SECTION 4:

STEADY-STATE ERROR
ESE 430 – Feedback Control Systems
2 Introduction

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 Steady-State Error – Introduction
3

 Consider a simple unity-feedback system

 The error is the difference between the reference and the output
𝐸𝐸 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝑌𝑌 𝑠𝑠
 The input to the controller, 𝐷𝐷 𝑠𝑠
 Consider a case where:
 Reference input is a step
 Plant has no poles at the origin – finite DC gain
 Controller is a simple gain block
 In steady state, the forward path reduces to a constant gain:

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 Steady-State Error – Introduction
4

 In steady state, we’d like:

 Output to be equal to the input: 𝑦𝑦𝑠𝑠𝑠𝑠 = 𝑟𝑟𝑠𝑠𝑠𝑠
 Zero steady-state error: 𝑒𝑒𝑠𝑠𝑠𝑠 = 0

 Is that the case here?

𝑒𝑒𝑠𝑠𝑠𝑠 = 𝑟𝑟𝑠𝑠𝑠𝑠 − 𝑦𝑦𝑠𝑠𝑠𝑠 = 𝑟𝑟𝑠𝑠𝑠𝑠 − 𝑒𝑒𝑠𝑠𝑠𝑠 𝐾𝐾
1
𝑒𝑒𝑠𝑠𝑠𝑠 = 𝑟𝑟𝑠𝑠𝑠𝑠
1 + 𝐾𝐾

 No, if 𝑟𝑟𝑠𝑠𝑠𝑠 ≠ 0, then 𝑒𝑒𝑠𝑠𝑠𝑠 ≠ 0

 Non-zero steady-state error to a step input for finite
steady-state forward-path gain
 Finite DC gain implies no poles at the origin in 𝐷𝐷 𝑠𝑠 or 𝐺𝐺 𝑠𝑠
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 Steady-State Error – Introduction
5

 Now, allow a single pole at the origin

 An integrator in the forward path
 Now the error is
𝐾𝐾
𝐸𝐸 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝐸𝐸 𝑠𝑠 ⋅
𝑠𝑠
𝑠𝑠
𝐸𝐸 𝑠𝑠 = 𝑅𝑅 𝑆𝑆
𝑠𝑠 + 𝐾𝐾
 For a step input
1 𝑠𝑠 1
𝐸𝐸 𝑠𝑠 = =
𝑠𝑠 𝑠𝑠 + 𝐾𝐾 𝑠𝑠 + 𝐾𝐾

 Applying the final value theorem gives the steady-state error

𝑠𝑠
𝑒𝑒𝑠𝑠𝑠𝑠 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim =0
𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠 + 𝐾𝐾

 Zero steady-state error to a step input when there is an integrator

in the forward path
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 Steady-State Error – Introduction
6

 Next, consider a ramp input to the same system

1
𝑟𝑟 𝑡𝑡 = 𝑡𝑡 ⋅ 𝑢𝑢 𝑡𝑡 and 𝑅𝑅 𝑠𝑠 =
𝑠𝑠 2

 Now the error is

1 𝑠𝑠 1
𝐸𝐸 𝑠𝑠 = 2 =
𝑠𝑠 𝑠𝑠 + 𝐾𝐾 𝑠𝑠 𝑠𝑠 + 𝐾𝐾
 The steady-state error is
𝑠𝑠 1
𝑒𝑒𝑠𝑠𝑠𝑠 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim =
𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠 𝑠𝑠 + 𝐾𝐾 𝐾𝐾
 Non-zero, but finite, steady-state error to a ramp input
when there is an integrator in the forward path
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 Steady-State Error – Introduction
7

 Two key observations from the preceding example

involving unity-feedback systems:
 Steady-state error is related to the number of
integrators in the open-loop transfer function
 Steady-state error is related to the type of input

 We’ll now explore both of these observations more

thoroughly
 First, we’ll introduce the concept of system type

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8 System Type and Steady-State Error

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 System Type
9

 System Type
The degree of the input polynomial for which the steady-
state error is a finite, non-zero constant
 Type 0: finite, non-zero error to a step input
 Type 1: finite, non-zero error to a ramp input
 Type 2: finite, non-zero error to a parabolic input

 For the remainder of this sub-section, and the one

that follows, we’ll consider only the special case of
unity-feedback systems
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 System Type – Unity-Feedback Systems
10

 For unity-feedback systems, system type is determined by

the number of integrators in the forward path
 Type 0: no integrators in the open-loop TF, e.g.:
𝑠𝑠 + 4
𝐺𝐺 𝑠𝑠 =
𝑠𝑠 + 6 𝑠𝑠 2 + 4𝑠𝑠 + 8
 Type 1: one integrator in the open-loop TF, e.g.:
15
𝐺𝐺 𝑠𝑠 =
𝑠𝑠 𝑠𝑠 2 + 3𝑠𝑠 + 12
 Type 2: two integrators in the open-loop TF, e.g.:
𝑠𝑠 + 5
𝐺𝐺 𝑠𝑠 =
𝑠𝑠 2 𝑠𝑠 + 3 𝑠𝑠 + 7
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 Types of Inputs
11

 When characterizing a control system’s error performance we focus

on three main inputs:
 Step
 Ramp
 Parabola
 We will derive expressions for the steady-state error due to each

 Step:
1
 𝑟𝑟 𝑡𝑡 = 𝑢𝑢 𝑡𝑡 ⟷ 𝑅𝑅 𝑠𝑠 =
𝑠𝑠

 For a positioning system, this

represents a constant position

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 Types of Inputs
12

 Ramp:
1
 𝑟𝑟 𝑡𝑡 = 𝑡𝑡 ⋅ 𝑢𝑢 𝑡𝑡 ⟷ 𝑅𝑅 𝑠𝑠 =
𝑠𝑠 2

 For a positioning system, this

represents a constant
velocity

 Parabola:
1 1
 𝑟𝑟 𝑡𝑡 = 𝑡𝑡 2 ⋅ 𝑢𝑢 𝑡𝑡 ⟷ 𝑅𝑅 𝑠𝑠 =
2 𝑠𝑠 3

 For a positioning system, this

represents a constant
acceleration
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 Steady-State Error – Unity-Feedback
13

 For unity-feedback systems steady-state error can be expressed in

terms of the open-loop transfer function, 𝐺𝐺 𝑠𝑠
𝐸𝐸 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝑌𝑌 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝐸𝐸 𝑠𝑠 𝐺𝐺 𝑠𝑠
𝑅𝑅 𝑠𝑠
𝐸𝐸 𝑠𝑠 =
1 + 𝐺𝐺 𝑠𝑠

 Steady-state error is found by applying the final value theorem

𝑠𝑠𝑅𝑅 𝑠𝑠
𝑒𝑒𝑠𝑠𝑠𝑠 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim
𝑠𝑠→0 𝑠𝑠→0 1 + 𝐺𝐺 𝑠𝑠

 We’ll now consider this expression for each of the three inputs of
interest
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 Steady-State Error – Step Input
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 For a step input

1
𝑟𝑟 𝑡𝑡 = 𝑢𝑢 𝑡𝑡 ⟷ 𝑅𝑅 𝑠𝑠 =
𝑠𝑠
 Steady-state error to a step input is
1
𝑠𝑠
𝑒𝑒𝑠𝑠𝑠𝑠 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim 𝑠𝑠
𝑠𝑠→0 𝑠𝑠→0 1 + 𝐺𝐺 𝑠𝑠

1
𝑒𝑒𝑠𝑠𝑠𝑠 = lim
𝑠𝑠→0 1 + 𝐺𝐺 𝑠𝑠

1
𝑒𝑒𝑠𝑠𝑠𝑠 =
1 + lim 𝐺𝐺 𝑠𝑠
𝑠𝑠→0
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 Steady-State Error – Step Input
15

1
𝑒𝑒𝑠𝑠𝑠𝑠 =
1 + lim 𝐺𝐺 𝑠𝑠
𝑠𝑠→0

 In order to have 𝑒𝑒𝑠𝑠𝑠𝑠 = 0, as we’d like, we must have

lim 𝐺𝐺 𝑠𝑠 = ∞
𝑠𝑠→0

 That is, the DC gain of the open-loop system must be infinite

 If 𝐺𝐺 𝑠𝑠 has the following form
𝑠𝑠 + 𝑧𝑧1 𝑠𝑠 + 𝑧𝑧2 ⋯
𝐺𝐺 𝑠𝑠 =
𝑠𝑠 + 𝑝𝑝1 𝑠𝑠 + 𝑝𝑝2 ⋯
then
𝑧𝑧1 𝑧𝑧2 ⋯
lim 𝐺𝐺 𝑠𝑠 = ≠∞
𝑠𝑠→0 𝑝𝑝1 𝑝𝑝2 ⋯
and we’ll have non-zero steady-state error

