^2 - 16 s - 66
----------------
s^2 + 17 s + 72

ans =

Ge(s)=G1(s)/(1+G1(s)H2(s))

Transfer function:
10 s^4 + 200 s^3 + 1250 s^2 + 2500 s + 1440
-----------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 + 2448 s^4 + 7178 s^3 + 7480 s^2 - 2300 s - 1320

ans =

T(s)=Ge(s)/(1+Ge(s))

Transfer function:
10 s^4 + 200 s^3 + 1250 s^2 + 2500 s + 1440
---------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 + 2458 s^4 + 7378 s^3 + 8730 s^2 + 200 s + 120

ans =

-8.5901 + 0.3993i
-8.5901 - 0.3993i
-6.0000
-4.4042 + 0.1165i
-4.4042 - 0.1165i
-0.0057 + 0.1179i
7-20 Chapter 7: Steady-State Errors

-0.0057 - 0.1179i

Kp =

-1.0909

ans =

sGe(s)

Transfer function:
10 s^5 + 200 s^4 + 1250 s^3 + 2500 s^2 + 1440 s
-----------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 + 2448 s^4 + 7178 s^3 + 7480 s^2 - 2300 s - 1320

Kv =

ans =

s^2Ge(s)

Transfer function:
10 s^6 + 200 s^5 + 1250 s^4 + 2500 s^3 + 1440 s^2
-----------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 + 2448 s^4 + 7178 s^3 + 7480 s^2 - 2300 s - 1320

Ka =

essstep =

-330.0000

essramp =

Inf

essparabola =

Inf

K =

1000000

ans =

G1(s)=
 Solutions to Design Problems 7-21

Transfer function:
1e006 s^2 + 3e006 s + 2e006
-------------------------------
s^5 + 15 s^4 + 74 s^3 + 120 s^2

ans =

H1(s)=

Transfer function:
s + 6
---------------
s^2 + 17 s + 72

ans =

H2(s)=H1-1

Transfer function:
-s^2 - 16 s - 66
----------------
s^2 + 17 s + 72

ans =

Ge(s)=G1(s)/(1+G1(s)H2(s))

Transfer function:

1e006 s^4 + 2e007 s^3 + 1.25e008 s^2 + 2.5e008 s + 1.44e008

--------------------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 - 997542 s^4 - 1.899e007 s^3 - 1.16e008 s^2 - 2.3e008 s

- 1.32e008

ans =

T(s)=Ge(s)/(1+Ge(s))

Transfer function:

1e006 s^4 + 2e007 s^3 + 1.25e008 s^2 + 2.5e008 s + 1.44e008

--------------------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 + 2458 s^4 + 1.007e006 s^3 + 9.009e006 s^2 + 2e007 s

+ 1.2e007

ans =

-28.2460 +22.2384i
7-22 Chapter 7: Steady-State Errors

-28.2460 -22.2384i
16.7458 +22.2084i
16.7458 -22.2084i
-6.0000
-1.9990
-1.0007

Kp =

-1.0909

ans =

sGe(s)

Transfer function:

1e006 s^5 + 2e007 s^4 + 1.25e008 s^3 + 2.5e008 s^2 + 1.44e008 s

--------------------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 - 9.975e005 s^4 - 1.899e007 s^3 - 1.16e008 s^2

- 2.3e008 s - 1.32e008

Kv =

ans =

s^2Ge(s)

Transfer function:

1e006 s^6 + 2e007 s^5 + 1.25e008 s^4 + 2.5e008 s^3 + 1.44e008 s^2
--------------------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 - 9.975e005 s^4 - 1.899e007 s^3 - 1.16e008 s^2

