Steady State Error

• One objective of control systems is ensure system

output response follows a specific reference signal
accurately in the steady state
• What’s steady state error ?
• It is the difference between the output and the
reference in the steady state
• It is generally derive from the imperfections,
frictions, and the natural composition of system
• When design a control system, intend to keep
the steady state error below a tolerable value
Steady State Error
• Definition of Steady State Error

• Figure above is a closed-loop system, where R(s) is the input,

Ea(s) is the actuating signal, and Y(s) is the output
• Error of the system is defined E(s) = reference signal – Y(s)
• Hence, E(s) R( s ) – Y(s)
G( s)
 R(s) – R(s)
1  GH( s )
 [1 + GH(s) – G(s)] R(s)
1  GH( s )
Steady State Error
• Definition of Steady State Error

• If the system has unity feedback [H(s) = 1], the error is:

[1 + GH(s) – G(s)]
E(s)  R(s)
1  GH( s )
E(s)  1 R(s)
Since H(s) =1
1  G(s)
Steady State Error

• The steady state error is defined as:

ess  lim e(t )
t 

Based on Final  lim sE ( s )

s 
Value Theorem

1 sR ( s )
Since, E(s) = R(s)  lim (3.27)
1+G(s) s  1  G ( s )

* ess is depends on the characteristics of G(s). ess depends on

the number of poles that G(s) has at s = 0. This number is known
as the system type.
Steady State Error
• Review previous statement:
* ess is depends on the characteristics of G(s). ess depends on
the number of poles that G(s) has at s = 0. This number is known
as the system type. What does it means?

Explanation: The transfer function G(s) can be represented by:

M
K  (s + zi)
i=1
G(s) = Q
sN  (s + pk)
k=1

This is the poles of G(s) at s = 0.

If N = 0, it is Type 0 system. If N = 1, it is Type 1
system, and so forth
Steady State Error

• Now investigate the effects of various types of

inputs on the steady state error
1) Step Function Input
2) Ramp Function Input
3) Parabolic Input

* Investigating the steady state error of “Unity Feedback System”

Steady State Error (with Unity Feedback System)
1) Steady state error of system with a step input
• Step input is magnitude R, and R(s) = R/s
• The steady state error written from Eq (3.27) is:
sR( s )  sR/ s
ess  lim lim
s   1  G ( s ) s 1  G ( s )
R R
 lim  (3.28)
s 0 1  G ( s ) 1  lim G ( s )
s 0
• For convenience, define kp as the step error
constant, K p  lim
s0
G( s)
• Sub Kp into Eq(3.28), it becomesess  R
1 Kp
Steady State Error (with Unity Feedback System)
1) Steady state error of system with a step input
• Summarize the system steady state error (with step input)
into two types:
R
• Type 0 system: ess  = constant
1 Kp
Proof 10(s+1)
For instance, G(s) = (s+2)(s+4) , there is no pole at s = 0,
So it is a Type 0 system (N = 0)
R
10
K p  lim G ( s ) = 8 , So ess  10 = constant
s0 1 8

• Type 1 or higher system: ess = 0

Proof 10(s+1)
G(s) = s2(s+2)(s+4) , there is a pole at s = 0 (second order)
So it is a Type 2 system (N=2)
R

K p  lim G ( s ) =  , So ess 1   = 0
s0
Steady State Error (with Unity Feedback System)
2) Steady state error of system with a ramp input
• Ramp function with amplitude R, r(t) = Rtus(t), where R
is a real constant
• The Laplace transform of r(t) is: R(s) = R/s2
• The steady state error written from Eq (3.27) is:
sR( s ) sR/ s2 R
ess  lim  lim  lim
s 1  G ( s ) s 1  G ( s ) s s( 1  G ( s ) )

R R (3.30)
 lim 
s0 s  sG ( s ) lim sG ( s )
s 0

• For convenience, define kv as the ramp error constant,

k v  lim sG( s )
s0
R
• Sub Kv into Eq(3.30), it becomes ess 
kv
Steady State Error (with Unity Feedback System)
2) Steady state error of system with a ramp input
• Summarize the system steady state error (with
ramp input) into three types:
• Type 0 system: ess = 
• Type 1: ess= R/kv = constant
• Type 2 or higher system: ess = 0
Steady State Error (with Unity Feedback System)
3) Steady state error of system with2 a parabolic input
Rt
• Parabolic function, r ( t )  us (t )
2
• The Laplace transform of r(t) is: R(s) = R/s3
• The steady state error written from Eq (3.27) is:
sR( s ) sR/ s3 R
ess  lim  lim  lim 2
s  1  G ( s ) s 1  G ( s ) s s (1  G ( s ) )

