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ME 441 Chapter 3B Tri2 2022

This document discusses steady state error in control systems. It defines steady state error as the difference between the system output and reference signal in the steady state. The document investigates steady state error for various input signals (step, ramp, parabolic) in both unity feedback systems and non-unity feedback systems, which are converted to equivalent unity feedback systems. The effects of each input type on the steady state error are examined.

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يزيد العتيبي
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8 views

ME 441 Chapter 3B Tri2 2022

This document discusses steady state error in control systems. It defines steady state error as the difference between the system output and reference signal in the steady state. The document investigates steady state error for various input signals (step, ramp, parabolic) in both unity feedback systems and non-unity feedback systems, which are converted to equivalent unity feedback systems. The effects of each input type on the steady state error are examined.

Uploaded by

يزيد العتيبي
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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Chapter 3B

Steady State Error


Dr. Osama Brinji
Steady State Error
One objective of control systems is ensure system output response
follows a specific reference signal accurately in the steady state

What’s steady state error ?


• It is the difference between the output and the reference in the
steady state
• It is generally derive from the imperfections, frictions, and the natural
composition of system
• When design a control system, intend to keep the steady state error
below a tolerable value
Steady State Error
• Definition of Steady State Error

• Figure above is a closed-loop system, where R(s) is the input,


Ea(s) is the actuating signal, and Y(s) is the output
• Error of the system is defined E(s) = reference signal – Y(s)
• Hence,
Steady State Error
Steady State Error
Steady State Error
Steady State Error
• Now investigate the effects of various types of
inputs on the steady state error
1) Step Function Input
2) Ramp Function Input
3) Parabolic Input

* Investigating the steady state error of “Unity Feedback System


Steady State Error

step ramp parabolic


Steady State Error (with Unity Feedback
System)
Steady State Error (with Unity Feedback
System)
Steady State Error (with Unity Feedback
System)
Steady State Error (with Unity Feedback
System)
Steady State Error (with Unity Feedback
System)
Steady State Error (with Unity Feedback
System)
Steady State Error (with Unity Feedback
System)
Steady State Error (with Unity Feedback
System)
Steady State Error (with Unity Feedback
System)
Steady State Error (with Non-Unity Feedback
System)
• For non-unity control, find the equivalent unity feedback system
Steady State Error (with Non-Unity Feedback
System)
• Conversion to unity feedback system
Steady State Error (with Non-Unity Feedback
System)
• Conversion to unity feedback system

*Successfully converted to a unity feedback system


Steady State Error (with Non-Unity Feedback
System)
• For the above steps, we must consider inputs and outputs are of the same units
• The investigation of the effects of various types of inputs (step, ramp, and
parabolic) carried out in the previous section can be applied the the “equivalent
unity feedback system”
• Try example 3.7
Steady State Error (with Non-Unity Feedback
System)
Steady State Error (with Non-Unity Feedback
System)
Steady State Error (with Non-Unity Feedback
System)
Steady State Error (with Non-Unity Feedback
System)

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