- 2.3e008 s - 1.32e008

Ka =

essstep =

-330.0000

essramp =

Inf
 Solutions to Design Problems 7-23

essparabola =

Inf
35.
a. Mason’s rule can be used to find the open loop transfer from input to output:
1 1
Only one forward path, T1 = K T ( K v + )K m
s LCs 2
K m
Three touching loops, L1 = −
, L2 = −
1
, L3 = −
1
Ls LCs 2 Z L Cs
K  1 1
 = 1+ m + 2
+ ; 1 = 1
Ls LCs Z L Cs
KT K m 1
(K v + )
T1  1 LCs 2
s 1
G ( s) = = . Letting Z L =
 K  1 1 sC L
1+ m + 2
+
Ls LCs Z L Cs
KT K m 1
(K v + )
LCs 2
s K K ( K s + 1)
G(s) = = 2 T m v
K  1 C s L(C + C L ) s + K mC 
1+ m + 2
+ L
Ls LCs C

Since the system is not unity feedback, we calculate

K T K m ( K vs + 1)
G ( s) s L(C + C L ) s + K mC 
2
=
1 + GH ( s ) − G ( s) K K ( K s + 1) K K ( K s + 1)
1+  2 T m v − 2 T m v
s L(C + C L ) s + K mC  s L(C + C L ) s + K mC 
K K ( K vs + 1)
= T m

s 2 L(C + C L ) s + K mC  + (  − 1) T m ( K vs + 1)
K K

The system is type 0.

G ( s) 1
b. For a step input we calculate K P = Lim =
s →0 1 + GH ( s) − G ( s)  − 1
1 1
Then ess = = 1−
1+ KP 

36.
G1(s)G2(s) D(s)G2(s)
Y(s) = R(s) +
1 + G1(s)G2(s)H(s) 1 + G1(s)G2(s)H(s)
7-24 Chapter 7: Steady-State Errors

G1(s)G2(s) D(s)G2(s)
E(s) = R(s) - Y(s) = R(s) - R(s) -
1 + G1(s)G2(s)H(s) 1 + G1(s)G2(s)H(s)

G1(s)G2(s) G2(s)
= 1 -  R(s) - D(s)
 1 + G1(s)G2(s)H(s) 1 + G1(s)G2(s)H(s)
Thus,

G1(s)G2(s) G2(s)
e(∞) = lim sE(s) = lim  1 - 1 + G (s)G (s)H(s) R(s) - 1 + G (s)G (s)H(s) D(s)
 

s0 s0   1 2  1 2 

37.
a. E(s) = R(s) - C(s). But, C(s) = [R(s) - C(s)H(s)]G1(s)G2(s) + D(s). Solving for C(s),

R(s)G1(s)G2(s) D(s)
C(s) = +
1 + G1(s)G2(s)H(s) 1 + G1(s)G2(s)H(s)
Substituting into E(s),

G1(s)G2(s)
E(s) = 1 -  R(s) - 1
D(s)
 1 + G1(s)G2(s)H(s) 1 + G1(s)G2(s)H(s)

1
b. For R(s) = D(s) = ,
s

lim G1(s)G2(s)
s0 1
e(∞) = lim sE(s) = 1 - -
1 + lim G1(s)G2(s)H(s) 1 + lim G1(s)G2(s)H(s)
s0
s0 s0
c. Zero error if G1(s) and/or G2(s) is Type 1. Also, H(s) is Type 0 with unity dc gain.

38.
First find the forward transfer function of an equivalent unity feedback system.

K
s ( s + 2)(s + 5) K
Ge ( s ) = = 3
K ( s + a − 1) s + 7 s + ( K + 10) s + K (a − 1)
2
1+
s ( s + 2)(s + 5)

1 1 a −1
Thus, e() = = =
1+ K p 1+ K a
K (a − 1)
 Solutions to Design Problems 7-25

a e a  a − (a − 1)  1
Finding the sensitivity of e(∞), we get: Se:a = =   = .
e a  a − 1   a2  a −1
 
 a 

The following MATLAB M-file was written and used to plot the sensitivity, e, as a function of the
parameter a. The graph obtained is shown below.

a = 0 : 0.1 : 10;
e = (a-1).^-1;
plot (a, e,'LineWidth',2)
grid
title 'Sensitivity to Parameter a'
xlabel 'a'
ylabel 'Sensitivity of errror, e, to a'

