REVISION 1

Steady State Error

Root Locus

System Types and Error Constant

Goal
In this section, we shall investigate a type of
steady-state error that is caused by the
incapability of a system to follow particular
types of inputs.

Classification of Control System

Any physical control system inherently suffers steady-state
response to certain types of inputs.
A system may have no steady-state error to a step input,
but the same system exhibit nonzero steady-state error to a
ramp input.
Control systems may be classified according to their ability
to track polynomial inputs, or in other words, their ability
to reach zero steady-state to step-inputs, ramp inputs,
parabolic inputs and so on.
The magnitude of the steady-state errors due to these
individual inputs are indicative of the goodness of the
system.

Input-Output Relation

Steady state error is the difference between the input and the output
after the steady state has been reached.

Example: Control is used in Elevator

Steady-State Error to polynomial

input- Unity Feedback Control
Y ( s)
G( s)

R( s) 1 G ( s)
Error:

e(t ) r (t ) y (t ) E ( s) R( s) Y ( s)

R( s )
1 G( s)

Using the FVT, the steady-state error is given by:

R( s )
ess lim e(t ) lim sE ( s) lim s

t
s 0
s 0 1 G ( s )

FVT (final value theorem)

System Type
K ( s z1 )( s z 2 )
G(s)
G0 ( s )
( s p1 )( s p2 )
We define the system type to be the value of n in the denominator (the
number of pure integrations in the forward path)

G(s)

K ( s z1 )( s z 2 )
G0 ( s )
( s p1 )( s p2 )

type 0

G(s)

K ( s z1 )( s z 2 ) G0 ( s )

s ( s p1 )( s p2 )
s

type 1

K ( s z1 )( s z 2 ) G0 ( s )
G(s) 2
2
s ( s p1 )( s p2 )
s

G(s)

K ( s z1 )( s z 2 ) G0 ( s )
n
n
s ( s p1 )( s p2 )
s

type 2

type n

Static Error Constants

For a Type 0 System, the error constant, called position
constant, is given by:
K p lim G(s)
s 0

(dimensionless)

For a Type 1 System, the error constant, called velocity

constant, is given by:
Kv lim sG(s)
s 0

(sec 1 )

For a Type 2 System, the error constant, called

acceleration constant, is given by:
K a lim s 2G ( s )
s 0

(sec 2 )

Steady-State Errors as a function of

System Type Unity Feedback
System
type

Step input

Ramp
input

Parabola
input

Type 0

1
1 K p

1
Kv

Type 1
Type 2

1
Ka

Root Locus Techniques

Goal
Learn a specific technique which shows how
changes in one of a systems parameter
(usually the controller gain, K)
will modify the location of the closed-loop
poles in the s-domain.

Definition
R( s )
KG( s)
T ( s)
Y ( s)
1 KG( s) H ( s)

The closed-loop poles of the negative feedback control are the roots of the
characteristic equation:

1 KG s H s 0

The root locus is the locus of the closed-loop poles

when a specific parameter (usually gain, K)
is varied from 0 to infinity.
Between K = 0 and K = , position of CLTF poles depend on OLTF poles and zeros

Root Locus Method Foundations

T ( s)

KG( s)
1 KG( s) H ( s)

A pole ,s, exists when the characteristic polynomial in the

denominator becomes zero.

1 KGs H s 0 KGs H s 1
KG(s)H(s) = -1 can be split into two equations by equating
the magnitudes and angles of both sides of the equation.
The values of s that fulfill both the angle and magnitude
conditions are the roots of the CE or the CL poles.

Angle and Magnitude Conditions

KG s H s 1

KG s H s 1

2k 1

KG
s
H
s

180

k 0, 1, 2,

G s H s 1 K

2k 1

G
s
H
s

180

k 0, 1, 2,

Independent of K

Root Locus
Drawing Root Locus directly
(= without solving for the closed-loop
poles)

Rule #1
Assuming n poles and m zeros for G(s)H(s):
The n branches of the root locus start at the n
poles.
m of these n branches end on the m zeros
The n-m other branches terminate at infinity
along asymptotes.
First step: Draw the n poles and m zeros of
G(s)H(s) using x and o respectively

Applying Step #1
Draw the n poles and m
zeros of G(s)H(s) using x
and o respectively.
1
Gs H s
ss 1s 2
3 poles:
p1 = 0; p2 = -1; p3 = -2
No zeros

Applying Step #1
Draw the n poles and m
zeros of G(s)H(s) using x
and o respectively.
1
Gs H s
ss 1s 2
3 poles:
p1 = 0; p2 = -1; p3 = -2
No zeros

Rule #2
The loci on the real axis are to the left of an
ODD number of REAL poles and REAL zeros
of G(s)H(s)
Second step: Determine the loci on the real
axis. Choose a arbitrary test point. If the
TOTAL number of both real poles and zeros
is to the RIGHT of this point is ODD, then
this point is on the root locus

Applying Step #2
Determine the loci on the
real axis:
Choose a arbitrary test
point.
If the TOTAL number of
both real poles and zeros
is to the RIGHT of this
point is ODD, then this
point is on the root locus

Applying Step #2
Determine the loci on the
real axis:
Choose a arbitrary test
point.
If the TOTAL number of
both real poles and zeros
is to the RIGHT of this
point is ODD, then this
point is on the root locus

Rule #3
Assuming n poles and m zeros for G(s)H(s):

The root loci for very large values of s must be asymptotic

to straight lines originate on the real axis at point:
zi
n pi
m
s
nm
radiating out from this point at angles:
180 o 2k 1
l
nm

Third step: Determine the n - m asymptotes of the root loci.

