Plant with Disturbance Input 𝑫(𝒔)

𝐶 𝑠 = 𝐸 𝑠 𝐺1 𝑠 𝐺2 𝑠 + 𝐷(𝑠)𝐺2 (𝑠)
𝐸 𝑠 =𝐶 𝑠 −𝑅 𝑠
Substitute and 1 𝐺2 𝑠
⇒𝐸 𝑠 = 𝑅 𝑠 − 𝐷(𝑠)
solve for 𝐸(𝑠) 1 + 𝐺1 s 𝐺2 s 1 + 𝐺1 s 𝐺2 s
The final value theorem. 𝑓 ∞ = lim 𝑓 𝑡 = lim𝑠𝐹(𝑠)
𝑡→∞ 𝑠→0
𝑠𝑅(𝑠) 𝑠𝐺2 𝑠
𝑒 ∞ = lim − lim 𝐷 𝑠 = 𝑒𝑅 ∞ + 𝑒𝐷 (∞)
𝑠→0 1 + 𝐺1 s 𝐺2 s 𝑠→0 1 + 𝐺1 s 𝐺2 s

Since we are dealing with linear systems that are subject to superposition, we can
analyze the disturbance response separately from the input response. If we pretend
the input 𝑅(𝑠) is zero, we can re-arrange the disturbance system as follows.

Then 𝐺2 𝑠
𝐸𝐷 𝑠 = − 𝐷(𝑠)
1 + 𝐺1 s 𝐺2 s
For arbitrary disturbance input 𝐷(𝑠)

𝑠𝐺2 𝑠
𝑒𝐷 ∞ = − lim 𝐷(𝑠)
𝑠→0 1 + 𝐺1 s 𝐺2 s
 1
Then for a step disturbance 𝐷 𝑠 = 𝑠

𝑠𝐺2 𝑠 1 𝐺2 𝑠 1
𝑒𝐷 ∞ = − lim = − lim =−
𝑠→0 1 + 𝐺1 s 𝐺2 s 𝑠 𝑠→0 1 + 𝐺1 s 𝐺2 s 1
lim + lim 𝐺1 s
𝑠→0 𝐺2 𝑠 𝑠→0
1
𝑒𝐷 ∞ = −
1
lim + lim 𝐺1 s
𝑠→0 𝐺2 𝑠 𝑠→0

𝑠𝑅(𝑠)
𝑒𝑅 ∞ = lim
𝑠→0 1 + 𝐺1 s 𝐺2 s
Example: Determine the steady-state error to a step disturbance as a function of
the feedback gain 𝐾.

1
𝑒𝐷 ∞ = −
1
lim + lim 𝐺1 s
𝑠→0 𝐺2 𝑠 𝑠→0

𝑠+2
𝐺1 𝑠 = 𝐾 𝐺2 𝑠 =
𝑠+4

1 1 1 1
𝑒𝐷 ∞ = − =− =− =−
1 𝑠+4 4 2+𝐾
lim + lim 𝐺1 s lim 𝑠 + 2 + lim 𝐾 + 𝐾
𝑠→0 𝐺2 𝑠 𝑠→0 𝑠→0 𝑠→0 2

Notice how the disturbance response gets smaller (that is disturbance rejection
improves) as the feedback gain 𝐾 is increased. This is the usual behavior.
 System Type (review): System type is the
number of pure integrators in the forward path
What is the system type? of a unity feedback system.

100 𝑠 + 2
Feedback loop: 𝑠 𝑠+5 100 𝑠 + 2
𝐺1 𝑠 = =
100 𝑠 + 2 𝑠 2 + 1005𝑠 + 2000
1 + 10
𝑠 𝑠+5

𝐺𝑒

1000 105 𝑠 + 2
here: 𝐺𝑒 𝑠 = 𝐺1 𝑠 =
𝑠 𝑠(𝑠 2 + 1005𝑠 + 2000) Thus it is type 1.
Determine the a.) system type, b.) steady state error to 5𝑢 t , c. ) s. s. error to 5𝑡𝑢 𝑡 , d.)
the closed loop TF, e.) discuss the validity of these calculations.