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 Steady-State Error – Step Input
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 However, consider 𝐺𝐺 𝑠𝑠 of the following form

𝑠𝑠 + 𝑧𝑧1 𝑠𝑠 + 𝑧𝑧2 ⋯
𝐺𝐺 𝑠𝑠 = 𝑛𝑛
𝑠𝑠 𝑠𝑠 + 𝑝𝑝1 𝑠𝑠 + 𝑝𝑝2 ⋯

where 𝑛𝑛 ≥ 1
 That is, 𝐺𝐺 𝑠𝑠 includes 𝑛𝑛 integrators
 It is a type 𝒏𝒏 system
lim 𝐺𝐺 𝑠𝑠 = ∞ and 𝑒𝑒𝑠𝑠𝑠𝑠 = 0
𝑠𝑠→0

 A type 1 or greater system will exhibit zero steady-

state error to a step input
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 Steady-State Error – Ramp Input
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 For a ramp input

1
𝑟𝑟 𝑡𝑡 = 𝑡𝑡 ⋅ 𝑢𝑢 𝑡𝑡 ⟷ 𝑅𝑅 𝑠𝑠 = 2
𝑠𝑠
 Steady-state error to a ramp input is
1
𝑠𝑠 2
𝑒𝑒𝑠𝑠𝑠𝑠 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim 𝑠𝑠
𝑠𝑠→0 𝑠𝑠→0 1 + 𝐺𝐺 𝑠𝑠

1
𝑒𝑒𝑠𝑠𝑠𝑠 = lim
𝑠𝑠→0 𝑠𝑠 + 𝑠𝑠𝐺𝐺 𝑠𝑠

1
𝑒𝑒𝑠𝑠𝑠𝑠 =
lim 𝑠𝑠𝑠𝑠 𝑠𝑠
𝑠𝑠→0

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 Steady-State Error – Ramp Input
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1
𝑒𝑒𝑠𝑠𝑠𝑠 =
lim 𝑠𝑠𝐺𝐺 𝑠𝑠
𝑠𝑠→0

 In order to have 𝑒𝑒𝑠𝑠𝑠𝑠 = 0, the following must be true

lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = ∞
𝑠𝑠→0

 If there are no integrators in the forward path, then

𝑠𝑠 + 𝑧𝑧1 𝑠𝑠 + 𝑧𝑧2 ⋯
lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim 𝑠𝑠 =0
𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠 + 𝑝𝑝1 𝑠𝑠 + 𝑝𝑝2 ⋯
and
𝑒𝑒𝑠𝑠𝑠𝑠 = ∞

 A type 0 system has infinite steady-state error to a ramp

input
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 Steady-State Error – Ramp Input
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 If there is a single integrator in the forward path, i.e.

a type 1 system
𝑠𝑠 + 𝑧𝑧1 𝑠𝑠 + 𝑧𝑧2 ⋯
𝐺𝐺 𝑠𝑠 =
𝑠𝑠 𝑠𝑠 + 𝑝𝑝1 𝑠𝑠 + 𝑝𝑝2 ⋯
then
𝑧𝑧1 𝑧𝑧2 ⋯
lim 𝑠𝑠𝑠𝑠 𝑠𝑠 =
𝑠𝑠→0 𝑝𝑝1 𝑝𝑝2 ⋯
and
𝑝𝑝1 𝑝𝑝2 ⋯
𝑒𝑒𝑠𝑠𝑠𝑠 =
𝑧𝑧1 𝑧𝑧2 ⋯
 A type 1 system has non-zero, but finite, steady-
state error to a ramp input
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 Steady-State Error – Ramp Input
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 If there are two or more integrators in the forward

path, i.e. a type 2 or greater system
𝑠𝑠+𝑧𝑧1 𝑠𝑠+𝑧𝑧2 ⋯
𝐺𝐺 𝑠𝑠 = , 𝑛𝑛 ≥ 2
𝑠𝑠 𝑛𝑛 𝑠𝑠+𝑝𝑝1 𝑠𝑠+𝑝𝑝2 ⋯

then
𝑠𝑠 + 𝑧𝑧1 𝑠𝑠 + 𝑧𝑧2 ⋯
lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim 𝑠𝑠 𝑛𝑛 =∞
𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠 𝑠𝑠 + 𝑝𝑝1 𝑠𝑠 + 𝑝𝑝2 ⋯

and
𝑒𝑒𝑠𝑠𝑠𝑠 = 0

 A type 2 or greater system has zero steady-state

error to a ramp input
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 Steady-State Error – Parabolic Input
21

