Steady-state error

Why Worry About Steady State Error? Control systems are used to control some physical variable. That variable may be a

temperature somewhere, the attitude of an aircraft or a frequency in a communication system. Whatever the variable, it is important to control the variable accurately. If you are designing a control system, how accurately the system performs is important. If it is desired to have the variable under control take on a particular value you will want the variable to get as close to the desired value as possible. Certainly, you will want to measure how accurately you can control the variable. Beyond that you will want to be able to predict how accurately you can control the variable. To be able to measure and predict accuracy in a control system, a standard measure of performance is widely used. That measure of performance is steady state error - SSE - and steady state error is a concept that assumes the following: The system under test is stimulated with some standard input. Typically, the test inpu is a step function of time, but it can also be a ramp or other polynomial kinds of inputs. The system comes to a steady state, and the difference between the input and the output is measured. The difference between the input - the desired response - and the output - the actual response is referred to as the error.

Error and steady-state error

Open-loop control system Closed-loop control system

R( s) r (t )
Error:

G( s)

Y ( s) y (t )

R( s) r (t )

E ( s) e(t )

G( s)

Y ( s)

y (t )

e(t ) r (t ) y(t )
t

Steady-state error: ess lim e(t ) Utilizing the final value theorem: lim f (t ) lim sF ( s)
t s 0

ess lim e(t ) lim sE ( s)

t s 0

Assuming r(t)=1(t) is a unit-step input, according to the above definition, could you calculate the steady-state error of the openloop and closed-loop control systems?

Open-loop control system

Closed-loop control system

R( s) r (t )

G( s)

Y ( s) y (t )
1 s

R( s) r (t )

E ( s) e(t )

G( s)

Y ( s)

y (t )

Unit-step input r(t)=1(t), R ( s )

E ( s) R( s) Y ( s) R( s) G ( s) R( s) [1 G ( s )]R( s )
ess lim sE ( s )
s 0

1 lim s[1 G ( s )] s 0 s lim[1 G ( s )]

s 0

1 G (0)

E (s) R(s) Y (s) G ( s) R( s) R( s) 1 G ( s) 1 R( s) 1 G ( s) 1 1 ess lim sE ( s ) lim s s 0 s 0 1 G ( s ) s 1 1 lim s 0 1 G ( s ) 1 G (0)

Feedback has the effect to reduce steady-state error.

First order system (SSE)

Steady state error :unit ramp input

Type 0
R( s )
E ( s)

10 s 1

Y ( s)

1 R( s ) s

1 (s) s ess lim[ sE ( s)] lim[ 1GsR ] lim (s)H (s) s 0 s 0 s 0 10 1 s 1 s 1 1 lim 1 s 0 s 11 11 s
1 K p

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R( s )

1 s2

1 2 sR ( s ) s ess lim[ sE ( s)] lim[ 1G ( s ) H ( s ) ] lim s 0 s 0 s 0 10 1 s 1 s 1 lim s 0 s ( s 11) s 1 3 sR ( s ) s ess lim[ sE ( s)] lim[ 1G ( s ) H ( s ) ] lim s 0 s 0 s 0 10 1 s 1 s 1 lim 2 s 0 s ( s 11) s

1 R( s ) 3 s

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Type 1
R( s )
E ( s)

1 s

Y ( s)
5 3s 2

R( s )

1 s

1 s sR ( s ) s ess lim[ sE ( s )] lim[ 1G ( s ) H ( s ) ] lim s 0 s 0 s 0 1 10 1 s s 1 s( s 1) lim 0 s 0 s ( s 1) 10

Automatic control by Meiling CHEN

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1 R( s ) 2 s

1 2 sR ( s ) s ess lim[ sE ( s )] lim[ 1G ( s ) H ( s ) ] lim s 0 s 0 s 0 1 10 1 s s 1 ( s 1) lim 0.1 s 0 s ( s 1) 10 1 Kv s 1 s 3 sR ( s ) s ess lim[ sE ( s )] lim[ 1G ( s ) H ( s ) ] lim s 0 s 0 s 0 1 10 1 s s 1 ( s 1) lim s 0 s ( s ( s 1) 10)

R( s )

1 s3

Automatic control by Meiling CHEN

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Type 2
R( s )
E ( s)

1 s2

10 s 1

Y ( s)

(s) ess lim[ sE ( s)] lim[ 1GsR ( s ) H ( s ) ] lim

s 1

1 s

R( s )

1 s

s 0

s 0

s 0

1 10 s2 s 1

s 2 ( s 1) lim 2 0 s 0 s ( s 1) 10

Automatic control by Meiling CHEN

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R( s )

1 s2

1 s 2 sR ( s ) s ess lim[ sE ( s)] lim[ 1G ( s ) H ( s ) ] lim s 0 s 0 s 0 1 10 1 2 s s 1 s ( s 1) lim 2 0 s 0 s ( s 1) 10 1 s3

(s) ess lim[ sE ( s)] lim[ 1GsR ( s ) H ( s ) ] lim

1 R( s ) 3 s

s 0

s 0

s 0

1 10 1 2 s s 1

lim
s 0

( s 1) 0.1 2 s ( s 1) 10

1 Ka
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Automatic control by Meiling CHEN

ess lim sE ( s) lim s

s 0 s 0

1 k 1 0 G0 ( s) s

R( s)

=0, type 0 system

Step input: r (t ) 1(t ) R( s ) 1 s

1 ess 1 k

Steadystate error exists and is finite.

Ramp input: r (t ) t 1 R( s) 2 s

ess

Unstable

Parabolic input: 1 1 r (t ) t 2 R( s ) 3 2 s

ess

Unstable

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ess lim sE ( s) lim s

s 0 s 0

1 k 1 1 G0 ( s) s

R( s)

=1, type 1 system

Step input: 1 r (t ) 1(t ) R( s ) s Ramp input: 1 r (t ) t R( s ) 2 s Parabolic input: 1 1 r (t ) t 2 R( s ) 3 2 s

1 ess 0 1 1 ess k

No steadystate error Steady-state error exists Unstable

ess

Type-1 system can track step signal accurately.

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ess lim sE ( s) lim s

s 0 s 0

1 k 1 2 G0 ( s) s

R( s)

=2, type 2 system

Step input: 1 r (t ) 1(t ) R( s ) s Ramp input: 1 r (t ) t R( s ) 2 s Parabolic input: 1 1 r (t ) t 2 R( s ) 3 2 s

1 ess 0 1
ess 0

No steadystate error No steadystate error Steady-state error exists

1 ess k

Type-2 system can track step and ramp signals accurately.

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Steady-state error constants

with step input

k p lim G ( s)
s 0

- step-error constant

with ramp input

k lim sG ( s)
s 0

- ramp-error constant

with parabolic input

ka lim s G ( s)
2 s 0

- parabolic-error constant

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Type of System

Error constants

Steady-state error

ess

k p k v k a r (t ) R0 1(t )

r (t ) V0t

r (t ) A0t 2 2

k 0
k

0 0

R0 1 k

V0 k

A0 k

0 0

Summary of steady-state error and error constants

for unit-feedback systems (H(s)=1)
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