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11.1 Steady State Error

This document covers steady-state errors in control systems, focusing on their analysis and design, including how to find and specify steady-state error performance for different input types. It discusses the impact of system types on steady-state error and introduces static error constants as a means to evaluate system performance. Additionally, it provides examples and problems related to gain design to meet specific steady-state error specifications.

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5 views

11.1 Steady State Error

This document covers steady-state errors in control systems, focusing on their analysis and design, including how to find and specify steady-state error performance for different input types. It discusses the impact of system types on steady-state error and introduces static error constants as a means to evaluate system performance. Additionally, it provides examples and problems related to gain design to meet specific steady-state error specifications.

Uploaded by

0523angelafrancisco
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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Steady-State Errors

Learning Outcomes
After completing this chapter the student will be able to:
• Find the steady-state error for a unity feedback system
• Specify a system’s steady-state error performance
• Design the gain of a closed-loop system to meet a steady-state error
specification
• Find the steady-state error for disturbance inputs
• Find the steady-state error for nonunity feedback systems
• Find the steady-state error sensitivity to parameter changes
• Find the steady-state error for systems represented in state space
Introduction
control systems analysis and design focus on three specifications:
(1) transient response,
(2) stability, and
(3) steady-state errors,
taking into account the robustness of the design along with economic
and social considerations.
Definition and Test Inputs
Steady-state error is the difference between the input and the output for a
prescribed test input as t->∞.

Assume a position control system, where the output position follows the
following input commanded position:
1. Step inputs-represent constant position and thus are useful in
determining the ability of the control system to position itself with
respect to a stationary target e.g. satellite in geostationary orbit .
2. Ramp inputs represent constant-velocity inputs to a position control
system by their linearly increasing amplitude. These waveforms can
be used to test a system’s ability to follow a linearly increasing
input or, equivalently, to track a constant-velocity target, e.g. , a
position control system that tracks a satellite that moves across the sky
at a constant angular velocity,
Evaluating Steady-State Errors with step input

Output 1 has zero steady-state error, and Output 2 has a finite steady-state error, e(ꝏ).
Evaluating Steady-State Errors with Ramp input

Output 1, which has zero steady-state error, and Output 2, which has a finite steady-
state error, e(ꝏ).
Sources of Steady-State Error
Many steady-state errors in control systems arise from nonlinear sources, such as:
Backlash in gears or a motor that will not move unless the input
voltage exceeds a threshold.
Nonlinear behavior of the plant/system.
Example
Consider the system shown inn figure below with R(s) is the input, C(s) is
the output, and E(s)=R(S)-C(s) is the error.
Consider a step input. In the steady state, if
c(t) equals r(t), e(t) will be zero. But with a
pure gain, K, the error, e(t), cannot be zero if
c(t) is to be finite and nonzero.
The steady-state value of the error, is given by
If the forward-path gain is replaced by an integrator shown in figure below

There will be zero error in the steady state for a step input. The reasoning is as follows: As
c(t) increases, e(t) will decrease, since e(t)=r(t)-c(t). This decrease will continue until there
is zero error, but there will still be a value for c(t) since an integrator can have a constant
output without any input.
Steady-State Error for Unity Feedback Systems
Steady-State Error in Terms of T(s) Applying the final value theorem,
without taking the Laplace inverse

Consider the system shown above the


error is given by
Steady-State Error in Terms of G(s)

For finite steady-state errors, the final value theorem is valid only if F(s) has poles only in the
left half-plane and, at most, one pole at the origin. However, correct results that yield steady-
state errors that are infinite can be obtained if F(s) has more than one pole at the origin.
If F(s) has poles in the right half-plane or poles on the imaginary axis other than at the origin,
the final value theorem is invalid.
Valid only if (1) E(s) has poles only in the left half-plane and at the origin, and (2) the closed-
loop transfer function, T(s), is stable.
Consider the feedback control system shown in Figure below.

Applying the final value theorem

The the steady-state error is given by


The three test signals we use to establish specifications for a control
system’s steady-state error characteristics.
Step Input. with R(s)=1/s

If there are no integrations, then n=0.

G(s) must take on the following form:


Ramp Input. with R(s)=1/s2

In order to have zero steady-state error for a parabolic input, we must have
If there are no integrations in the forward
path, then
If only one integration exists in the forward
path, then,

The steady-state error would be infinite


and lead to diverging ramps
Parabolic Input. With R(s)=1/s3

In order to have zero steady-state error for a parabolic input, we must have

If there is only one or less integrations in the forward path, then


Static Error Constants and System Type
The steady-state error performance specifications are called static
error constants.
Static Error Constants

The three terms in the denominator that


are taken to the limit determine the
steady-state error.
Example
Static Error Constant Evaluate the static error constants and find the expected
error for the standard step, ramp, and parabolic inputs.
Position constant, Kp,

SOLUTION: First verify that all closed-loop systems shown


velocity constant, Kv, are indeed stable.

acceleration constant, Ka,


Steady-State Error Specifications
Static error constants can be used to specify the steady-state
error characteristics of control systems.
Just as damping ratio, ζ,
settling time,
Ts, peak time, and
percent overshoot, %OS, are used as specifications for a
control system’s transient response, so the position constant,
Kp, velocity constant, Kv, and acceleration constant, Ka, can be
used as specifications for a control system’s steady-state
errors.
For example, if a control system has the specification Kv=1000 we can
draw several conclusions:

1. The system is stable.


2. The system is of Type 1, since only Type 1 systems have Kv’s that are
finite constants. Recall that Kv =0 for Type 0 systems, whereas Kv= ꝏ
for Type 2 systems.
3. A ramp input is the test signal. Since Kv is specified as a finite
constant, and the steady-state error for a ramp input is inversely
proportional to Kv, we know the test input is a ramp.
4. The steady-state error between the input ramp and the output ramp
is 1/Kv per unit of input slope
Interpreting the Steady-State Error Specification.

PROBLEM: What information is contained in the specification Kp


=1000?
SOLUTION: The system is stable. The system is Type 0, since only a Type
0 system has a finite Kp. Type 1 and Type 2 systems have Kp =ꝏ. The
input test signal is a step, since Kp is specified. Finally, the error per unit
step is
Gain Design to Meet a Steady-State Error Specification
PROBLEM: Given the control system shown in figure below, find the
value of K so that there is 10% error in the steady state.

SOLUTION: Since the system is Type 1, the error stated in the problem must apply to
a ramp input; only a ramp yields a finite error in a Type 1 system. Thus,
PROBLEM: A unity feedback system has the following forward transfer
function:

Find the value of K to yield a 10% error in the steady state

ANSWER: K =189
End of Presentation

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