STEADY STATE ERROR

CHAPTER 7
 WHAT IS STEADY STATE ERROR

• The difference between the input and the output for

a prescribed test input as t → ∞
• We evaluate steady state errors for different inputs
Tracking a moving
object

2nd derivative
Tracking a missle
EVALUATING STEADY-STATE ERROR
Output 3 slope is different from that of the input
SYSTEMS WITH PURE GAIN – NO INTEGRATION,
NO DIFFERENTIATION

𝐶𝑠𝑡𝑒𝑎𝑑𝑦−𝑠𝑡𝑎𝑡𝑒 = 𝐾 ∗ 𝐸𝑠𝑡𝑒𝑎𝑑𝑦−𝑠𝑡𝑎𝑡𝑒

1
𝐸𝑠𝑡𝑒𝑎𝑑𝑦−𝑠𝑡𝑎𝑡𝑒 = ∗ 𝐶𝑠𝑡𝑒𝑎𝑑𝑦−𝑠𝑡𝑎𝑡𝑒
𝐾
If K is very large, the steady state error is small
For a step input with pure gain there will always be a steady state error,
but it diminishes as K increases
EVALUATING STEADY-STATE ERROR
E(𝑆) = R s − C(s)
 THE FINAL VALUE THEOREM
Final value theorem is valid
only if F(s) has poles only in
left half-plane and, at most,
one pole at the origin.

If F(s) has poles in the right

half-plane or poles on the
imaginary axis other than at
the origin, the final value
theorem is invalid.
STEADY-STATE ERROR FORMULA

• E(s) = R(s) – C(s)

• C(s) = R(s) T(s)
• 𝐸 𝑠 =𝑅 𝑠 1−𝑇 𝑠
•𝑒 ∞ = lim 𝑒 𝑡 = lim 𝑠𝐸(𝑠)
𝑡→∞ 𝑠→0

• 𝑒 ∞ = 𝑠→0
lim(𝑠𝑅(𝑠) [1 − 𝑇 𝑠 ])
 EXAMPLE

Find the steady-state error of the system whose transfer function is:
5
𝑇 𝑠 = and the input is a unit-step input
𝑠 2 +7𝑠+10
Solution:
1 5 𝑠 2 +7𝑠+10−5 𝑠 2 +7𝑠+5
𝐸 𝑠 =𝑅 𝑠 1−𝑇 𝑠 = [1 − 2 ]= 2 =
𝑠 𝑠 +7𝑠+10 𝑠(𝑠 +7𝑠+10) 𝑠(𝑠 2 +7𝑠+10)

𝑠 2 + 7𝑠 + 5 5 1
𝑒 ∞ = lim = =
𝑠→0 𝑠 𝑠 2 + 7𝑠 + 10 10 2
 STEADY-STATE ERROR FORMULA USING G(S)

• E(s) = R(s) – C(s) Error of unit-step Input

• C(s) = R(s) G(s) 1
𝑠𝑠
𝑒𝑠𝑡𝑒𝑝 ∞ = lim
𝑅(𝑠) 𝑠→0 1 + 𝐺(𝑠)
•𝐸 𝑠 = 1+𝐺(𝑠)
1
𝑠𝑅(𝑠) 𝑒𝑠𝑡𝑒𝑝 ∞ =
•𝑒 ∞ = lim
𝑠→0 1+𝐺(𝑠)
1 + lim 𝐺(𝑠)
𝑠→0
 STEADY-STATE ERROR FORMULA USING G(S)

1
𝑒𝑠𝑡𝑒𝑝 ∞ =
1 + lim 𝐺(𝑠)
𝑠→0

In order for 𝑒𝑠𝑡𝑒𝑝 ∞ to be zero →lim 𝐺(𝑠) has to go to infinity

𝑠→0

𝑠+𝑧1 𝑠+𝑧2 …
To satisfy lim 𝐺(𝑠) = ∞ → 𝐺 𝑠 ℎ𝑎𝑠 𝑡𝑜 𝑏𝑒 𝑖𝑛 𝑡ℎ𝑒 𝑓𝑜𝑟𝑚 𝐺 𝑠 = 𝑤𝑖𝑡ℎ 𝑛 ≥ 1
𝑠→0 𝑠 𝑛 𝑠+𝑧1 𝑠+𝑧2

Hence, at least one pole has to be at the origin

Since division by s in the frequency domain is integration in the time domain, at least one pure
integration must be present in the forward path.
 STEADY-STATE ERROR FORMULA USING G(S)
1
𝑒𝑠𝑡𝑒𝑝 ∞ =
1 + lim 𝐺(𝑠)
𝑠→0

