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The document discusses steady-state error analysis in control systems, explaining how the output may not match the input at steady state, leading to errors. It classifies control systems based on their response to different input types and introduces static error constants that measure system performance. Examples are provided to illustrate the calculation of steady-state errors for various input scenarios.

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7 views

lec4

The document discusses steady-state error analysis in control systems, explaining how the output may not match the input at steady state, leading to errors. It classifies control systems based on their response to different input types and introduces static error constants that measure system performance. Examples are provided to illustrate the calculation of steady-state errors for various input scenarios.

Uploaded by

Abdulrahman Mohammed
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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Fundamentals of Automatic Control

Instructors: Dr. Helmy El-Zoghby

[email protected]
Lecture 11

Steady –State Error Analysis


Introduction to Steady State Error
• If the output of a control system at steady state does not exactly match with the input, the
system is said to have steady state error.
• 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.

Test waveforms for evaluating steady-state errors of position control systems


Introduction to Steady State Error
System response to different inputs

a. step input
b. ramp input
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.
(S  Z )( S  Z )...( S  Z )
G (s)H (s)  1 2 m

s N ( S  p 1 )( S  p 2 )...( S  p n )
zeros  of  system
Z 1, Z 2 ,... Z m

poles  of  system
p 1, p 2 ,... p n

• It involves the term sN in the denominator, representing N poles at the origin.

Type zero system N=0

Type one system N=1


Type two system N=2
The Steady-State Error of Feedback Control Systems
R(s) + E(s) C(s)
G(s)
- System error for unity feedback
Unity feedback system:
H(s)=1
E (s)  R (s)  C (s)

R(s) + E(s) C(s)


G(s)
- System error for a non-unity feedback
system:
Non-unity feedback
H(s)≠1
E ( s )  R ( s )  H ( s )C ( s )
H(s)

By Final Value Theorem:

e ss  lim e ( t )
t 

e ss  lim e ( t )  lim sE ( s )
t  s 0
The Steady-State Error of Feedback Control Systems

The actual system error is


E(s)=R(s)-C(s)H(s)

Es  Rs 
GsH (s)
Rs 
1 G(s)H s  GsH (s)
Rs
1 GHs 1 GHs
sR s 
e ss  lim e t   e ss  lim
t s  0 1  G s H ( s )

1
WhenH s  1  Es  Rs
1 Gs
sRs
ess  limet   ess  lim
t  s0 1  Gs
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.
The Steady-State Error of Feedback Control Systems

Step Input (static position error)


– If A is the magnitude of the step input

s A / s  A
ess  lim 
s 0 1  G s H ( s ) 1  G 0H (0)
Position error constant : K p  lim G s H ( s )
s 0

A
 ess 
1 K p

Static position error is valid only for type zero system


The Steady-State Error of Feedback Control Systems
Ramp (static velocity error) Input
– If A is the slope of the ramp

s A / s 2  A A
ess  lim  lim  lim
s 0 1  G s H ( s ) s  0 s  sG s H ( s ) s 0 sG s H ( s )

Velocity error constant : K v  lim sG s H ( s )


s 0

A
 ess 
Kv

Static velocity error is valid only for type one system


The Steady-State Error of Feedback Control Systems

Acceleration Input (static acceleration error)

If r(t)=At2/2

r(t)  At 2 / 2
s A / s 3  A
e ss  lim  lim 2
s  0 1  G s H ( s ) s  0 s G s H ( s )

Accelerati on error constant : K a  lim s 2 G s H ( s )


s0
A
ess 
Ka

Static acceleration error is valid only for type two system


In Summary
The Steady-State Error for different types of systems
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
100( s  2)( s  5)
G( s ) 
s 2 ( s  8)( s  12)
The static error constants are :
Static position error constant Static velocity error constant

K p  lim G( s ) K v  lim sG( s )


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

Kp   Kv  

Static acceleration error constant


 100 s 2 ( s  2 )( s  5) 
K a  lim  2 
s 0  
2
K a  lim s G( s ) s ( s  8 )( s  12 )
s 0  
 100( 0  2)( 0  5) 
K a     10.4
 ( 0  8)( 0  12) 
Example 1
Since:

Kp   Kv   K a  10.4

The steady state errors are

0 position error

0 velocity error

 0.09 acceleration error


Example 2

R(s) C(s)
+ 30 ( s  1 )
- s(s  2)

If r(t) = (2+3t)u(t), find the steady state error (ess) for the given system.

Solution:
K p  lim G ( s )  
s 0

K v  lim sG ( s )  30  15
s 0 2
2 3 2 3
e ss      0 . 2  20 %
1  K p K v 1   15
Example 3

Find the value of k at ess<2%. However we have to check the


stability, and we will use Routh
criterion
compensator plant
2 F(s)=s3 + 4s2 +5s+ 2+2K = 0
K
s 3  4s 2  5s  2
The array becomes
s3 1 5
s2 4 2+2K
the system is type zero s1 (18-2K)/4  K<9
s0 2 + 2K  K>-1
 2 
K p  lim K 3  K Here for stability requirement we must
 s  4s  5s  2 
s0 2
have
0<K<9
Steady state error is ess =1/(1+Kp) < 2%,
thus K > 49. We conclude that, using proportional
compensator, our requirement to have
ess<2% can not be satisfied.
Problems:
study the stability of the following systems using Routh test
Aircraft pitch loop model

a chemical process-control system


Towed vehicle roll control

Cutting force control system


THANKS

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