Control Systems Engineering

Disclaimer: The scope of the syllabus is defined by the relevant sections

of the text book and not by this presentation alone.
 Introduction
• Three major objectives
• Transient response (covered)
• Stability (covered)
• Steady state response (present topic)
• Steady-state error is the difference between the input and the output
as t (time) becomes large.
 Introduction
• e(t)= r(t)-c(t) as t tends to infinity

• This can be written as sE(s)=s(R(s)-C(s)) with limit s tending to zero

• The above is a consequence of final value theorem. (Note: there are

conditions under which this theorem has to be used)

• So steady state error for a closed loop system is

sE(s)=s(R(s)-C(s)) with limit s tending to zero
 Introduction
• We apply test inputs to evaluate SS error. Different Test input signals
used are for different applications (target types)
• the step input is used for antenna tracking a geostationary satellite
(stationary target).
• Ramp input is used for testing antennas that are tracking satellites
moving with constant velocity
• Parabolic input are used for antennas tracking objects having constant
acceleration like missiles.
• The point to be realized is that this discussion is for systems that are
stable, because for unstable systems there is no steady state. So test
for stability before calculating SS error other wise one may obtain
wrong answers
 Introduction
• Steady state error can be calculated considering the formula given.
• Example
• A more powerful way is to first consider unity feedback system
develop specifications and then generalizing to non-unity feedback
systems
• The steady state errors arise from the following factors
• 1)Inherent non-linearities—are not considered as we are dealing with
linear systems
• 2)the type of applied input and
• 3)the configuration of the system itself
The type of applied input
 Type of system
• The configuration of the system itself can be classified based on the
number of forward path integrators in an unity feedback system type
0,1,2 and so on
• So for an unity feedback system we can prove that the steady state
error is
Errors for different type of inputs
Summary
Benefit of using static error constants
Non-unity feedback system
Non-unity feedback system
Problem
Problem
Problem
Problem
Problem
Problem
Problem 4
Problem 6
Problem 8