𝐺1 𝑠

1
𝑠2
𝑠+1 𝑠
𝐺1 𝑠 = = 4
1 s + s 3+1
1+ 3
𝑠 𝑠+1
𝐺𝑒

𝑠 1 1
𝐺𝑒 𝑠 = 4 =
(s + s3 + 1) s2 s + 3 s s 5 + 4s4 + 3s2 + s + 3

Thus it is type 1.
b.) steady state error to 5𝑢 t :
Since it is type 1, the s.s. error 𝑒𝑠𝑠 = 0.
c. ) s. s. error to 5𝑡𝑢 𝑡 :
1 5
𝐾𝑣 = lim 𝑠𝐺 𝑠 = 3 . Therefore 𝑒𝑠𝑠 = 𝐾 = 15.
𝑠→0 𝑣

d.) the closed loop TF

1
𝐺 𝑠 s s 5 + 4s 4 + 3s 2 + s + 3 1
𝑇 𝑠 = = = 6
1+𝐺 𝑠 1 𝑠 + 4𝑠 5 + 3𝑠 3 + 𝑠 2 + 3𝑠 + 1
1+
s s5 + 4s 4 + 3s2 + s + 3
e.) discuss the validity of these calculations:
The steady state error calculations are not valid because 𝑇(𝑠) is not stable as
seen because the 𝑠 4 term is absent in the closed-loop denominator.

Or calculate the C.L. poles:

>> roots([1 4 0 3 1 3 1])
ans =
-4.1680 + 0.0000i
0.6043 + 0.7836i Has 2 unstable poles.
0.6043 - 0.7836i ∴ S.S. Error Not Valid!
-0.3557 + 0.7862i
-0.3557 - 0.7862i
-0.3291 + 0.0000i
What if we have a non-unity feedback system?

𝐺1 (𝑠)𝐺2 (𝑠)
𝑇 𝑠 =
1 + 𝐺2 𝑠 𝐻1 (𝑠)

𝐸 𝑠 = 𝐶 𝑠 − 𝑅 𝑠 = 𝑅(𝑠) 1 − 𝑇(𝑠)
𝐺1 𝑠 𝐺2 𝑠 1 + 𝐺2 (𝑠) 𝐻1 𝑠 − 𝐺1 (𝑠)
1−𝑇 𝑠 =1− =
1 + 𝐺2 𝑠 𝐻1 𝑠 1 + 𝐺2 𝑠 𝐻1 (𝑠)
1 + 𝐺2 (𝑠) 𝐻1 𝑠 − 𝐺1 (𝑠)
∴ 𝐸 𝑠 = R(s)
1 + 𝐺2 𝑠 𝐻1 (𝑠)

Which if 𝐻 𝑠 = 1, making it unity feedback, and 1

𝐸 𝑠 = R(s)
𝐺1 𝑠 = 1, 𝐺2 𝑠 = 𝐺 𝑠 , reverts to: 1+𝐺 𝑠

Non-unity feedback is straightforward but seems more troublesome and the simple
expressions for unity feedback seem like they cannot be used.

Well, actually … we can manipulate it using block diagram reduction.

Non-unity feedback systems

Equivalent
Let 𝐺(𝑠) = 𝐺1 (s)𝐺2 (s) and 𝐻 𝑠 = 𝐻1(𝑠) 𝐺1 (𝑠)

Equivalent

Consider the identity 𝐻 𝑠 = 𝐻 𝑠 − 1 + 1

Equivalent

This form has 𝐸 𝑠 = 𝑅 𝑠 − 𝐶 𝑠

explicitly in a unity feedback loop.
Non-unity feedback systems

𝐺𝑒 (s)

But 𝐺(𝑠) = 𝐺1 (s)𝐺2 (s) and 𝐻 𝑠 = 𝐻1(𝑠) 𝐺1 (𝑠)

𝐺(𝑠) 𝐺1 (s)𝐺2 (s)

Where 𝐺𝑒 𝑠 = =
1 + 𝐺(𝑠) 𝐻 𝑠 − 1 1 + 𝐺2 (s) 𝐻1 𝑠 − 𝐺1 (s)

Now the normal unity feedback equations can be applied to 𝐺𝑒 𝑠 .