Sensitivity to Parameter a
10

4
Sensitivity of errror, e, to a

-2

-4

-6

-8

-10
0 1 2 3 4 5 6 7 8 9 10
a

39.
From Eq. (7.70),
K K K
 (s+2)
1 2
  (s+2)
2
 2-K2
e(∞) = 1 - lim  K K (s+1) - lim 
K K (s+1)
=
2+K1K2
s0 1 + 1 2 s0 1 + 1 2
 (s+2)   (s+2) 
7-26 Chapter 7: Steady-State Errors

Sensitivity to K1:
K1 e K 1 K2 (100)(0.1)
Se:K1 = e K = - 2+K K = - 2+(100)(0.1) = - 0.833
1 1 2
Sensitivity to K2:
K2 e 2K2(1+K1) 2(0.1)(1+100)
Se:K2 = e K = (K -2)(2+K K ) = (0.1-2)(2+(100)(0.1)) = - 0.89
2 2 1 2

40.
a. Using Mason’s rule:
Kt 1   02  mr
T1 = 1 ; Loops L1 = m = + mr and L2 = − , no
s +  0 M US s +  s + 0 s +  s +
2 2 r 2 2

mr
non-touching loops.  1 = 1 +
s +
mr
1+
E T1 1 s +
= =
R   2 
1 + mr − 2 0 2 mr
s +  s + 0 s + 
b. For a unit step input,
mr
1+
s+ 1 1 + mr
ess = Lim s = = 1 + mr
s →0  02
 s 1 + mr − mr
1 + mr − mr
s +  s 2 +  02 s + 
c. For a unit ramp input,
mr
1+
ess = Lim s s + 1
=
s →0  02
 s2
1 + mr − mr
s +  s 2 +  02 s + 
d. The system is type 0.

41.
a. Following Figure P7.26, the transfer function from 𝛿𝑓 to e is given by:
𝑒 𝑟 ∗ − 𝐺𝑓
=
𝛿𝑓 1 + 𝐾𝐺𝑟

1
For 𝛿𝑓 = we have that in steady state
𝑠
𝑏2
0.8 −
𝑎2
𝑒(∞) =
𝑏
1 + 𝐾(0) 4
𝑎2

It can be seen from this expression that if 𝐾(𝑠) is type 1 or larger 𝑒(∞) = 0.
 Solutions to Design Problems 7-27

b.From Figure P7.26:

𝑟 𝐺𝑓 + 𝑟 ∗ 𝐾𝐺𝑟
=
𝛿𝑓 1 + 𝐾𝐺𝑟

The error is now defined as

𝑟 𝐺𝑓 +𝑟 ∗ 𝐾𝐺𝑟 1+𝐾𝐺𝑟 −𝐺𝑓 −𝑟 ∗ 𝐾𝐺𝑟
1−𝛿 =1− 1+𝐾𝐺𝑟
= 1+𝐾𝐺𝑟
𝑓

In steady state this expression becomes:

𝑏 𝑏 𝑏 𝑏 𝑏
𝑟 1 + 𝐾(0) 𝑎4 − 𝑎2 − 0.8𝐾(0) 𝑎4 1 + 0.2𝐾(0) 𝑎4 − 𝑎2
2 2 2 2 2
1 − (0) = =
𝛿𝑓 𝑏4 𝑏4
1 + 𝐾(0) 1 + 𝐾(0)
𝑎2 𝑎2
It can be seen in this equation that the steady state error cannot be made zero.

42.
a. The system’s type is 0 because the system shows a nonzero steady state error for a step
input

b. 𝑒𝑠𝑠 ≈ 1 − 0.37 = 0.63

c. Since the system is type 0, for a ramp input 𝑒𝑠𝑠 → ∞.

