Automatic Control (Control 1)

1
Lecture 4
Steady State Error

Assoc. Prof. Ahmed Lasheen

Electric Power Engineering Dept.
Cairo University
ahmed_lasheen@eng.cu.edu.eg
Feedback Control System
 Steady State Error

Steady State Error (SSE) is the difference

between the input and the output for a prescribed
input as t tends to ∞

C
O.S.
1.0 S.S.E.

Tp Ts t
 Steady State Error

Test inputs

r(t)

Step (constant position) r(t) = 1 R(S) = 1/S

t
r(t)

Ramp (constant velocity) r(t) = t R(S) = 1/S2

t
r(t)

Parabola (constant acceleration) r(t) = 1/2t2 R(S) = 1/S3

t
Steady State Error for Unity Feedback System

R(S) + E(S) C(S)

G(S)
-

E(S) = R(S) – C(S)

C(S) = E(S)G(S)
E(S) = R(S) – E(S)G(S)
E(S)(1 + G(S)) = R(S)
R(S)
E(S) =
1 + G(S)
𝑆 R(S)
e (∞) = lim
𝑠→0 1 + G(S)
Steady State Error for Unity Feedback System

Step Input Position Constant

R(S) = 1/S
1 1
e (∞) = lim = Kp = lim G(S)
𝑠→0 1 + G(S) 1 +limG(S) 𝑠→0
𝑠→0

1
=
1 +Kp

Ramp Input Velocity Constant

R(S) = 1/S2
1 1
e (∞) = lim = Kv = lim SG(S)
𝑠→0 S +SG(S) limSG(S)
𝑠→0 𝑠→0

1
=
Kv
 Steady State Error for Unity Feedback System

Parabolic Input Acceleration Constant

R(S) = 1/S3
1 1 Ka = lim S2G(S)
e (∞) = lim 2 2 = 𝑠→0
𝑠→0 S +S G(S) limS2G(S)
𝑠→0

1
=
Ka
 Steady State Error and system type

R(S) + E(S) K(S+z1)(S+z2)…. C(S)

Sn(S+p1)(S+p2)….
-

n = system type (which is different from system order)

Input Type 0 Type 1 Type 2

Step 1/(1+Kp) 0 0
Ramp ∞ 1/Kv 0
Parabola ∞ ∞ 1/Ka
 Example

R(S) + E(S) 120(S+2) C(S)

(S+3)(S+4)
-

Find SSE for inputs 5u(t), 5tu(t) and 5t2u(t). Where u(t) is the unit step
Kp= (120x2)/(3x4) = 20
ESS for step = 5/(1+20) =5/21
Kv= 0
ESS for ramp = 5/0 = ∞
Ka=0
ESS for parabola = 10/0 = ∞
 Example

R(S) + E(S) K(S+5) C(S)

- S(S+6)(S+7)(S+8)

Find K so that the SSE for ramp input is 10%

SSE = 1/Kv =0.1
Kv = 10 = 5K/(6x7x8)
K = 672
 Example

R(S) + E(S) Gc(s) C(S)

- (S+3)(S+5)

Find the SSE for unit step input and the %O.S. when Gc(S)=1,
Gc(S)=10, Gc(S)=85, Gc(S)=56/S, Gc(S)=10(S+0.1)/(S+0.01)

Gc(S)=1
Kp= 1/15
SSE= 1/(1+1/15) =0.94
C(S)/R(S)= 1/(S2+8S+16)
ω𝑛= 4 , ξ = 1 , No O.S.
Gc(S)=10
Kp= 10/15
SSE= 1/(1+10/15) =0.6
C(S)/R(S)= 1/(S2+8S+25)
ω𝑛= 5 , ξ = 0.8 , %O.S.=1.5%
 Example

Gc(S)=85
Kp= 85/15
SSE= 1/(1+85/15) =0.15
C(S)/R(S)= 1/(S2+8S+100)
ω𝑛= 10 , ξ = 0.4 , %O.S.=25%

Gc(S)=56/S
Kp= ∞
SSE= 0
C(S)/R(S)= 1/(S+7)(S2+S+8)
The third pole is 14 times the two dominant poles, thus the second
order is valid
ω𝑛= 2.83 , ξ = 0.177 , %O.S.=57%
 Example

Gc(S)=10(S+0.1)/(S+0.01)
The pole and zero are very close thus pole-zero cancelation is valid
Kp= 100/15
SSE= 1/(1+100/15) =0.13
C(S)/R(S)= 1/(S2+8S+25)
ω𝑛= 5 , ξ = 0.8 , %O.S.=1.5%
Steady State Error for Non-Unity Feedback System

+ + G(s) + G(s)
G(s)
- - -
H(s) H(s) H(s)-1

-1

+1

R(S) + E(S) G(s) C(S)

- 1+G(s)H(s)-G(s)
Steady State Error for Non-Unity Feedback System

E(S) C(S)
R(S) + 100
S(S+10)
-
1
(S+5)
G(S)= 100 / S(S+10)
H(S)= 1 / (S+5)
Geq(S) = G(S) / (1+G(S)H(S)-G(S))
= 100(S+5) / (S3+15S2-50S-400)

Kp= (100x5) / -400 = -5/4

SSE = 1 / (1-5/4) = - 4

The negative value implies that the output is larger than the input step