CONTROL SYSTEMS II

Mutaz Ryalat

Mechatronics Department(ME)
School of Applied Technical Sciences (SATS)
The German-Jordanian University (GJU)

MR
c • Lecture 2 1/20
 ME547-8
CONTROL SYSTEMS II

CH 4 (Time Response)

q 7.8 Steady-State Error for Systems in State Space

MR
c • Lecture 2 2/20
 Review: Time Response

q The output response of a system is the sum of two responses: the

forced response and the natural response
q The forced response is also called the steady-state response or
particular solution. The natural response is also called the transient
response or homogeneous solution.
y(t) = yt + yss .
q By transient response, we mean that which goes from the initial
state to the final state. i.e. the part of the time response that goes
to zero as time becomes very large
q By steady-state response, we mean the manner in which the system
output behaves as t approaches ∞. i.e. simply the part of the total
response that remains after the transient has died out.
q Since a physical control system involves energy storage, the output
of the system, when subjected to an input, cannot follow the input
immediately but exhibits a transient response before a steady state
can be reached.
MR
c • Lecture 2 3/20
 Review: Time Response

q All real, stable control systems exhibit transient phenomena to some

extent before the steady state is reached.
q Because inertia, mass, and inductance are unavoidable in physical
systems, the response of a typical control system cannot follow
sudden changes in the input instantaneously, and transients are
usually observed.
q The transient response of a practical control system often exhibits
damped oscillations before reaching a steady state. Thus, the
steady-state response can still vary in a fixed pattern, such as a sine
wave, or a ramp function that increases with time.
q If the output of a system at steady state does not exactly agree
with the input, the system is said to have steady-state error.
q This error is indicative of the accuracy of the system.

MR
c • Lecture 2 4/20
 Review: Steady-State Error for Unity Feedback Systems

MR
c • Lecture 2 5/20
 Steady-State Error for Unity Feedback Systems
Steady-state error is the difference between the input and the output for
a prescribed test input as t → ∞.

MR
c • Lecture 2 6/20
 Definition and Test Inputs

q Step inputs represent constant position and

thus are useful in determining the ability of
the control system to position itself with
respect to a stationary target, such as a
satellite in geostationary orbit.
q Ramp inputs represent constant-velocity
inputs to a position control system by their
linearly increasing amplitude. These
waveforms can be used to test a systems
ability to follow a linearly increasing input or,
equivalently, to track a constant velocity
target

Parabolas, whose second derivatives are constant, represent constant

acceleration inputs to position control systems and can be used to
represent accelerating targets such as the missile to determine the
steady-state error performance.
MR
c • Lecture 2 7/20
 Steady-State Error for Unity Feedback Systems

q Steady-state error is the difference between the input and the

output for a prescribed test input as t → ∞.
q It is represented as ess . We can find steady state error using the
final value theorem as follows.

ess = lim e(t) = lim sE(s)

t→∞ s→0
Where, E(s) is the Laplace transform of the error signal, e(t)

MR
c • Lecture 2 8/20
 The Final Value Theorem
q An especially useful property of the Laplace transform in control
known as the Final Value Theorem allows us to compute the
constant steady-state value of a time function given its Laplace
transform.
q It follows from the development of partial-fraction expansion.
q Suppose we have a transform Y (s) of a signal y(t) and wish to
know the final value y(t) from Y (s)
q There are three possibilities for the limit. It can be constant,
undefined, or unbounded.
1. If all poles of Y (s) are in the left half of the s-plane. except
for one at s = 0, then all terms of y(t) will decay to zero
except the term corresponding to the pole at s = 0 decays to a
constant.
5 5 1 5 1 5 1
Y (s) = = − +
s(s + 3)(s + 6) 18 s 9 s + 3 18 s + 6
5 5 5 5
y(t) = − e−3t + e−6t , y(∞) = , as e−∞ = 0.
18 9 18 18
MR
c • Lecture 2 9/20
 The Final Value Theorem

2. If Y (s) has a pair of poles on the imaginary axis of the s-plane, then
y(t) will contain a sinusoid that persists forever and the final value will
be undefined.
s+2 2 1 1 −2s + 9
Y (s) = 2
= +
s(s + 9) 9 s 9 s2 + 9
   
2 2 1 2 2 1
y(t) = − cos(3t) − sin(3t) , y(∞) = − cos(∞) − sin(∞) .
9 9 3 9 9 3

3. If Y (s) has any poles in the right half of the s-plane, then y(t) will
grow and the limit will be unbounded (unstable).

10(s + 7) 7 1 3 1 13 1
Y (s) = = − −
s(s + 10)(s − 20) 20 s 10 s + 10 20 s − 20
7 3 13
y(t) = + e−10t − e +20t , y(∞) = ∞ , as e∞ = ∞.
20 10 20

MR
c • Lecture 2 10/20
 q Consider the following block diagram of closed loop control system,
which is having unity negative feedback.

q R(s) is the Laplace transform of the reference Input signal r(t)

q C(s) is the Laplace transform of the output signal c(t)

MR
c • Lecture 2 11/20
 q We know the transfer function of the unity negative feedback closed
loop control system as
C(s) G(s)
=
R(s) 1 + G(s)
R(s)G(s)
⇒ C(s) =
1 + G(s)
q The output of the summing point is E(s) = R(s) − C(s)
q Substitute C(s) value in the above equation.

