ME 779 Control Systems

Topic #9
Steady-state Error
Reference textbook:

Control Systems, Dhanesh N. Manik,

Cengage Publishing, 2012

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Control Systems: Steady-state Error
Learning Objectives

• Definition
• Unity feedback systems
-Equation
-Step input
-Ramp input
-Parabolic input
-Disturbance input
• Non-unity feedback systems
• Disturbance input
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 Control Systems: Steady-state Error
Definition

Output error is the difference between the expected response

the actual response of a stable system

Steady-state value of output error is known as steady-state error

For unity feedback systems, output error is same

as the error signal coming out of the summing junction

System type (number of open-loop poles at the origin)

steady-state error are closely related

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 Control Systems: Steady-state Error
CONTROL SYSTEM TYPES Unity feedback system

K ( s  z1 )( s  z2 ) ( s  zm ) open-loop transfer function

G(s)  N of a unity feedback system
s ( s  p1 )(s  p2 ) (s  pn )

N=system type (0,1,2)

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 Control Systems: Steady-state Error
Equation Unity feedback system

Se (s)  E (s)  R(s)  C (s)

C (s)  E(s)G(s)

Se ( s ) E ( s ) 1 R( s )
  Se ( s ) 
R( s ) R( s ) 1  G ( s ) 1  G(s)

sR ( s )
se (  )  lim sS e ( s )  lim
s0 s0 1  G (s)

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Control Systems: Steady-state Error
Step input Unity feedback system
1 1
R( s)  se ()  lim
s 0 1  G ( s )
s

m
s  m
K  zi   1 K (1)  zi
mn

K1  lim G ( s )  lim
i 1  zi 
 lim i 1
s 0 s 0   n
s  pj
n
s 
s N  p j   1
s 0 N

 pj  j 1
j 1  

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Control Systems: Steady-state Error
Step input Unity feedback system
Type 0 system

m
K (1) mn
z i N=0, type 0 system
K p  lim G ( s )  n
i 1
s 0
p
j 1
j

1
se ()  N=0, type 0 system
1 K p

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Control Systems: Steady-state Error
Step input Unity feedback system

Kp   se () 
1
0 Type 1 system
1 K p

1
Kp   se ()   0 Type 2 system
1 K p

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Steady-state error for step input
System Limiting value of the open- Steady- r(t), c(t), se(t) and se(∞)
type loop transfer function state
error, se(∞)
1
1 K p
m
K (1) m  n  zi
Type 0 K1type 0  K p  n
i 1

p j 1
j

 lim G ( s)
s 0

m
1
K (1) m  n  zi 0
1  K1type1
Type 1 K1type1  lim n
i 1

s 0
s p j
j 1

Type 2
1
m 0
K (1) m  n  zi 1  K1type 2
K1type 2  lim n
i 1

s 0
s 2
p
j 1
j

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Control Systems: Steady-state Error
Ramp input Unity feedback system
1 1 1
R( s )  2 se ()  lim  lim
s 0 s  sG ( s )
s s 0 sG ( s )

m m
s
K  zi (  1) K (1)  zi
mn

i 1 z
K 2  lim sG ( s)  lim n
i
 lim n
i 1
s 0 s 0 s
s N 1  p j (  1) s 0 s N 1  p j
j 1 pj j 1

Velocity error m
K (1) mn
 z s ( )  1
i
K v  lim sG ( s )  lim n
i 1
e
Kv
s 0 s 0
p
j 1
j

Type 1 system Steady-state error

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Control Systems: Steady-state Error
Ramp input Unity feedback system

K2=0 se ()   Type 0 system

1
se () 
Kv Type 1 system

K2=∞ se ()  0 Type 2 system

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Steady-state error for ramp input Unity feedback system

System Limiting value of the open- Steady-

type loop transfer function state error, r(t), c(t), se(t) and se(∞)
se(∞)
1
type 0