43.

a. We will calculate the steady state error from 𝑒(𝑡) = 𝑟(𝑡) − 𝑐(𝑡) so we start by calculating the

system’s closed loop transfer function. From Mason’s Rule:

𝐾1 𝐾2 𝐾3 𝐾4
𝐶(𝑠) (1 + 𝑠𝑇2 )(1 + 𝑠𝑇3 )(1 + 𝑠𝑇4 )
𝑇= =
𝑅(𝑠) 𝐾1 𝐾2 𝐾3 𝐾4 𝛽 𝐾2 𝐾3 𝐾4 𝑠𝑣2 𝐾3 𝐾4 𝑠𝑣3
1+ + +
(1 + 𝑠𝑇2 )(1 + 𝑠𝑇3 )(1 + 𝑠𝑇4 ) (1 + 𝑠𝑇2 )(1 + 𝑠𝑇3 )(1 + 𝑠𝑇4 ) (1 + 𝑠𝑇3 )(1 + 𝑠𝑇4 )
𝐾1 𝐾2 𝐾3 𝐾4
=
(1 + 𝑠𝑇2 )(1 + 𝑠𝑇3 )(1 + 𝑠𝑇4 ) + 𝐾1 𝐾2 𝐾3 𝐾4 𝛽 + 𝐾2 𝐾3 𝐾4 𝑠𝑣2 + 𝐾3 𝐾4 𝑠𝑣3 (1 + 𝑠𝑇2 )

𝐸(𝑠) = 𝑅(𝑠) − 𝐶(𝑠)

1 𝐾1 𝐾2 𝐾3 𝐾4
= (1 − )
𝑠 (1 + 𝑠𝑇2 )(1 + 𝑠𝑇3 )(1 + 𝑠𝑇4 ) + 𝐾1 𝐾2 𝐾3 𝐾4 𝛽 + 𝐾2 𝐾3 𝐾4 𝑠𝑣2 + 𝐾3 𝐾4 𝑠𝑣3 (1 + 𝑠𝑇2 )
1 (1 + 𝑠𝑇2 )(1 + 𝑠𝑇3 )(1 + 𝑠𝑇4 ) + 𝐾1 𝐾2 𝐾3 𝐾4 𝛽 + 𝐾2 𝐾3 𝐾4 𝑠𝑣2 + 𝐾3 𝐾4 𝑠𝑣3 (1 + 𝑠𝑇2 ) − 𝐾1 𝐾2 𝐾3 𝐾4
= ( )
𝑠 (1 + 𝑠𝑇2 )(1 + 𝑠𝑇3 )(1 + 𝑠𝑇4 ) + 𝐾1 𝐾2 𝐾3 𝐾4 𝛽 + 𝐾2 𝐾3 𝐾4 𝑠𝑣2 + 𝐾3 𝐾4 𝑠𝑣3 (1 + 𝑠𝑇2 )

Applying the Final Value Theorem

𝑒𝑠𝑠
(1 + 𝑠𝑇2 )(1 + 𝑠𝑇3 )(1 + 𝑠𝑇4 ) + 𝐾1 𝐾2 𝐾3 𝐾4 𝛽 + 𝐾2 𝐾3 𝐾4 𝑠𝑣2 + 𝐾3 𝐾4 𝑠𝑣3 (1 + 𝑠𝑇2 ) − 𝐾1 𝐾2 𝐾3 𝐾4
= lim 𝑠𝐸(𝑠) = lim
𝑠→0 𝑠→0 (1 + 𝑠𝑇2 )(1 + 𝑠𝑇3 )(1 + 𝑠𝑇4 ) + 𝐾1 𝐾2 𝐾3 𝐾4 𝛽 + 𝐾2 𝐾3 𝐾4 𝑠𝑣2 + 𝐾3 𝐾4 𝑠𝑣3 (1 + 𝑠𝑇2 )
1 + 𝐾1 𝐾2 𝐾3 𝐾4 𝛽 − 𝐾1 𝐾2 𝐾3 𝐾4
=
1 + 𝐾1 𝐾2 𝐾3 𝐾4 𝛽
7-28 Chapter 7: Steady-State Errors

b. Since the steady state error to a step input is non-zero the system is type 0

44.
The Simulink model of this system and its step response (displayed in blue) from t = 0 to 300 seconds
are shown below. Here, the reference input, r(t), is a unit step, u(t), applied at t = 0 (displayed in
green), and the disturbance is d(t) = 0.25 u(t) applied at t = 150 seconds (displayed in yellow). As
could be seen from this plot, the steady-state errors due to a step reference input, r(t) = u(t), and due to
a disturbance, d(t) = 0.25 u(t), are both equal to zero.

