Steady State Errors ELEC304-Alper Erdogan 1–1

Lecture 1
Steady State Errors

• We define the error as the difference between the

input and output:

• For unity feedback systems error is the input of the

feedforward block:

And the steady state error

e(∞) = lim sE(s) (1)
s→0
Steady State Errors ELEC304-Alper Erdogan 1–2

Steady State Error in Terms of T (s)

• Error can be written as

E(s) = R(s) − C(s)

Here
C(s) = R(s)T (s)
and therefore
E(s) = R(s) − R(s)T (s) = R(s)(1 − T (s))
As a result, the steady state error

e(∞) = lim sR(s)(1 − T (s))

s→0
5
Example: For T (s) = s2 +7s+10
and unit step input
R(s) = 1s
1 s2 + 7s + 5
E(s) = (1 − T (s)) =
s s(s2 + 7s + 10)
Steady State Errors ELEC304-Alper Erdogan 1–3

and the steady state error

s2 + 7s + 5 1
e(∞) = lim sE(s) = lim 2 =
s→0 s→0 s + 7s + 10 2
How about the steady state error for the ramp
input (R(s) = s12 )?

1 s2 + 7s + 5
E(s) = 2 (1 − T (s)) = 2 2
s s (s + 7s + 10)
and the steady state error
s2 + 7s + 5
e(∞) = lim sE(s) = lim =∞
s→0 s→0 s(s2 + 7s + 10)
Steady State Errors ELEC304-Alper Erdogan 1–4

Steady State Error in Terms of G(s)

• Note that
E(s) = R(s) − C(s)
and
C(s) = E(s)G(s)
which yield
R(s)
E(s) =
1 + G(s)
Therefore the steady state error
sR(s)
e(∞) = lim sE(s) = lim
s→0 s→0 1 + G(s)

1
• For a step input R(s) = s

s 1s 1
e(∞) = lim =
s→0 1 + G(s) 1 + lims→0 G(s)
Steady State Errors ELEC304-Alper Erdogan 1–5

To have zero steady state error

lim G(s) = ∞
s→0

which implies G(s) must take the form

(s + z1)(s + z2)...
G(s) = n n≥1
s (s + p1)(s + p2)...
i.e. at least one pure integrator!
1
• For a ramp input R(s) = s2
s s12 1
e(∞) = lim =
s→0 1 + G(s) lims→0 sG(s)
To have zero steady state error
lim sG(s) = ∞
s→0

which implies G(s) must take the form

(s + z1)(s + z2)...
G(s) = n n≥2
s (s + p1)(s + p2)...
i.e. at least two pure integrators!
1
• For a parabolic input R(s) = s3
s s13 1
e(∞) = lim =
s→0 1 + G(s) lims→0 s2G(s)
To have zero steady state error
lim s2G(s) = ∞
s→0
Steady State Errors ELEC304-Alper Erdogan 1–6

which implies G(s) must take the form

(s + z1)(s + z2)...
G(s) = n≥3
sn(s + p1)(s + p2)...
i.e. at least three pure integrators!
Steady State Errors ELEC304-Alper Erdogan 1–7

Examples

Consider the System (with no integrator) in the

following figure

• The steady state error for r(t) = 5u(t) (R(s) = 5s )

s 5s 5 5 5
e(∞) = lim = = =
s→0 1 + G(s) 1 + lims→0 G(s) 1 + 20 21
5
• The steady state error for r(t) = 5tu(t) (R(s) = s2
)

s s52 5
e(∞) = lim = =∞
s→0 1 + G(s) lims→0 sG(s)
Steady State Errors ELEC304-Alper Erdogan 1–8

Examples

Consider the System (with one integrator) in the

following figure

• The steady state error for r(t) = 5u(t) (R(s) = 5s )

s 5s 5 5
e(∞) = lim = = =0
s→0 1 + G(s) 1 + lims→0 G(s) ∞
5
• The steady state error for r(t) = 5tu(t) (R(s) = s2
)

s s52 5 5 1
e(∞) = lim = = =
s→0 1 + G(s) lims→0 sG(s) 100 20
10
• The steady state error for r(t) = 5t2u(t) (R(s) = s3
)

s 10
s3
10 10
e(∞) = lim = 2
= =∞
s→0 1 + G(s) lims→0 s G(s) 0
Steady State Errors ELEC304-Alper Erdogan 1–9

Type of the System

The type of the system (the number of integrators in
the open loop system) determines which type of
signals we can track:

Here n is the type of the system.

• If n = 0,
– It can track unit step with a nonzero error
1 1
e(∞) = =
1 + lim G(s) 1 + Kp
s→0 {z
| }
Kp
where Kp is the position constant.
– It can not track ramp or parabolic inputs.
• If n = 1,
– It can track unit step with a zero error.
– It can track ramp with a nonzero error.
1 1
e(∞) = =
lim sG(s) Kv
s→0
| {z }
Kv
Steady State Errors ELEC304-Alper Erdogan 1 – 10

where Kv is the velocity constant.

– It can not track parabolic inputs.
• If n = 2,
– It can track unit step and ramp input with zero
errors.
– It can track parabolic input with a nonzero error.
1 1
e(∞) = =
lim s2G(s) Ka
s→0
| {z }
Ka

where Ka is the acceleration constant.

Steady State Errors ELEC304-Alper Erdogan 1 – 11

Steady State Errors: Static Error

Constants

• Position constant
Kp = lim G(s) (1)
s→0
1
Steady state error for unit step input is e(∞) = 1+Kp .

• Velocity constant
Kv = lim sG(s) (2)
s→0
1
Steady state error for a ramp input is e(∞) = KV .
• Acceleration constant
Ka = lim s2G(s) (3)
s→0
1
Steady state error for a parabolic input is e(∞) = Ka .
Steady State Errors ELEC304-Alper Erdogan 1 – 12

Example

Given the control system

find K such that there is a 10 percent error in steady

state?
Solution: Since system type is 1 the finite steady
state error should be for a ramp input.
1
e(∞) = = 0.1
Kv
So
5·K
Kv = 10 = lim sG(s) =
s→0 6·7·8
we obtain K = 672
Steady State Errors ELEC304-Alper Erdogan 1 – 13

How About Nonunity Feedback

Systems

• Easy! Use the following transformation: