Standard Test Signals

and
Steady State Error
By Prof. B.G Chaudhari
 Standard Test Signals
(1). Step Input:
• When switch is open
u(t)= 0 for -∞ < t < 0
• When switch is closed at t=0.
u(t)= A for 0 < t < ∞
• A Unit step function is denoted by u(t)
u(t) = 0 for -∞ < t < 0
u(t) = 1 for 0 < t < ∞
• Step function is also
called displacement
function. Step
function can be
described as sudden
application of input
signal to a system.
• If input is R(s), then
(2). Ramp Input
• When switch is open
u(t)= 0 for -∞ < t < 0
• When switch is closed at t=0.
u(t)= At for 0 < t < ∞
• A Unit ramp function is denoted by u(t)
u(t) = 0 for -∞ < t < 0
u(t) = t for 0 < t < ∞
• Ramp function is
also called Velocity
function. Ramp
function can be
described as linear
increasing
application of input
signal to a system.
• If input is R(s), then
(3). Parabolic signal
• When switch is open
u(t)= 0 for -∞ < t < 0
• When switch is closed at t=0.
u(t) = for 0 < t < ∞
• A Unit parabolic function is denoted by u(t)
u(t) = 0 for -∞ < t < 0
u(t) = for 0 < t < ∞
• Parabolic function
is also called
Acceleration
function. Parabolic
function can be
described as
acceleration
application of input
signal to a system.
• If input is R(s), then
(4). Impulse Function:

u(t)= 0 for t ≠ 0.
u(t)= A for t = 0.
• A Unit impulse function is denoted by u(t)
u(t)= 0 for t ≠ 0.
u(t)= 1 for t = 0.
• for t = 0.
Steady State Response
E(s) = X(S) – H(s) E(s) G(s) • From the final value
E(s) + H(s) E(s) G(s) = X(S) theorem, Laplace transform
E(s) (1 + G(s) H(s)) = X(s) is
•
E(s) =
• This equation is generalized
equation in Laplace domain. • ----------------(1)
• The steady state error occurs
at
• Ess=

• The response that remains after transient response dies out is

called Steady state response. It is important to find the accuracy
of the system. The error between steady state response and desired
response gives the steady state error.
1. Step Input
• Consider a step input with a magnitude of A is applied at input
of the system.
• So, R(s) = A for t >0
• R(s) = A for t < 0
• Laplace transform of step input is given by

• From equation (1), we can write,

 …………………………..(2)
• Now, position error constant is defined as,
.…………………………….(3)
So from equation (2) and (3)
..…………………………………..(4)
• This equation indicates that, if the input is step function then
steady state error is controlled by position error constant
2. Ramp Input
• Consider a ramp input with a slope of A is applied at input of
the system. So,
R(s) = At for t ≥ 0
R(s) = 0 for t < 0
• Laplace transform of step input is given by

• From equation (1), we can write,

 ………………………………..(5)
• Now, velocity error constant is defined as,
…….……………………….(6)
So from equation (5) and (6)
…………………………………………..(7)
• This equation indicates that, if the input is ramp function then
steady state error is controlled by velocity error constant
3. Parabolic Input
• Consider a ramp input with a slope of A is applied at input of
the system. So,
for t ≥ 0
R(s) = 0 for t < 0
• Laplace transform of parabolic input is given by

• From equation (1), we can write,

 …………………………………..(8)
• Now, acceleration error constant is defined as,
………………………………(9)
• So from equation (8) and (9)
……………………………………………..(10)
This equation indicates that, if the input is parabolic function
then steady state error is controlled by acceleration error constant
 Response and steady state error of
Type-0 System
• What is Types of system?

• Consider above closed loop system, for above system the

transfer function is,
Where,

If N=0, It is a type-0 system.

If N=1, It is a type-1 system.
If N=2, It is a type-2 system.
1. Step input to type-0 system:
• The steady state error for step input is given by,

Where,

• For type-0 system,

G(s) H(s) =
• Now,
• Therefore,

• So, the type-0 system with constant step input gives

constant steady state error in output response. This is
given by,
2. Ramp input to type-0 system:
• The steady state error for ramp input is given by,

Where,

•  For type-0 system,

G(s) H(s) =
• Now,
Therefore,

• So, the type-0 system is supplied with constant ramp input

then error increasing continuously and gives infinite error at
infinite time. Hence type-0 system is not suitable for ramp
inputs.
3. Parabolic input to type-0 system:
• The steady state error for parabolic input is given by,

Where,

• For type-0 system,

G(s) H(s) =
• Now,
• Therefore,

• So, the type-0 system is supplied with parabolic input then

error increasing continuously and gives infinite error at
infinite time. Hence type-0 system is not suitable for parabolic
inputs.
 Response and steady state error of Type-1
System
(4). Step input to type-1 system:
• The steady state error for step input is given by,

Where,

•  For type-0 system,

• G(s) H(s) =
• Now,

• Therefore,

• So, the type-1 system with constant step input gives zero
steady state error in output response. Hence type-1 system is
excellent for step inputs as the steady state error is zero.
(5). Ramp input to type-1 system:

• The steady state error for ramp input is given by,

Where,

•  For type-0 system,

• G(s) H(s) =
• Now,
• Therefore,

• So, the type-1 system is supplied with constant ramp input

then it gives constant steady state error for infinite time.
(6). Parabolic input to type-1 system:

• The steady state error for parabolic input is given by,

Where,

•  For type-0 system,

G(s) H(s) =
• Now,
• Therefore,

• So, the type-1 system is supplied with parabolic input then

error increasing continuously and gives infinite error at
infinite time. Hence type-1 system is not suitable for parabolic
inputs.
 Response and steady state error of Type-2
System
(7). Step input to type-2 system:
• The steady state error for step input is given by,

Where,

•  For type-2 system,

G(s) H(s) =
• Now,

• Therefore,

• So, the type-2 system with constant step input gives zero
steady state error in output response. Hence type-2 system is
excellent for step inputs as the steady state error is zero.
(8). Ramp input to type-2 system:

• The steady state error for ramp input is given by,

Where,

•  For type-2 system,

G(s) H(s) =
• Now,
• Therefore,

• So, the type-2 system with constant ramp input gives zero
steady state error in output response. Hence type-2 system is
excellent for ramp inputs as the steady state error is zero.
(9). Parabolic input to type-2 system:

• The steady state error for parabolic input is given by,

Where,

•  For type-2 system,

G(s) H(s) =
• Now,
• Therefore,

• So, the type-2 system is supplied with parabolic input

then error increasing continuously and gives constant
error.
Sr. No Type of Step Input Ramp Input Parabolic Input
system
KP Ess KV Ess Ka Ess

1. Type- 0 k 0 ∞ 0 ∞

2. Type- 1 ∞ 0 k 0 ∞

3.   Type- 2 ∞ 0 ∞ 0 K