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# Assignment 3

Module: Control System 3
Submitted by: Felix Sesay
Reg. No. 22063
Lecturer: Dr Maurice Sesay
Electrical and Electronic Engineering Department
Fourah Bay College (USL)

Consider a simple closed loop feedback system shown below with input R(s) and
output Y(s):
R(s) + E(s) Y(s)
-

The system type is determined by the form of the loop(or open-loop) transfer function GH(s). In
general GH(s) is given as

( )
( )
( )
n
N s
GH s
s D s
= ……………………..(1)
Where N(s) and D(s) represent polynomials in s and
n
s represents all powers of s that can be
factored from the denominator. The number n determines the system type. It is said that the
system is a ‘type n’ system.
The error transfer function can be derived by reducing the block diagram of the single loop
system. Therefore, the error transfer function is given as

1
( )
1 ( )
E
s
R GH s
=
+
……………………..(2)
Combining equation (1) and (2) gives the general form
G(s)
H(s)

( )
( )
( ( )) ( )
n
n
E s D s
s
R s D s N s
=
+

The steady state error is found by using the final theorem.
Type 0 and 1 Steady state error of a Ramp input:
Type 0 “system”:

( )
0
2
0
0
lim ( )
1
lim . .
( )
lim
.( ( ) ( ))
(0)
0
ss
ss
ss
ss
x
x
x
e sE s
E
e s
R s
D s
e
s D S N S
D
e
÷
÷
÷
=
|
|
=
|
.
\
|
|
=

|
+
.
\
=

ss
e
=
Infinite Value.
Type 1 “system”:

( )
0
2
0
0
lim ( )
1
lim . .
( )
lim
.( ( ) ( ))
(0)
(0)
ss
ss
ss
ss
x
x
x
e sE s
E
e s
R s
D s
e
s D S N S
D
e
N
÷
÷
÷
=
|
|
=
|
.
\
|
|
=

|
+
.
\
=

ss
e
=
finite value

Type 0 and 1 Steady state error of a Parabolic input:
Type 0 “system”:

( )
0
3
0
2
0
lim ( )
1
lim . .
( )
lim
( ( ) ( ))
(0)
0
ss
ss
ss
ss
x
x
x
e sE s
E
e s
R s
D s
e
s D S N S
D
e
÷
÷
÷
=
| |
=
|
. \
| |
=
|
+
. \
=

ss
e =infinite value

Type 1”system”:

( )
0
3
0
0
lim ( )
1
lim . .
( )
lim
( ( ) ( ))
(0)
0
ss
ss
ss
ss
x
x
x
e sE s
E
e s
R s
D s
e
s sD S N S
D
e
÷
÷
÷
=
|
|
=
|
.
\
|
|
=

|
+
.
\
=

ss
e =infinite value