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Control Systems (CS) : Lecture-6 Steady State Error

This document is a lecture on steady state error in control systems. It defines steady state error and introduces concepts like type 0, 1, 2 systems based on their open loop transfer functions. It describes how higher type systems have better accuracy but worse stability. It also defines static error constants like position (Kp), velocity (Kv) and acceleration (Ka) constants, which indicate the steady state error for step, ramp and parabolic inputs, respectively. An example is provided to calculate these constants for a given system and determine the expected steady state errors.

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115 views21 pages

Control Systems (CS) : Lecture-6 Steady State Error

This document is a lecture on steady state error in control systems. It defines steady state error and introduces concepts like type 0, 1, 2 systems based on their open loop transfer functions. It describes how higher type systems have better accuracy but worse stability. It also defines static error constants like position (Kp), velocity (Kv) and acceleration (Ka) constants, which indicate the steady state error for step, ramp and parabolic inputs, respectively. An example is provided to calculate these constants for a given system and determine the expected steady state errors.

Uploaded by

KiranKumar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Control Systems (CS)

Lecture-6
Steady State Error
Dr. Imtiaz Hussain
Associate Professor
Mehran University of Engineering & Technology Jamshoro, Pakistan
email: [email protected]
URL :http://imtiazhussainkalwar.weebly.com/

6th Semester 14ES (SEC-I)


Note: I do not claim any originality in these lectures. The contents of this presentation are
mostly taken from the book of Ogatta, Norman Nise, Bishop and B C. Kuo and various other
internet sources. 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 errors due


to these individual inputs are indicative of the
goodness of the system.
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.
Classification of Control Systems
• As the type number is increased, accuracy is
improved.

• However, increasing the type number


aggravates the stability problem.

• A compromise between steady-state accuracy


and relative stability is always necessary.
Steady State Error of Unity Feedback Systems

• Consider the system shown in following figure.

• The closed-loop transfer function is


Steady State Error of Unity Feedback Systems
• 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 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 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
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
To download this lecture visit
http://imtiazhussainkalwar.weebly.com/

END OF LECTURE-6

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