R
ess  (3.32)
lim s 2G ( s )
s 0

• For convenience, define ka as the parabolic error


constant, k a lim
2
s G( s)

s 0 R
• Sub Ka into Eq(3.32), it becomesess 
ka
Steady State Error (with Unity Feedback System)
3) Steady state error of system with a parabolic input
• Summarize the system steady state error (with
parabolic input) into four types:
• Type 0 system: ess = 
• Type 1: ess= 
• Type 2: ess = R/ka = constant
• Type 3 or higher system: ess= 0
Steady State Error (with Unity Feedback System)
Summary of Steady-State Errors:

Type Step input: Ramp input: Parabolic input:

Number R(s) = R/s R(s) = R/s2 R(s) = R/s3
0 ess = R ess =  ess = 
1 + Kp

1 ess = 0 ess = R ess = 

Kv

2 ess = 0 ess = 0 ess = R

Ka
Steady State Error (with Unity Feedback System)
• Example 3.6
k ( s  3.15)
G( s)  H(s)  1
s( s  1.5)( s  0.5)
Find the steady state errors of the system above
Example 3.6 Solution
This system is type 1, the steady state errors are:
k ( s  3.15)
G( s) 
s ( s 1.5)( s  0.5)
One pole at s = 0 (first order, or N = 1)
Step input k ( s  3.15)
K p  lim G ( s )  lim 
s0 s0 s ( s  1.5)( s  0.5)

R
There steady state error, ess = =0
1 + Kp
Steady State Error (with Unity Feedback System)
• Example 3.6
k ( s  3.15)
G( s)  H(s)  1
s( s  1.5)( s  0.5)
Find the steady state errors of the system above
Example 3.6 Solution (Continue)
 s k ( s  3.15)
Ramp input k v lim sG ( s ) = lim k
s0 s0 s ( s  1.5)( s  0.5)
R R
ess  
kv 4.2k
s2k ( s  3.15)
Parabolic input k a  lim s G ( s ) = lim
2

s0 s0 s ( s  1.5)( s  0.5)
R
e ss  =
ka
Steady State Error

The previous sections, we have analyzed the steady

error of system with unity feedback

The next section, we will analyze the steady state

error of system with non-unity feedback
Steady State Error (with Non
Non--Unity Feedback System)
• For non-unity control, find the equivalent unity feedback
system
 Steady State Error (with Non
Non--Unity Feedback System)
• Conversion to unity feedback system


Steady State Error (with Non
Non--Unity Feedback System)
• Conversion to unity feedback system

* Successfully converted to a
unity feedback system
Steady State Error (with Non
Non--Unity Feedback System)
• For the above steps, we must consider inputs and outputs
are of the same units
• The investigation of the effects of various types of inputs
(step, ramp, and parabolic) carried out in the previous
section can be applied the the “equivalent unity feedback
system”
• Try example 3.7
Steady State Error (with Non
Non--Unity Feedback System)
• Example 3.7

find the system type and the steady state error for the unit step
function. Assume input and output units are the same
Example 3.7 Solution
First of all, convert it to an equivalent unity feedback system
Recall:
R(s) + Ea(s) C(s) R(s) + Ea(s) G(s) C(s)
G(s)
1+G(s)H(s) – G(s)

H(s)
Steady State Error (with Non
Non--Unity Feedback System)
• Example 3.7

find the system type and the steady state error for the unit step
function. Assume input and output units are the same
Example 3.7 Solution (Continue)
Hence,

R(s) + Ea(s) 100 ( s  5)

G(s) C(s)
C(s)
s 315s 2 50s  400
1+G(s)H(s)

Steady State Error (with Non
Non--Unity Feedback System)
• Example 3.7

find the system type and the steady state error for the unit step
function. Assume input and output units are the same
Example 3.7 Solution (Continue) Hence,
100 ( s  5)
Hence, G’(s) =
s 315s 2 50s  400
R(s) + Ea(s) 100 ( s  5)
G(s) C(s)
C(s) *G’(s) has no pole at s =0,
s 315s 2 50s  400
Thus this is Type 0 system.
1+G(s)H(s)
100 5 5
kp lim G’ ( s )  
s 0  400 4
1
ess   4
1 kp