In order for 𝑒𝑠𝑡𝑒𝑝 ∞ to be zero lim 𝐺(𝑠) has to go to infinity

𝑠→0

𝑠+𝑧1 𝑠+𝑧2 …
To satisfy lim 𝐺(𝑠) = ∞ 𝐺 𝑠 ℎ𝑎𝑠 𝑡𝑜 𝑏𝑒 𝑖𝑛 𝑡ℎ𝑒 𝑓𝑜𝑟𝑚 𝐺 𝑠 = 𝑤𝑖𝑡ℎ 𝑛≥1
𝑠→0 𝑠 𝑛 𝑠+𝑝1 𝑠+𝑝2 …

Hence, at least one pole has to be at the origin

Since division by s in the frequency domain is integration in the time domain, at least one pure
integration must be present in the forward path. Steady-state response for this case of zero
𝑧1 𝑧2 …
If there is no integration, then n=0 and lim 𝐺(𝑠) = =finite steady state error
𝑠→0 𝑝1 𝑝2 …
 STEADY-STATE ERROR –RAMP INPUT
1 1 1
𝑠 2 𝑠 2 1 1
• 𝑒 ∞ = 𝑒𝑟𝑎𝑚𝑝 ∞ = lim 𝑠
𝑠→0 1+𝐺(𝑠)
= lim 𝑠
𝑠→0 1+𝐺(𝑠)
= lim 𝑠
𝑠→0 1+𝐺(𝑠)
= lim
𝑠→0 𝑠+𝑠𝐺(𝑠)
=
lim𝑠𝐺(𝑠)
𝑠→0

• To have zero steady-state error for a ramp input, we must have

𝑠+𝑧1 𝑠+𝑧2 …
• lim 𝑠𝐺 𝑠
𝑠→0
= ∞, 𝐺 𝑠 ℎ𝑎𝑠 𝑡𝑜 𝑏𝑒 𝑖𝑛 𝑡ℎ𝑒 𝑓𝑜𝑟𝑚 𝐺 𝑠 =
𝑠 𝑛 𝑠+𝑧1 𝑠+𝑧2 …
𝑤𝑖𝑡ℎ 𝑛≥2

𝑠+𝑧1 𝑠+𝑧2 …
• lim 𝑠𝐺 𝑠
𝑠→0
=∞= lim 𝑠 𝑛
𝑠→0 𝑠 𝑠+𝑧1 𝑠+𝑧2 …
,

𝑧1 𝑧2 …
• 𝐼𝑓 𝑛 = 1 lim 𝑠𝐺(𝑠) =
𝑠→0 𝑝1 𝑝2 …
= 𝑓𝑖𝑛𝑖𝑡𝑒 not infinite with one integration

𝑠+𝑧1 𝑠+𝑧2 …
• If there is no integration in the forward path 𝑒𝑟𝑎𝑚𝑝 ∞ = lim 𝑠
𝑠→0 𝑠+𝑧1 𝑠+𝑧2 …
=0→ infinite steady state
 STEADY-STATE ERROR –PARABOLIC INPUT
1 1 1
𝑠 3 𝑠 3 1 1
𝑠2
𝑒 ∞ = 𝑒𝑝𝑎𝑟𝑎𝑏𝑜𝑙𝑎 ∞ = lim 𝑠 = lim 𝑠 = lim = lim =
𝑠→0 1+𝐺(𝑠) 𝑠→0 1+𝐺(𝑠) 𝑠→0 1+𝐺(𝑠) 𝑠→0 𝑠 2 +𝑠 2 𝐺(𝑠) lim𝑠 2 𝐺(𝑠)
𝑠→0

To have zero steady-state error for a ramp input, we must have

2
𝑠 + 𝑧1 𝑠 + 𝑧2 …
lim 𝑠 𝐺 𝑠 = ∞, 𝐺 𝑠 ℎ𝑎𝑠 𝑡𝑜 𝑏𝑒 𝑖𝑛 𝑡ℎ𝑒 𝑓𝑜𝑟𝑚 𝐺 𝑠 = 𝑛 𝑤𝑖𝑡ℎ 𝑛 ≥ 3
𝑠→0 𝑠 𝑠 + 𝑧1 𝑠 + 𝑧2
𝑠+𝑧1 𝑠+𝑧2 …
• 𝑖𝑓 𝑛 ≥ 3: lim
𝑠→0
𝑠2𝐺 𝑠 = 2
lim 𝑠 𝑛
𝑠→0 𝑠 𝑠+𝑧1 𝑠+𝑧2
=∞

