Performance measures (review)

ƒ Transient response

ƒ Peak value

ƒ Peak time

ƒ Percent overshoot

ƒ Delay time

ƒ Rise time

ƒ Settling time

ƒ Steady state response

ƒ Steady state error

Next, we will connect

these measures

with s-domain.

(Today’s lecture)

(From next lecture)

Steady-state error: unity feedback

ƒ Suppose that we want output y(t) to track r(t).

ƒ Error

ƒ Steady-state error

Final value theorem

(Suppose CL system is stable!!!)

Unity feedback!

We assume that the

CL system is stable!5

Error constants

ƒ Step-error (position-error) constant

ƒ Ramp-error (velocity-error) constant

ƒ Parabolic-error (acceleration-error) constant

ƒ Kp, Kv, Ka : ability to reduce steady-state error

Steady-state error for step r(t)

Kp

Steady-state error for ramp r(t)

Kv

Steady-state error for parabolic r(t)

Ka9

System type

ƒ System type of G is defined as the order

(number) of poles of G(s) at s=0.

ƒ Examples

type 1

type 2

type 3

10

Zero steady-state error

ƒ If error constant is infinite, we can achieve zero

steady-state error. (Accurate tracking)

ƒ For step r(t)

ƒ For ramp r(t)

ƒ For parabolic r(t)

11

Example 1

ƒ G(s) of type 2

ƒ Characteristic equation

ƒ CL system is NOT stable for any K.

ƒ e(t) goes to infinity. (Don’t use today’s results if

CL system is not stable!!!)

G(s)

12

Example 2

ƒ G(s) of type 1

ƒ By Routh-Hurwitz criterion, CL is stable iff

ƒ Step r(t)

ƒ Ramp r(t)

ƒ Parabolic r(t)

G(s)13

Example 3

ƒ G(s) of type 2

ƒ By Routh-Hurwitz criterion, we can show that CL

system is stable.

ƒ Step r(t)

ƒ Ramp r(t)

ƒ Parabolic r(t)

G(s)

14

A control example

ƒ Closed-loop stable?

ƒ Compute error constants

ƒ Compute steady state errors

15

Summary and Exercises

ƒ Steady-state error

ƒ For unity feedback (STABLE!) systems, the system

type of the forward-path system determines if the

steady-state error is zero.

ƒ The key tool is the final value theorem!

ƒ Next, time response of 1st-order systems

ƒ Exercises

ƒ Read Section 5.5.

ƒ Solve Problems 5.9 and 5.14.