Summary: Non-unity feedback systems

Let 𝐺(𝑠) = 𝐺1 (s)𝐺2 (s) and 𝐻 𝑠 = 𝐻1(𝑠) 𝐺1 (𝑠)

Equivalent

Equivalent 𝐻 𝑠 =𝐻 𝑠 −1+1

𝐺𝑒 (s)

𝐺(𝑠) 𝐺1 (s)𝐺2 (s)

Where 𝐺𝑒 𝑠 = =
1 + 𝐺(𝑠) 𝐻 𝑠 − 1 1 + 𝐺2 (s) 𝐻1 𝑠 − 𝐺1 (s)

Now the normal unity feedback equations can be applied to 𝐺𝑒 𝑠 .

Example 7.8 Find the system type, the
appropriate error constant associated with
the system type, and the steady-state
error for a unit step input.

𝐺1 (s)𝐺2 (s)
𝐺𝑒 (𝑠) =
1 + 𝐺2 (s) 𝐻1 𝑠 − 𝐺1 (s)

100 1
𝐺 𝑠 = = 𝐺2 (𝑠) 𝐻 𝑠 = = 𝐻1 (𝑠) 𝐺1 𝑠 = 1
𝑠(𝑠 + 10) (𝑠 + 5)

𝐺(𝑠) 100(𝑠 + 5)
𝐺𝑒 𝑠 = =
1 + 𝐺(𝑠) 𝐻 𝑠 − 1 𝑠 𝑠 + 10 𝑠 + 5 + 100(1 − 𝑠 + 5 )

100(𝑠 + 5)
=
𝑠 3 + 15𝑠 2 − 50𝑠 − 400

The system is type 0.

Is it stable? Use Routh on the closed-loop TF.
𝐺𝑒 (𝑠) 100(𝑠 + 5) 100(𝑠 + 5)
𝑇 𝑠 = = =
1 + 𝐺𝑒 (𝑠) 𝑠 3 + 15𝑠 2 − 50𝑠 − 400 + 100(𝑠 + 5) 𝑠 3 + 15𝑠 2 + 50𝑠 + 100

1 50
15 3 100 20

3 50 − 20 = 120 0

It is stable. 20 Use 𝐺𝑒 𝑠 to compute steady-state

error.

100(𝑠 + 5)
𝐺𝑒 (𝑠) =
𝑠 3 + 15𝑠 2 − 50𝑠 − 400

100(5) 5 1 1
𝐾𝑝 =lim𝐺𝑒 𝑠 = = − 𝑒 ∞ = = = −4
𝑠→0 −400 4 1 + lim𝐺(𝑠) 1 − 5
𝑠→0 4
What does negative s.s. error mean?

𝑒𝑠𝑠 = 𝑟𝑠𝑠 − 𝑐𝑠𝑠

For a unit step input 𝑟𝑠𝑠 = 1. ∴ 𝑐𝑠𝑠 = 5.

Negative s.s. error means the output is larger than the command.

>> gg=tf(100*[1 5],[1 15 50 100])

Transfer function: 6
Step Response

100 s + 500
𝑐𝑠𝑠
------------------------- 5

s^3 + 15 s^2 + 50 s + 100

4

>> step(gg)
Amplitude 3

𝑒𝑠𝑠 = 𝑟𝑠𝑠 − 𝑐𝑠𝑠

2

1
Command= 𝑟(𝑡)

0
0 0.5 1 1.5 2 2.5 3
Time (seconds)
 Steady State Error HW Examples
7-3. Find S.S. Error to input 80𝑡 2 𝑢 𝑡 .