𝑧1 𝑧2 …
• 𝑖𝑓 𝑛 = 2 ∶ lim 𝑠 2 𝐺(𝑠)
𝑠→0
=
𝑝1 𝑝2 …
= 𝑓𝑖𝑛𝑖𝑡𝑒 not infinite with two integrations

𝑠+𝑧1 𝑠+𝑧2 …
• 𝑖𝑓 𝑛 ≤ 1 ∶ lim 𝑠 2 𝐺(𝑠)= lim
𝑠→0 𝑠→0
𝑠 2
𝑠+𝑧1 𝑠+𝑧2 …
= 0 → infinite steady state
 Find the steady-state errors for inputs of 5u(t), 5tu(t), and 5t2u(t) to
EXAMPLE 7.2 the system shown. Function u(t) is the unit-step function
 Find the steady-state errors for inputs of 5u(t), 5tu(t), and 5t2u(t) to
EXAMPLE 7.2 the system shown. Function u(t) is the unit-step function
STATIC ERROR CONSTANTS AND SYSTEM TYPE

• define parameters that we can use as steady-state error performance

specifications.
• These definitions parallel our defining damping ratio, natural frequency,
settling time, %OS, and so on as performance specifications for the transient
response
 STATIC ERROR CONSTANTS AND SYSTEM TYPE

• Steady-State Errors • Static Error Constants

•𝑢 𝑡 → 𝑒𝑠𝑡𝑒𝑝 ∞ =
1 • 𝑝𝑜𝑠𝑡𝑖𝑡𝑖𝑜𝑛 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝐾𝑝 = lim 𝐺(𝑠)
𝑠→0
1+lim 𝐺(𝑠)
𝑠→0

1
• 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝐾𝑣 = lim 𝑠𝐺(𝑠)
• 𝑡𝑢 𝑡 → 𝑒𝑟𝑎𝑚𝑝 ∞ =
lim𝑠𝐺(𝑠)
𝑠→0
𝑠→0
• 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡, 𝐾𝑎 = 𝑠→0
lim 𝑠 2 𝐺(𝑠)
• 12 𝑡 2 𝑢 𝑡 → 𝑒𝑝𝑎𝑟𝑎𝑏𝑜𝑙𝑎 ∞ = lim𝑠12𝐺(𝑠)
𝑠→0
STATIC ERROR CONSTANTS AND SYSTEM TYPE

• Steady-State Errors
1
•𝑢 𝑡 → 𝑒𝑠𝑡𝑒𝑝 ∞ =
1+𝐾𝑝

1
• 𝑡𝑢 𝑡 → 𝑒𝑟𝑎𝑚𝑝 ∞ =
𝐾𝑣

• 12 𝑡 2 𝑢 𝑡 → 𝑒𝑝𝑎𝑟𝑎𝑏𝑜𝑙𝑎 ∞ = 𝐾1
𝑎
 • For the systems shown, evaluate the
static error constants and find the
EXAMPLE 7.4 expected error for the standard
step, ramp, and parabolic inputs
NEGATIVE FEEDBACK SYSTEM TYPE

We define system type to be the value of n in the denominator, in another word, it is

the number of pure integrations in the forward path.
System with n = 0 is type 0,
System with n = 1 is type 1,
System with n = 2 is type 2,
ETC…
RELATIONSHIPS BETWEEN INPUT, SYSTEM TYPE, STATIC ERROR CONSTANTS,
AND STEADY-STATE ERRORS

What conclusions can draw about a system if its error constant 𝐾𝑣 = 1000?

The system is stable

The system is of Type 1
R(s) is a ramp input
The steady state error is (1/1000) = 0.001
RELATIONSHIPS BETWEEN INPUT, SYSTEM TYPE, STATIC ERROR CONSTANTS,
AND STEADY-STATE ERRORS

What information is contained in the specidication 𝐾𝑝 = 1000?

The system is stable

The system is of Type 0
Input test signal R(s) is a step input
The steady state error is (1/1001) = 0.000999
 Given the control system in the figure below,
EXAMPLE 7.6 find the value of K so that there is 10% error
in the steady state

Solution: n=1→ system is type 1 Pick from Type 1 on Ramp input has finite
error
1
𝑒 ∞ = 𝐾 = 0.01 10% → 𝐾𝑣 = 10 = lim 𝑠𝐺(𝑠)= lim 𝑠𝐺(𝑠)
𝑣 𝑠→0 𝑠→0

𝐾(𝑠+5) 𝐾(5)
lim 𝑠𝐺(𝑠)= lim 𝑠 𝑠 = = 10 → 𝐾 = 672
𝑠→0 𝑠→0 𝑠+6 (𝑠+7)(𝑠+8) 6 (7)(8)