Steady state Essor

It is the error between desiredInference output and actual

the system when time't x
output of
Considerthe
system
If msn.IR
Els us
I
His
unity feedback system
1G Clefs GCD TCD 9
It Gcs Hls It Gls

Cls GCS RI
E D RCD Ccs Hcs It Gls
E s RCD CGD
RID 947,44 R l R
Cis
ff if
Ecs Rls
i

e N ht'n eH bingo Ets If'n o Is R

It Gcs
e king SIR ess higo RCD
I 1 Gcs tag
 the
Type of system
Type of
the system is defined by the number of polys at the

origin of s plane

GCS K Ta t 1 Tb 1 Tm 1

BN T 1 Tz1StD Tp 1

N o Type o system No pole at origin

N I I system one pole atorigin
Type
N a system Two poles at origin
z Type

Calculation of steady state Essor

Steady state error is calculated for threetypesof inputs

step input R
Rampinput Rest
Parabolic Acceleration RG
Steady state eseorfmuuitstepsy.at

hino tats
esse him ff sling
g
1 let us asThe static
ees define bing.GG
1
this position euor constant KP
1
Ees
It
Kp bigg Gts
Kp

For Type 0 System

lying K Tais 1 TbsTD KIL I K Ess
Kps Is 11 Tz 1 1 L

For Type 1 System

sess f o
fIIIY
ao
ke hseokftg.IE ko
For Type 2 System
ess
L 0
fIIIY
a
ke hino kffaf.tt I ko

esse
the fan type 0 system
esse O fer type I as higher systems

Observations

Kt easily
If
Integrator is used in the o
Iffeedback look es
Steady state escorfer
RampInput

ease limo Rls Risk

Ians
ees limo his.si as hsEsosaTs

e 1 Let usdefine big 46 as static

bigots velocity euros constant Kv
Kv big isGes
e I
Ko

For Type 0 System

Ko lying 9k Tais 1 Tbs11 O K.LI I O Esse D
Is 11 Tz 1 1 L

For Type 1 System

lug'n
ofKTafDlTbktD
1 ISH L L I
K ess
Iz
f CT
For Type 2 System
IN O
lug'n K Taft 1 Tbs11 a ess
o
t T

Ees N for type o system

e for type 1 System

e 0 for type 2 alerigher Systems

Cf
A CH a
sets ret

t t
 Steady
state essor
for parabolic Input
4 lying Rls Rls
g
limo limo
ess limo t s s

ess 1 Let us define 296 as the static

limo acceleration EssoeConstant ka
ka knights
l 1 Seo
Ka

For Type 0 system

ka lying K Tais 1 Tbs11 O k 1 L O Esse
to D
11 Tz 1 1 I A

For Type 1 System

ka ofk Taf DlTbHD
leg'n
ISH I L L
o ess
to D
8 Tilsit
For Type 2 System
z

ka DCTbsD
lujgoskfaf K.LI K ess Tg
77511 ISH
For Type 3 System

ka bin Ek Talcott Tbs11 a esse

tg 0
S 3 LT sit 1 128 1 to a

e N
for type o Eetype 1 System

cess
for type 2 systems

3 and higher Systems

e o
fer type
Summary

Acceleration Input
StepInput Ramp
Spit
Rls Y Rls _4,5 RID e
Ys
SH e I rel't sit It
o as a
Type
Type I o a

2 O O
Type
O O
Type 3 O

Kp lesigo Gls ligne a Hls

Kr lying 9157 lyin 6157 Hcs

Ka limo 2915 big 915 Hcs

for Unityfeedback
Hls I