60 𝑠 + 3 𝑠 + 4 𝑠 + 8
𝐺 𝑠 =
𝑠 2 (𝑠 + 6)(𝑠 + 17)

𝑛! 2! 160
ℒ 𝑡𝑛𝑢 𝑡 = 𝑟 𝑡 = 80𝑡 2 𝑢 𝑡 ⇒ 𝑅 𝑠 = 80 = 3
𝑠 𝑛+1 𝑠 2+1 𝑠

160
𝑠𝑅 𝑠 𝑠 32
e ∞ = lim = lim𝑠
𝑠→0 1 + 𝐺 𝑠 𝑠→0 60 𝑠 + 3 𝑠 + 4 𝑠 + 8
1+
𝑠 2 𝑠 + 6 𝑠 + 17
160 160 160 × 6 × 17
lim = =
𝑠→0 2 60 𝑠 + 3 𝑠 + 4 𝑠 + 8 60 𝑠 + 3 𝑠 + 4 𝑠 + 8 60 × 3 × 4 × 8
𝑠 + lim
𝑠 + 6 𝑠 + 17 𝑠→0 𝑠 + 6 𝑠 + 17
= 2.833
 Close this loop, leaving a unity FB system.
7-13
a) Find 𝐾𝑝 , 𝐾𝑣 , 𝐾𝑎 .
b) Determine S.S. Error to input
50𝑢 𝑡 , 50𝑡𝑢 𝑡 , 50𝑡 2 𝑢 𝑡 .
c) State the system type.

𝐺 5 5
𝐺𝑒 = = = 3
1 + 𝐺𝐻 𝑠 𝑠 + 1 𝑠 + 2 + 5 𝑠 + 3 𝑠 + 3𝑠 2 + 7𝑠 + 15

1
𝐾𝑝 = lim 𝐺𝑒 = 𝐾𝑣 = lim 𝑠𝐺𝑒 = 0 𝐾𝑎 = lim 𝑠 2 𝐺𝑒 = 0
𝑠→0 3 𝑠→0 𝑠→0

50 50
For 50𝑢 𝑡 , 𝑒 ∞ = 1+𝐾 = 1 = 37.5
𝑝 1+3

For 50𝑢𝑡 𝑡 , and 50𝑡 2 𝑢 𝑡 , 𝑒 ∞ = ∞.

The system is type 0.

 7
7-40 𝐺 𝑠 = 5, 𝑃 𝑠 =
𝑠+2
3
a) S.S. Error due to 𝑅 𝑠 = 𝑠 , 𝐷 𝑠 = 0
1
c) S.S. Error due to 𝑅 𝑠 = 0, 𝐷 𝑠 = − 𝑠
e) Total S.S. Error

3
𝑠𝑅 𝑠 𝑠 𝑠 3 6
e𝑅 ∞ = lim = lim = = = 0.1622
𝑠→0 1 + 𝐺 𝑠 𝑃(𝑠) 𝑠→0 35 35 37
1 + 𝑠 + 2 1 + lim 𝑠 + 2
𝑠→0

𝑃(𝑠) 𝑃 𝑠
𝐸𝐷 𝑠 = − 𝐷 𝑠
1+𝑃 s 𝐺 𝑠

7 1 7
𝐺(𝑠) =− − =
𝑠 + 2 + 5(7) 𝑠 𝑠 𝑠 + 37
𝑠𝑃 𝑠 7
𝑒𝐷 ∞ = − lim 𝐷 𝑠 = = 0.1982
𝑠→0 1 + 𝑃 s 𝐺 𝑠 37

6 7 13
𝑒𝑅 + 𝑒𝐷 = + = = 0.3514
37 37 37
7-43 System 1
Determine system type, S.S. Error to
unit step, ramp, parabolic inputs.

