ME2142 Feedback Control Systems

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Steady-State Characteristics



ME2142 Feedback Control Systems
ME2142 Feedback Control Systems
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Consider the unity-feedback system
System Type
R
G
C
-
+
E
With (2-1)
The parameter N associated with the term S
N
in the
denominator represents the Type of the system.
Example: Type 0 if N=0, Type 1 if N=1 and so on.
A free s term in the denominator represents an
integration. The higher the type number, the better the
steady-state accuracy of the closed-loop control system.
However, the higher the system type, the greater the
problem with system stability.
) 1 ( ) 1 )( 1 (
) 1 ( ) 1 )( 1 (
) (
2 1
+ + +
+ + +
=
s T s T s T s
s T s T s T K
s G
p
N
m b a

ME2142 Feedback Control Systems

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Examples of System Types
R
G
C
-
+
E
Type 1 systems: ; ;
) 1 (
) (
+
=
s s
K
s G
t
) 2 (
) (
2 2
n n
s s s
K
s G
e ,e + +
=
Type 0 systems: ; ;
) 1 (
) (
+
=
s
K
s G
t
) )( (
) (
2 1
p s p s
K
s G
+ +
=
2 2
2
) (
n n
s s
K
s G
e ,e + +
=
Type 2 systems: ; ;
) 1 (
) (
2
+
=
s s
K
s G
t
) )( (
) (
2 1
2
p s p s s
K
s G
+ +
=
ME2142 Feedback Control Systems
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The unity-feedback system
Steady-state Errors Static Error Constants
R
G
C
-
+
E
R
C R
R
E
=
R
C
=1
G
G
+
=
1
1
G
G G
+
+
=
1
) 1 (
G R
E
+
=
1
1
Error Transfer function
Thus
) (
) ( 1
1
) ( s R
s G
s E
+
=
and the steady-state error is ) ( lim t e e
t
ss

=
) ( lim
0
s sE
s
=
) ( 1
) (
lim
0
s G
s sR
e
s
ss
+
=

ME2142 Feedback Control Systems
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Steady-state Errors Static Error Constants
) ( 1
) (
lim
0
s G
s sR
e
s
ss
+
=

For a unit-step input
s
s R
1
) ( = and
s s G
s
e
s
ss
1
) ( 1
lim
0
+
=

) 0 ( 1
1
G +
=
Static Position Error Constant, K
p
is defined as
) 0 ( ) ( lim
0
G s G K
s
p
= =

and
p
ss
K
e
+
=
1
1
with ,
) 1 ( ) 1 )( 1 (
) 1 ( ) 1 )( 1 (
) (
2 1
+ + +
+ + +
=
s T s T s T s
s T s T s T K
s G
p
N
m b a

for Type 0 systems

K K
p
=
for Type 1 or higher systems
K
e
ss
+
=
1
1
=
p
K
0 =
ss
e
ME2142 Feedback Control Systems
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Steady-state Errors Static Error Constants
) ( 1
) (
lim
0
s G
s sR
e
s
ss
+
=

For a unit-ramp input
2
1
) (
s
s R =
and
2
0
1
) ( 1
lim
s s G
s
e
s
ss
+
=

) (
1
lim
0
s sG
s
=
Static Velocity Error Constant, K
v
is defined as
and ) ( lim
0
s sG K
s
v

=
v
ss
K
e
1
=
with ,
) 1 ( ) 1 )( 1 (
) 1 ( ) 1 )( 1 (
) (
2 1
+ + +
+ + +
=
s T s T s T s
s T s T s T K
s G
p
N
m b a

for Type 0 systems

for Type 1 systems
0 =
ss
e
0 =
v
K
for Type 2 or higher systems
K K
v
=
K
e
ss
1
=
=
ss
e
=
v
K
ME2142 Feedback Control Systems
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Steady-state Errors Static Error Constants
) ( 1
) (
lim
0
s G
s sR
e
s
ss
+
=

and
Static Acceleration Error Constant, K
a
is defined as
and
with ,
) 1 ( ) 1 )( 1 (
) 1 ( ) 1 )( 1 (
) (
2 1
+ + +
+ + +
=
s T s T s T s
s T s T s T K
s G
p
N
m b a

for Type 0 and Type 1 systems

for Type 2 systems
0 =
ss
e
for Type 3 or higher systems
K
e
ss
1
=
=
ss
e
For a unit-acceleration input
, 0 for
2
) (
2
> = t
t
t r
3
1
) (
s
s R =
3
0
1
) ( 1
lim
s s G
s
e
s
ss
+
=

) (
1
lim
2
0
s G s
s
=
) ( lim
2
0
s G s K
s
a

=
a
ss
K
e
1
=
0 =
a
K
K K
a
=
=
a
K
ME2142 Feedback Control Systems
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Steady-state Errors
Summary
of steady-
state errors
Step Input
1 = r
Ramp Input
t r =
Accel. Input
2 /
2
t r =
Type 0 system
K + 1
1

Type 1 system 0
K
1

Type 2 system 0 0
K
1


Type 0 systems have finite steady-state errors for step inputs and
cannot follow ramp inputs.
Type 1 systems have zero steady-state errors for step inputs, finite
errors for ramp inputs, and cannot follow acceleration inputs.
Type 2 systems are needed to follow step input and ramp inputs
with zero steady-state errors.
In general, the higher the static gain of the open-loop transfer
function, G(s), the smaller the steady-state errors. However,
higher gains normally lead to stability problems.

ME2142 Feedback Control Systems
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End