Steady state error
Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College
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 mechanical system, the output may be the position, velocity,
acceleration.
We shall call the output in a mechanical translational system as
“position,”( or displacement) the rate of change of the output
“velocity,” and so on.
This means that in a system “position” represents the output ,
“velocity” represents the rate of change of the output and so on.
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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
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Static Position Error Constant (Kp)
For a Type 0 system
For Type 1 or higher order systems
For a unit step input the steady state error ess is
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Static Velocity Error Constant (Kv)
The steady-state error of the system for a unit-ramp input is
The static velocity error constant Kv is defined by
Thus, the steady-state error in terms of the static velocity error
constant Kv is given by
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Static Velocity Error Constant (Kv)
For a Type 0 system
For Type 1 systems
For type 2 or higher order systems
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Static Velocity Error Constant (Kv)
For a ramp input the steady state error ess is
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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
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Static Acceleration Error Constant (Ka)
For a Type 0 system
For Type 1 systems
For type 2 systems
For type 3 or higher order systems
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Static Acceleration Error Constant (Ka)
For a parabolic input the steady state error ess is
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Summary of steady state error
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Example
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)
s ( s 8 )( s 12 )
2
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Example
100 ( s 2 )( s 5 )
G(s)
s 2 ( s 8 )( s 12 )
K p lim G ( s )
s0 K v lim sG ( s )
s0
100 ( s 2 )( s 5 )
K lim 100 s ( s 2 )( s 5 )
p
s 0 s ( s 8 )( s 12 )
2 Kv lim
2
s0 s ( s 8 )( s 12 )
K p
K v
K lim s 2 G ( s ) 100 s 2 ( s 2 )( s 5 )
a
Ka lim
s0
s0
s ( s 8 )( s 12 )
2
100 ( 0 2 )( 0 5 )
K a 10 . 4
( 0 8 )( 0 12 )
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Example
Kv K 10 .4
a
0
0
0 .09
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The open loop transfer function of unity feedback
system is given by
Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College
Determine the step, ramp and parabolic error coefficients.
Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College
Determine the type of the system and compute the error
constant Kv
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Diagram shown for a pacemaker to control the heart rate.
Determine steady state error for unit ramp input assuming K=400
Determine the value of K if error for ramp input is 0.02
Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College
Comparing with the standard characteristic equation
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Dr.T.Devaraju,Professor of EEE Sree Vidyanikethan Engineering College 24
Dr.T.Devaraju ,Professor of EEE Sree Vidyanikethan Engineering College