𝐺1 (s)𝐺2 (s)
𝐺𝑒 𝑠 =
1 + 𝐺2 (s) 𝐻1 𝑠 − 𝐺1 (s)

𝑠+4
𝐺1 = 5, 𝐺2 = , 𝐻1 = 10
𝑠+3 𝑠+7

𝑠+4
5 5 𝑠+4 5 𝑠+4
𝑠+3 𝑠+7
𝐺𝑒 𝑠 = = = 2
𝑠+4 𝑠+3 𝑠+7 +5 𝑠+4 𝑠 + 15𝑠 + 41
1+ 10 − 5)
𝑠+3 𝑠+7
It is Type 0.
20
𝐾𝑝 = lim 𝐺𝑒 = 𝐾𝑣 = lim 𝑠𝐺𝑒 = 0 𝐾𝑎 = lim 𝑠 2 𝐺𝑒 = 0
𝑠→0 41 𝑠→0 𝑠→0

1 1 41 41
𝑒𝑠𝑡𝑒𝑝 ∞ = = = = = 0.6721, 𝑒𝑟𝑎𝑚𝑝 = 𝑒𝑝𝑎𝑟𝑎𝑏𝑜𝑙𝑖𝑐 = ∞
1 + 𝐾𝑝 1 + 20 41 + 20 61
41
 Actuating signal
7.42 Determine: a.) system type,
b.) static error constant, c.) input 𝐴(𝑠)
waveform to yield constant error,
d.) s.s. error for part c., e.) steady
state value of the actuating signal.

a.) 𝐺(s)
𝐺𝑒 𝑠 =
1 + 𝐺(s) 𝐻 𝑠 − 1

10 𝑠 + 10
𝐺 𝑠 =
𝑠 𝑠+2

−
𝐻 𝑠 = 𝑠 + 4, ⇒𝐻 𝑠 −1=𝑠+3

10 𝑠 + 10
𝑠 𝑠+2 𝑠+3
𝐺𝑒 𝑠 =
10 𝑠 + 10
1+ (𝑠 + 3)
𝑠 𝑠+2

10 𝑠 + 10 10 𝑠 + 10
= = The system is type 0.
𝑠 𝑠 + 2 + 10(𝑠 + 3)(𝑠 + 10) 11𝑠 2 + 132𝑠 + 300
b.) error constant, 𝐾𝑝 = lim 𝐺𝑒 10 𝑠 + 10 100 1
𝑠→0 𝐾𝑝 = lim = =
𝑠→0 11𝑠 2 + 132𝑠 + 300 300 3

c.) input waveform to yield constant error, step

d.) s.s. error for part c., 1 1 3

𝑒 ∞ = = =
1 + 𝐾𝑝 1 + 1 4
3

e.) steady state value of the actuating signal.

Note that the actuating signal in non-unity FB is different than

𝐸 𝑠 = 𝑅 𝑠 − 𝐶(𝑠). It is in fact 𝐴 𝑠 = 𝑅(𝑠) − 𝐶 𝑠 𝐻(𝑠)

𝑅 𝑠 𝐺 𝑠 𝐺 𝑠 𝐻 𝑠 𝑅 𝑠
𝐶 𝑠 = ⇒ 𝐴 𝑠 =𝑅 𝑠 1− =
1+𝐺 𝑠 𝐻 𝑠 1+𝐺 𝑠 𝐻 𝑠 1+𝐺 𝑠 𝐻 𝑠

1
𝑠 𝑠 1
𝑎(∞) = lim = lim
𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠) 𝑠→0 10 𝑠 + 10
1+ (𝑠 + 4)
𝑠 𝑠+2
𝑠 𝑠+2
= lim =0
𝑠→0 𝑠 𝑠 + 2 + 10 𝑠 + 10 (𝑠 + 4)