DMT 354

INTRODUCTION TO CONTROL SYSTEM

CHAPTER 6
Steady-State Analysis
 Contents
 Introduction
 Steady-State Error for Unity Feedback System
 Static Error Constants and System Type
 Steady-State Error for Non-Unity Feedback Systems
 Introduction
Steady-state error, ess e(∞):
The difference between the input and the output for a
prescribed test input as time, t approaches ∞.

(a) Step Input (b) Ramp Input

 Test Inputs
Test Inputs: Used for steady-state error analysis and
design.
1. Step Input:
◦ Represent a constant position.
◦ Useful in determining the ability of the control system to
position itself with respect to a stationary target.
2. Ramp Input:
◦ Represent constant velocity input to a position control system
by their linearly increasing amplitude.
3. Parabolic Input:
◦ Represent constant acceleration inputs to position control.
◦ Used to represent accelerating targets.
Test Inputs
 Unity Feedback Systems
To determine the steady-state error, we apply the Final Value
Theorem:
f ()  lim sF (s)
s0

The following system has an open-loop gain, G(s) and a unity

feedback since H(s) is 1.
 Unity Feedback Systems

Thus to find E(s),

E (s)  R(s)  C ( s) …(1)

C ( s)  E ( s)G( s) …(2)

Substituting the (2) into (1) yields,

R( s)
E (s) 
1  G (s)
 Unity Feedback Systems
By applying the Final Value Theorem, we have:

e()  lim sE( s)

s 0

sR( s)
 lim
s 0 1  G ( s )

This allows the steady-state error to be determined for a given

test input, R(s) and the transfer function, G(s) of the system.
 Unity Feedback Systems
s (1 / s )
For a unit step input: estep ()  lim
s 0 1  G ( s )

1

1  lim G ( s )
s 0

The term: lim G ( s)

s0

◦ The dc gain of the forward transfer function, as the frequency

variable, s approaches zero.
To have zero steady-state error, lim G( s)  
s 0
 Unity Feedback Systems
s (1 / s 2 )
For a unit ramp input: eramp ()  lim
s 0 1  G ( s )

1

s  lim sG( s )
s 0

1

lim sG( s )
s 0

To have zero steady-state error,

lim sG( s)  
s 0

If there are no integration in the forward path: lim sG( s)  0

s 0
Then, the steady state error will be infinite.
 Unity Feedback Systems
s (1 / s 3 )
For a unit parabolic input: e parabola ()  lim
s 0 1  G ( s )

1
 2
s  lim s 2 G ( s )
s 0
1

lim s 2 G ( s )
s 0

To have zero steady-state error, lim s 2G ( s )  

s 0

If there are one or no integration in the forward path:

Then, the steady state error will be infinite. lim s G ( s)  0
2
s 0
Example 1
Find the steady state error for the system
5
if 𝐺 𝑠 = 𝑠2 +7𝑠+10 if the input is:
a) Unit step
b) Unit ramp
c) Unit parabolic
 Example 2

Find the steady state errors for inputs of

5 𝑢(𝑡),5𝑡 𝑢(𝑡), and 5𝑡 2 𝑢(𝑡). The function 𝑢(𝑡) is
a unit step.
 Example 3

Find the steady-state errors for inputs of

5 𝑢(𝑡),5𝑡 𝑢(𝑡), and 5𝑡 2 𝑢(𝑡) to the system shown
above. The function 𝑢(𝑡) is a unit step.
 System Type
System Type: The value of n in the denominator or, the number of
pure integrations in the forward path.

Therefore,
i. If n = 0, system is Type 0
ii. If n = 1, system is Type 1
iii. If n = 2, system is Type 2
 System Type
Example:
K s  2 
i.
G s   Type 0
s  1s  3
K 0.5s  1
ii.
G s  
 
ss  12s  1 s 2  s  1
Type 1

K 2 s  1
iii.
G s   3 Type 3
s
 Static Error Constant
Static Error Constants: Limits that determine the steady-state
errors.