Locate s = on the real axis. Compute and draw angles.
Draw the asymptotes using dash lines.

Applying Step #3
Determine the n - m asymptotes:
Locate s = on the real axis:
s

p1 p2 p3 0 1 2

1
30
3

Compute and draw angles:

l

180 2k 1
nm

k 0, 1, 2,

180 0 2 0 1
60 0
0

30

0
180 2 1 1 180 0
1
30

Draw the asymptotes using

dash lines.

1
Gs H s
ss 1s 2

Applying Step #3
Determine the n - m asymptotes:
Locate s = on the real axis:
s

p1 p2 p3 0 1 2

1
30
3

Compute and draw angles:

l

180 2k 1
nm

k 0, 1, 2,

1800 2 0 1
0

60
0
30

0
180 2 1 1 1800
1
30

Draw the asymptotes using

dash lines.

Breakpoint Definition
The breakpoints are the points in the sdomain where multiples roots of the
characteristic equation of the feedback
control occur.

These points correspond to intersection

points on the root locus.

Rule #4
Given the characteristic equation is KG(s)H(s) = -1
The breakpoints are the closed-loop poles that satisfy:

dK
0
ds
Fourth step: Find the breakpoints. Express K such as:

1
K
.
G s H s

Set dK/ds = 0 and solve for the poles.

Applying Step #4
Find the breakpoints.
Express K such as:

1
K
ss 1s 2
G( s )H ( s )
K s 3 3s 2 2s

Set dK/ds = 0 and solve for the

poles.

3s 2 6s 2 0
s1 1.5774, s2 0.4226

1
Gs H s
ss 1s 2

Applying Step #4
Find the breakpoints.
Express K such as:

1
K
ss 1s 2
G( s )H ( s )
K s 3 3s 2 2s

Set dK/ds = 0 and solve for the

poles.

3s 2 6s 2 0
s1 1.5774, s2 0.4226

Recall Rule #1
Assuming n poles and m zeros for G(s)H(s):
The n branches of the root locus start at the n
poles.
m of these n branches end on the m zeros
The n-m other branches terminate at infinity
along asymptotes.
Last step: Draw the n-m branches that terminate
at infinity along asymptotes

Applying Last Step

Draw the n-m branches that
terminate at infinity along
asymptotes

Points on both root locus & imaginary axis?

Points on imaginary axis
satisfy:

s j

j?

Points on root locus satisfy:

1 KGs H s 0

Substitute s=j into the

characteristic equation and
solve for .

- j

0 or 2
1
Gs H s
ss 1s 2

Design the value of gain, K

Given a unity feedback system: 0.8

K
Gs
ss 1s 2
Design the value of gain, K to
yield 1.52% OS.
1.52% OS yield 0.8 damping ratio
. 0.8 36.86o
Sketch the damping ratio line on
the root locus

36.86o

Find the value of gain, K

K
Gs
ss 1s 2
K

0 .8

1
G ( s) H ( s)

36.86o

s ( s 1)( s 2)
1
s a jb

.....

s=-a+jb
If point s is on the root locus, it
satisfy:

Zero Angle -

Pole Angle 180 o ( 2k 1 )

0 0 1 2 180 o (2k 1)

Learning by doing Example 1

Draw the RL for the system shown (find
asymptote, breakpoint, j crossing)
Using a second-order approximation, find the
value of K that yields a damping ratio of 0.174.

 cos

Solutions

cos 1 (0.174 ) 79 .98 o

Solution_Example 1_Revision 1
8

=0.174

100 .02 o

Imag Axis

-2

-4

-6

-8
-15

-10

1)

-5
Real Axis

Draw the uncompensated system root locus

Solutions

At = 0.174, s= -0.694 +j3.926

1
K
G(s) H (s)

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

1
s 0.694 j 3.926

164.6

Exercise 1
Find the OLTF for the system shown in Figure 1.
The system is operating with a damping ratio of 0.5,
find the dominant poles (sD) for the system (show in
your graph). Hence, calculate gain K.

Imag Axis

Exercise 1_Revision 1
3
2.8
2.6
2.4
2.2
2
1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-1.2
-1.4
-1.6
-1.8
-2
-2.2
-2.4
-2.6
-2.8
-3
-3-2.8
-2.6
-2.4
-2.2-2-1.8
-1.6
-1.4
-1.2-1-0.8
-0.6
-0.4
-0.200.20.40.60.8 11.21.41.61.822.22.42.62.8 3
Real Axis

Figure 1

Scale
X : Y
0.2: 0.2