It should be noted, however, that the relative stability of this Type 3 system is poor, since it exhibits a
high percent overshoot, % OS  80 %, due to the unit-step reference input.
 Solutions to Design Problems 7-29

45.
The modified Simulink models of this system and their responses (displayed in blue) from t = 0 to 100
seconds are shown below. In the top model, the reference input, r(t), is a unit ramp, t u(t), applied at t =
0 (displayed in green), and the disturbance is d(t) = 0.25 t u(t) applied at t = 50 sec (displayed in
yellow). As could be seen from this plot, the steady-state position errors due to the unit-ramp reference
input and the 0.25 t u(t) disturbance ramp are equal to zero.
7-30 Chapter 7: Steady-State Errors
 Solutions to Design Problems 7-31

SOLUTIONS TO DESIGN PROBLEMS

46.
The force error is the actuating signal. The equivalent forward-path transfer function is
K1
Ge (s) = . The feedback is H(s) = De s + Ke . Using Eq. (7.72)
s(s + K1 K2 )
R(s)
Ea (s) = . Applying the final value theorem,
1 + Ge (s)H (s)
1
s 2 
s K2
ea _ ramp () = lim =
K1 (Des + Ke ) Ke  0.1
. Thus, K2 < 0.1Ke. Since the closed-loop system
s →0
1+
s(s + K1 K2 )
is second-order with positive coefficients, the system is always stable.

47.
a. The minimum steady-state error occurs for a maximum setting of gain, K. The maximum K possible
is determined by the maximum gain for stability. The block diagram for the system is shown below.

i _desired ( s) + V i (s) o (s)

3 K
(s + 10)(s 2 + 4s + 10)
-

Pushing the input transducer to the right past the summing junction and finding the closed-loop
transfer function, we get

3K
(s + 10)(s2 + 4s + 10) 3K
T (s) = 3K = 3 2
1+ s + 14s + 50s + (3K + 100)
(s + 10)(s 2 + 4s + 10)
7-32 Chapter 7: Steady-State Errors

Forming a Routh table,

s3 1 50
s2 14 3K+100
s1 −3K + 600 0
14
s0 3K+100 0

100
The s1 row says -∞ < K < 200. The s0 row says − < K. Thus for stability,
3
100
− < K < 200. Hence, the maximum value of K is 200.
3
3K 1 1
b. K p = = 6 . Hence, estep () = = .
100 1 + Kp 7
c. Step input.

48.
K P s + K I 48500
a. The open loop transmission is GP( s ) = . The system is type 2.
s2 s + 2.89
b. The Transfer function from disturbance to error signal is
48500
E ( s)
=− s + 2.89s
2
=− 3
48500s
D( s ) 48500 K P s + K I s + 2.89s + 48500( K P s + K I )
2
1+ 2
s + 2.89s s

Using the Final value theorem

 48500s 1
ess = Lim sE ( s) = Lim s − 3  = 0
s →0 s →0
 s + 2.89 s 2
+ 48500( K P s + K I s
)
48500K I 1 2.89
c. We calculate K a = Lim s G ( s ) P( s ) = so e SS = = = 0.05 . So
2
s →0 2.89 K a 48500K I
we get K I = 0.0120
48500 K P s + 0.012
d. The system’s characteristic equation is 1 + = 0 or
s + 2.89s
2
s
s 3 + 2.89s 2 + 48500K P s + 584.021 = 0 . The Routh array is:

s3 1 48500K P
 Solutions to Design Problems 7-33

s2 2.89 584.021
140165K P − 584.21
s
2.89

1 48500K P

The dominant requirement is given by the third row K P  0.00417

49.
a. A bode plot of the open loop transmission Gc ( s ) P ( s ) shows that the open loop transfer function
rad
has a crossover frequency of  c = 0.04 . A convenient range for sampling periods is
day
0.15 0.5
3.75day = T  = 12.5day . T=8 days fall within range.
c c
1 z −1
b. We substitute s = into G c (s ) we get
4 z +1
− 2  10 −4 (1.145z 2 − 1.71z + 0.8489)
Gc ( z ) =
z 2 − 1.852 z + 0.8519

c.
7-34 Chapter 7: Steady-State Errors

50.
a. When the speed controller is configured as a proportional controller, the forward-path transfer
function of this system is:

0.11 ( s + 0.6)  K P
G( s) = SC
(1)
s ( s + 0.5173) + 5 (s + 0.6)  (s + 0.01908)

For the steady-state error for a unit-step input, r(t) = u(t), to be equal to 1%:

1 1
estep () = = = 0.01 (2)
1 + lim G( s)  0.11 ( s + 0.6)  K P 
s →0 1 + lim  SC 

s → 0 s ( s + 0.5173) + 5 (s + 0.6)  (s + 0.01908) 
 

1
From equation (2), we get: = 0.01 , which yields: KPSC = 85.9.
0.11 0.6  K P
1+ SC

0 + 5  0.6  0.01908
b. When the speed controller is configured as a proportional plus integral controller, the forward-path
transfer function of the system becomes:
 Solutions to Design Problems 7-35

0.11 ( s + 0.6)  (100s + K I )

G( s) = SC
(3)
s s ( s + 0.5173) + 5 (s + 0.6)  (s + 0.01908) 

For the steady-state error for a unit-ramp input, r(t) = t u(t), to be equal to 2.5%:

1 1
eramp () = = = 0.025 (4)
lim s G ( s )  0.11 ( s + 0.6)  (100s + K I
) 
s →0 lim s  SC 
s → 0  ss ( s + 0.5173) + 5 (s + 0.6)  (s + 0.01908) 
 

1
From equation (4), we get: = 0.025 , which yields: KISC = 34.7.
0.11 0.6  K I
SC

0 + 5  0.6  0.01908

c. We’ll start by finding G1(s), the equivalent transfer function of the parallel combination,
representing the torque and speed controllers, shown in Figure P7.35:

13.53 s 3 ( s + 0.6)  100 s + 40  313.53 s 2 + 300s + 72

G1 ( s) = +  = (5)
( s + 0.5) ( s + 0.5)  s  s ( s + 0.5)
6.13 10 −3
Given that the equivalent transfer function of the car is: G2 ( s ) = , we apply equation
s + 0.01908

7.62* of the text taking into consideration that the disturbance here is a step with a magnitude equal to

83.7:
83.7 83.7
e(  ) = − =− =0
lim
1
+ lim G1 ( s) 3.11 + 
s →0 G2 ( s ) s→0

51.
1 1
a. The system is type 0 so 𝐾𝑝 = lim 𝐾𝑃(𝑠) = 0.7𝐾. It follows that 𝑒𝑠𝑠 = = =
𝑠→0 1+𝐾𝑝 1+0.7𝐾
0.03. So 𝐾 = 46.19. From Problem 76, Chapter 6, the system is closed-loop stable for
K < 9.63, so this steady-state error is not achievable.
b. Due to stability constraints, the minimum steady state error for a unit step input is
1
achievable when K = 9.63. 𝑒𝑠𝑠 = = 0.1292 or 12.92%
1+(9.63)(0.7)
c. For zero steady-state error to a step input, the system must be augmented to Type 1.
The simplest compensator that can be used to achieve this is an integrator, namely
𝐾
𝐺𝐶 = 𝑠
.