 For a Parabolic input

𝑡𝑡 2 1
𝑟𝑟 𝑡𝑡 = ⋅ 𝑢𝑢 𝑡𝑡 ⟷ 𝑅𝑅 𝑠𝑠 = 3
2 𝑠𝑠
 Steady-state error to a parabolic input is
1
𝑠𝑠 3
𝑒𝑒𝑠𝑠𝑠𝑠 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim 𝑠𝑠
𝑠𝑠→0 𝑠𝑠→0 1 + 𝐺𝐺 𝑠𝑠

1
𝑒𝑒𝑠𝑠𝑠𝑠 = lim 2
𝑠𝑠→0 𝑠𝑠 + 𝑠𝑠 2 𝐺𝐺 𝑠𝑠

1
𝑒𝑒𝑠𝑠𝑠𝑠 =
lim 𝑠𝑠 2 𝐺𝐺 𝑠𝑠
𝑠𝑠→0

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 Steady-State Error – Parabolic Input
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1
𝑒𝑒𝑠𝑠𝑠𝑠 =
lim 𝑠𝑠 2 𝐺𝐺 𝑠𝑠
𝑠𝑠→0

 In order to have 𝑒𝑒𝑠𝑠𝑠𝑠 = 0, the following must be true

lim 𝑠𝑠 2 𝐺𝐺 𝑠𝑠 = ∞
𝑠𝑠→0

 If there are no integrators in the forward path, then

𝑠𝑠 + 𝑧𝑧1 𝑠𝑠 + 𝑧𝑧2 ⋯
lim 𝑠𝑠 2 𝐺𝐺 𝑠𝑠 = lim 𝑠𝑠 2 =0
𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠 + 𝑝𝑝1 𝑠𝑠 + 𝑝𝑝2 ⋯
and
𝑒𝑒𝑠𝑠𝑠𝑠 = ∞

 A type 0 system has infinite steady-state error to a

parabolic input
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 Steady-State Error – Parabolic Input
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 If there is a single integrator in the forward path, i.e.

a type 1 system
𝑠𝑠 + 𝑧𝑧1 𝑠𝑠 + 𝑧𝑧2 ⋯
𝐺𝐺 𝑠𝑠 =
𝑠𝑠 𝑠𝑠 + 𝑝𝑝1 𝑠𝑠 + 𝑝𝑝2 ⋯
then
𝑧𝑧1 𝑧𝑧2 ⋯
lim 𝑠𝑠 2 𝐺𝐺 𝑠𝑠 = 𝑠𝑠 =0
𝑠𝑠→0 𝑝𝑝1 𝑝𝑝2 ⋯
and
𝑒𝑒𝑠𝑠𝑠𝑠 = ∞

 A type 1 system has infinite steady-state error to a

parabolic input

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 Steady-State Error – Parabolic Input
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 If there are two integrators in the forward path, i.e. a

type 2 system
𝑠𝑠 + 𝑧𝑧1 𝑠𝑠 + 𝑧𝑧2 ⋯
𝐺𝐺 𝑠𝑠 = 2
𝑠𝑠 𝑠𝑠 + 𝑝𝑝1 𝑠𝑠 + 𝑝𝑝2 ⋯
then
2
𝑠𝑠 + 𝑧𝑧1 𝑠𝑠 + 𝑧𝑧2 ⋯ 𝑧𝑧1 𝑧𝑧2 ⋯
lim 𝑠𝑠 𝐺𝐺 𝑠𝑠 = lim =
𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠 + 𝑝𝑝1 𝑠𝑠 + 𝑝𝑝2 ⋯ 𝑝𝑝1 𝑝𝑝2 ⋯
and
𝑝𝑝1 𝑝𝑝2 ⋯
𝑒𝑒𝑠𝑠𝑠𝑠 =
𝑧𝑧1 𝑧𝑧2 ⋯

