Chapter 7: Steady state error analysis

Test waveforms
for evaluating
steady-state
errors of
position control
systems

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
System response to different inputs

Steady-state error:
a. step input;
b. ramp input

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
 Intuition/motivation for steady
System with: state error analysis
a. finite steady-state
error for a step input;
b. zero steady-state
error for step input

Esteady state=(1/K)Csteady state Esteady state=0 for Csteady state 0

Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 7.8
Feedback control
system for defining
system type

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Table 7.2
Relationships between input, system type, static error
constants, and steady-state errors

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 7.10
Feedback
control system
for Example 7.6

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 7.11
Feedback control
system showing
disturbance

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 7.12
Figure 7.11 system
rearranged to show
disturbance as input
and error as output,
with R(s) = 0

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 7.19
Feedback control
system for Examples
7.10 and 7.11

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.