Lab#09

SUBMITTED TO:: Mam , Sania syed

SUBMITTED BY:: Haider Ali (32)
Zia-Ur-Rehman (26)

M Mehrab (42)

M Faizan (18)

SUBJECT:: Control system

DATE:: 13/6/2016
 LAB#09
TITLE::

Verify The Effect Of Input Waveforms, Loop Gains And

System Type Upon Steady State Error:
THEORY:
Steady State Error:
Steady-state error is defined as the difference between the input (command) and the output of a
system in the limit as time goes to infinity (i.e. when the response has reached steady state). The
steady-state error will depend on the type of input (step, ramp, etc.) as well as the system type (0,
I, or II).

Note: Steady-state error analysis is only useful for stable systems. You should always check the
system for stability before performing a steady-state error analysis. Many of the techniques that
we present will give an answer even if the error does not reach a finite steady-state value.

Figure 1:System block diagram with SSE E(s)

System type and steady-state error:

If you refer back to the equations for calculating steady-state errors for unity feedback systems,
you will find that we have defined certain constants (known as the static error constants). These
constants are the position constant (Kp), the velocity constant (Kv), and the acceleration constant
(Ka). Knowing the value of these constants, as well as the system type, we can predict if our
system is going to have a finite steady-state error.

First, let's talk about system type. The system type is defined as the number of pure integrators in
the forward path of a unity-feedback system. That is, the system type is equal to the value of n
when the system is represented as in the following figure. It does not matter if the integrators are
part of the controller or the plant.
Therefore, a system can be type 0, type 1, etc. The following tables summarize how steady-state
error varies with system type.

Type 0 system Step Input Ramp Input Parabolic Input

Steady-State Error Formula 1/(1+Kp) 1/Kv 1/Ka

Static Error Constant Kp = constant Kv = 0 Ka = 0

Error 1/(1+Kp) infinity infinity

Type 1 system Step Input Ramp Input Parabolic Input

Steady-State Error Formula 1/(1+Kp) 1/Kv 1/Ka

Static Error Constant Kp = infinity Kv = constant Ka = 0

Error 0 1/Kv infinity

Type 2 system Step Input Ramp Input Parabolic Input

Steady-State Error Formula 1/(1+Kp) 1/Kv 1/Ka

Static Error Constant Kp = infinity Kv = infinity Ka = constant

Error 0 0 1/Ka

Home task :
 1. Checking the steady state error for different inputs
2. Find and note the value of gain K for suitable steady state error
3. Check these results for system of type 1 and type 2
4. Write the conclusion in your own words

Block Diagrame :
The inputs given to the systems are as follow

I) Step input 5u(t)

II) Ramp input 5tu(t)
III) Parabola input 5 2 u(t)
Input and output waveform for Gain K=50:

Input and output waveform for Gain K=1000:

Input and output waveform for Gain K=2500:

Input and output waveform for Gain K=5000:

Input and output waveform for Gain K=5500:

Conclusion:
1. From the waveform it is concluded that if we increase the gain above 50 the steady state
error decreases
2. At Gain K=2500 the system give underdamped condition for step input
3. At Gain K=5000 the system give undamped condition for step input
4. From the output waveform it is clear that steady state error can be reduced to a minimum
value by adjusting the gain K.
5. For the given system if step input is given we can achieve the required system by
changing the gain
6. Increasing the gain from 5000 to 5500 the system goes into the unstable condition.