R(s)G(s) R(s) + R(s)G(s) − R(s)G(s)

E(s) = R(s) − ⇒ E(s) =
1 + G(s) 1 + G(s)
R(s)
⇒ E(s) =
1 + G(s)
q Substitute E(s) value in the steady state error formula

sR(s)
ess = lim
s→0 1 + G(s)
MR
c • Lecture 2 12/20
 q Thus:
sR(s)
e(∞) = lim sE(s) = lim
s→0 s→0 1 + G(s)
q The Laplace transforms for some standard inputs and determine
equations to calculate steady-state error from the open-loop transfer
function in each case.
q Step Input (R(s) = 1/s):
1 1
e(∞) = = ⇒ Kp = lim G(s)
1 + lims→0 G(s) 1 + Kp s→0

q Ramp Input (R(s) = 1/s2 ):

1 1
e(∞) = = ⇒ Kv = lim sG(s)
lims→0 sG(s) Kv s→0

q Parabolic Input (R(s) = 1/s3 ):

1 1
e(∞) = = ⇒ Ka = lim s2 G(s)
lims→0 s2 G(s) Ka s→0

MR
c • Lecture 2 13/20
 System type and steady-state error

q If you refer back to the equations for calculating steady-state errors

for unity feedback systems, you will find that we have defined
certain constants (known as the static error constants). These
constants are the position constant (Kp), the velocity constant
(Kv), and the acceleration constant (Ka). Knowing the value of
these constants, as well as the system type, we can predict if our
system is going to have a finite steady-state error.
q The system type is defined as the number of pure integrators in the
forward path of a unity-feedback system. That is, the system type is
equal to the value of n when the system is represented as in the
following figure

MR
c • Lecture 2 14/20
 System type and steady-state error

we define system type to be the value of n in the denominator or,

equivalently, the number of pure integrations in the forward path.
Therefore, a system with n = 0 is a Type 0 system. If n = 1 or n = 2,
the corresponding system is a Type 1 or Type 2 system, respectively.

MR
c • Lecture 2 15/20
 Example

q Let us find
 the steady state error for an input signal
t2
r(t) = 5 + 2t + 2 u(t) of unity negative feedback control system
5(s+4)
with G(s) = s2 (s+1)(s+20)

q We will get the overall steady state error, by adding the above three
steady state errors.
ess = ess1 + ess2 + ess3 .
ess = 0 + 0 + 1 = 1
MR
c • Lecture 2 16/20
 7.8 Steady-State Error for Systems in State Space

q Consider the closed-loop system represented in state space:

ẋ = Ax + Bu (1)
y = Cx, (2)

q The Laplace transform of the error is

E(s) = U (s) − Y (s).

q But Y (s) = C(sI − A)−1 BU (s).

q E(s) = U (s) − C(sI − A)−1 BU (s) = U (s)(1 − C(sI − A)−1 B).
q Applying the final value theorem, we have

ess = lim sE(s) = lim sU (s)(1 − C(sI − A)−1 B)

s→0 s→0

MR
c • Lecture 2 17/20
 Example: Evaluate the steady-state error for the following system
for unit step and unit ramp inputs. Use the final value theorem.
      
ẋ1 2 3 −8 x1 1
ẋ2  =  0 5 3  x2  + 4 u(t)
ẋ3 −3 −5 −4 x3 6
 
  x1
y= 1 3 6 x2 
x3

MR
c • Lecture 2 18/20
 Solution
   
2 3 −8 1  
A= 0 5 3 , B = 4 , C = 1 3 6 , D = 0.
−3 −5 −4 6
ess = lim sE(s) = lim sU (s)(1 − C(sI − A)−1 B)
s→0 s→0
.
   
s 0 0 2 3 −8
(sI − A) = 0 s 0 −  0 5 3
0 0 s −3 −5 −4
 
s − 2 −3 8
= 0 s − 5 −3 
3 5 s+4
 2 
s −s+5 3s + 25 8s + 49
 −9 s2 + 2s − 32 3s − 6 
2
adj(sI − A) −3s + 15 −5s + 1 s − 7s + 10
(sI−A)−1 = = 3 2
det(sI − A) s − 3s − 27s + 157

MR
c • Lecture 2 19/20
  2 
s −s+5 3s + 25 8s + 49
 −9 s2 + 2s − 32 3s − 6   
 −3s + 15 −5s + 1 s2 − 7s + 10 1
C(sI − A)−1 B = 1

3 6 4
s3 − 3s2 − 27s + 157
6
49s2 − 349s + 452
=
s3 − 3s2 − 27s + 157
1
The steady state error for step input s is computed
ess = lim sU (s)(1 − C(sI − A)−1 B).
s→0
49s2 − 349s + 452
 
1
= lim s 1− 3
s→0 s s − 3s2 − 27s + 157
452
=1− = −1.88
157
The steady state error for ramp input s12 is computed
49s2 − 349s + 452
 
1 452
= lim s 2 1 − 3 2
=1− = ∞.
s→0 s s − 3s − 27s + 157 0

MR
c • Lecture 2 20/20