Position constant: K p  lim G(s)

s 0

Velocity constant: K v  lim sG( s)

s 0

Acceleration constant: K a  lim s 2G ( s)

s 0
 Position Error Constant, Kp
Steady-state error for step function input, R(s):

Rs   R s  sRs  
If :
R
ess  lim  
s 0 1  G s 
  1  lim G ( s)
s 0

Position error constant: K p  lim G(s)

s 0

Thus, R
ess 
1 K p
 Velocity Error Constant, Kv
Steady-state error for step function input, R(s):

Rs   R s
2  sRs   R
ess  lim  
s 0 1  G s 
  lim sG( s)
s 0

Position error constant:

K v  lim sG( s)
s 0
Thus, R
ess 
Kv
 Acceleration Error Constant, Ka
Steady-state error for step function input, R(s):

 sRs  
Rs   R s R
3
ess  lim  
s 0 1  G s  2
  lim s G ( s )
s 0

Position error constant:

K a  lim s 2G ( s)
s 0

Thus, R
ess 
Ka
Static Error Constant & System Type
 Analysis Via Static Error Constant

• Example: Find the steady-state errors for inputs of 5u(t),

5tu(t), and 5t2u(t) by first evaluating the static error
constants.

K p  20, Kv  0, Ka  0
Analysis Via Static Error Constant

Answer:
R 5
estep ()  
1  K p 21

R
eramp ()  
Kv

R
e parabola ()  
Ka
 Non-Unity Feedback Systems
Control systems often do not have unity feedback because:
i. compensation used to improve performance
ii. Physical model of the system.
Feedback path can be a pure gain other than unity or have
some dynamic representation.
 Non-Unity Feedback Systems
Example: Calculate the error constants and determine ess for a
unit step, ramp and parabolic functions response of the
following system.

1 5s  1
G s   ; H s  
ss  12 s5
 Non-Unity Feedback Systems
Example: Calculate the error constants and determine ess for a
unit step, ramp and parabolic functions response of the
following system.
For step input,  sRs  
ess  lim
s 0 1  G s H s  
K p  limG ( s ) H ( s )  
s 0
 
 5s  1 
 lim  s 1 s  
s 0 s s  12s  5   lim 
  s 0
1  5s  1 
  s s  12s  5 
 1 
 lim 0
s 0 1   
 
 Non-Unity Feedback Systems
Example: Calculate the error constants and determine ess for a
unit step, ramp and parabolic functions response of the
following system.
For ramp input,
 sRs  
K v  limsGs H ( s ) ess  lim
s 0 1  G s H s  
s 0  
 5s  1   
 lim
s 0 s  12s  5 
 
 lim
  
s 1 s2 

1 s 0
1  5s  1 

12  ss  12s  5 
 12
 Non-Unity Feedback Systems
Example: Calculate the error constants and determine ess for a
unit step, ramp and parabolic functions response of the
following system.
For parabolic input,
 sRs  

s 0
 
K a  lim s 2G s H s 
ess  lim
s 0 1  G s H s  
 
 
 5ss  1 
 lim   
s 1 s3 
s 0 s  12s  5   lim 
  s 0
1  5s  1 
0  ss  12s  5 

 Non-Unity Feedback Systems
Problem 1: Calculate the error constants and determine ess for
a unit step, ramp and parabolic functions response of the
following system.
Gain design to meet steady-state
error specification
Problem 2: Find the value of K to yield a 10% error in
steady-state for system below:
Gain design to meet steady-state
error specification
Solution:
System is Type 1
Only ramp input yields a finite error in a Type 1 system.
So K 5
K v  lim sG( s )   10
s 0 6 78

K=672
 Further Reading
Chapter 5
i. Dorf R.C., Bishop R.H. (2001). Modern Control
Systems (9th Ed), Prentice Hall.
Chapter 7
i. Nise N.S. (2004). Control System Engineering (4th
Ed), John Wiley & Sons.