K2

K2type 0  0
Type 0

1
Kv
Kv  lim sG( s)
Type 1 s 0

1
type 2
0
K 2

Type 2 K 2type 2  

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Control Systems: Steady-state Error
Parabolic input Unity feedback system

1 1
1 se ()  lim 2 2  lim 2
R( s)  3 s 0 s  s G ( s ) s 0 s G ( s )
s
m m
s
K  zi (  1) K (1)  zi
mn

i 1 z
K3  lim s 2G ( s )  lim n
i
 lim n
i 1
s 0 s 0 s
s  p j (  1)
N 2 s 0
s  pj
N 2

j 1 pj j 1

Acceleration error Ka for a type 2 system 1

se () 
K a  lim s 2G(s) Ka
s 0
Type 2
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 Unity feedback system
Steady-state error for parabolic input
System Limiting value of the open- Steady-
type loop transfer function state r(t), c(t), se(t) and se(∞)
error,
se(∞)

m
K (1) m  n  zi
1
Type 0 K 3type 0  lim n
i 1
0 type 0

s 2  p j
s 0 K 3

j 1

m
K (1) m  n  zi
Type 1 K 3type 2  lim i 1
0
n 1
s 0
s 1
 pjj 1
K type 2
3


m
K (1) m  n  zi
K 3type 2  K a  n
i 1

Type 2
p
j 1
j
1
Ka
 lim s 2G ( s )
s 0

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Control Systems: Steady-state Error
Unity feedback system
Steady-state error of various system
types for step, ramp and parabolic inputs
Type of input
System Step Ramp Parabolic
type
0 Finite ∞ ∞
(position error)
1 0 Finite ∞
(velocity error)
2 0 0 Finite
(acceleration
error)

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Control Systems: Steady-state Error
Disturbance input Unity feedback system

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Control Systems: Block Diagram Algebra
Disturbance input Unity feedback system
Only reference input acting

CR ( s ) G1 ( s)G2 ( s)

R( s) 1  G1 ( s)G2 ( s)

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Control Systems: Block Diagram Algebra
Disturbance input Unity feedback system
Only disturbance acting

CU ( s) G2 ( s)

U ( s) 1  G1 ( s)G2 ( s)
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Control Systems: Steady-state Error
Disturbance input Unity feedback system

CR ( s ) G1 ( s)G2 ( s)
 Response due to reference input only
R( s) 1  G1 ( s)G2 ( s)

CU ( s) G2 ( s)
 Response due to disturbance only
U ( s) 1  G1 ( s)G2 ( s)

C (s)  CR ( s)  CU ( s) Response due to both reference

disturbance
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 Control Systems: Steady-state Error
Disturbance input Unity feedback system

R( s ) G2 ( s)U ( s)
Se ( s )  E ( s )  
1  G1 ( s)G2 ( s) 1  G1 ( s)G2 ( s)
sR( s) sG2 ( s)U ( s)
se ()  lim sSe ( s)  lim  lim
s 0 s 0 1  G ( s )G ( s ) s 0 1  G ( s )G ( s )
1 2 1 2

sG2 ( s)U ( s) G2 ( s) 1
s ()   lim
D seD ()   lim 
s 0 1  G ( s )G ( s ) 1
s 0 1  G ( s )G ( s )
e
1 2
1 2 lim  lim G1 ( s)
s 0 G ( s ) s 0
2

Increase dc gain of G1(s) decrease dc gain of G2(s)

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Control Systems: Steady-state Error
Non-unity feedback systems

(a)
(b)

(d)
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Control Systems: Steady-state Error
Non-unity feedback systems

E1 (s)  E (s)  C (s)  C (s) H (s) Error signal of

the inner loop
E(s)  R(s)  C (s)
Error of the unity feedback system

C (s)  E1G(s) Output of the feedback system

C ( s) G( s)

E ( s) 1  G ( s) H ( s)  G( s)
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