 A type 2 system has non-zero, but finite, steady-state

error to a parabolic input
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 Steady-State Error – Parabolic Input
25

 If there are three or more integrators in the forward

path, i.e. a type 3 or greater system
𝑠𝑠+𝑧𝑧1 𝑠𝑠+𝑧𝑧2 ⋯
𝐺𝐺 𝑠𝑠 = , 𝑛𝑛 ≥ 3
𝑠𝑠 𝑛𝑛 𝑠𝑠+𝑝𝑝1 𝑠𝑠+𝑝𝑝2 ⋯

then
2 2
𝑠𝑠 + 𝑧𝑧1 𝑠𝑠 + 𝑧𝑧2 ⋯
lim 𝑠𝑠 𝐺𝐺 𝑠𝑠 = lim 𝑠𝑠 𝑛𝑛 =∞
𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠 𝑠𝑠 + 𝑝𝑝1 𝑠𝑠 + 𝑝𝑝2 ⋯
and
𝑒𝑒𝑠𝑠𝑠𝑠 = 0
 A type 3 or greater system has zero steady-state
error to a parabolic input
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26 Static Error Constants

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 Static Error Constants – Unity-Feedback
27

 We’ve seen that the steady-state error to each of the inputs

considered is
1
 Step: 𝑒𝑒𝑠𝑠𝑠𝑠 =
1+lim 𝐺𝐺 𝑠𝑠
𝑠𝑠→0
1
 Ramp: 𝑒𝑒𝑠𝑠𝑠𝑠 =
lim 𝑠𝑠𝐺𝐺 𝑠𝑠
𝑠𝑠→0
1
 Parabola: 𝑒𝑒𝑠𝑠𝑠𝑠 =
lim 𝑠𝑠 2 𝐺𝐺 𝑠𝑠
𝑠𝑠→0

 The limit term in each expression is the static error constant

associated with that particular input:
 Position constant: 𝐾𝐾𝑝𝑝 = lim 𝐺𝐺 𝑠𝑠
𝑠𝑠→0
 Velocity constant: 𝐾𝐾𝑣𝑣 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠
𝑠𝑠→0
 Acceleration constant: 𝐾𝐾𝑎𝑎 = lim 𝑠𝑠 2 𝐺𝐺 𝑠𝑠
𝑠𝑠→0
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 Steady-State Error vs. System Type
28

 Steady-state error vs. input and system type

System Input
Type Step Ramp Parabola
0 1
∞ ∞
1 + 𝐾𝐾𝑝𝑝
1 1
0 ∞
𝐾𝐾𝐾𝐾
2 1
0 0
𝐾𝐾𝐾𝐾
3 0 0 0

 Note that the given steady-state error is for inputs of

unit magnitude
 Actual error is scaled by the magnitude of the reference
input
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29 Non-Unity-Feedback Systems

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 Non-Unity-Feedback Systems
30

 So far, we’ve focused on the special case of unity-

feedback systems

 System type determined by # of integrators in the forward

path – i.e., # of open-loop poles at the origin
 Steady-state error determined using static error constants

 Static error constants determined from the open-loop

transfer function

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 Non-Unity-Feedback Systems
31

 More general approach to determining steady-state

error is to use the closed-loop transfer function
 Applicable to non-unity-feedback systems, e.g.:

𝐺𝐺1 𝑠𝑠 𝐺𝐺2 𝑠𝑠
𝑇𝑇 𝑠𝑠 =
1 + 𝐺𝐺2 𝑠𝑠 𝐻𝐻 𝑠𝑠

 The error is
𝐸𝐸 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝑌𝑌 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝑅𝑅 𝑠𝑠 𝑇𝑇 𝑠𝑠

𝐸𝐸 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 1 − 𝑇𝑇 𝑠𝑠

K. Webb ESE 430

 Non-Unity-Feedback Systems
32

 Apply the final value theorem to determine the

steady-state error:
𝑒𝑒𝑠𝑠𝑠𝑠 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim 𝑠𝑠𝑅𝑅 𝑠𝑠 1 − 𝑇𝑇 𝑠𝑠
𝑠𝑠→0 𝑠𝑠→0

 Here, system type is determined by using the more

general definition:
System type is the degree of the input polynomial for
which the steady-state error is a finite, non-zero constant

K. Webb ESE 430

 Non-Unity-Feedback Systems
33

 Alternatively, find steady-state error by converting to a

unity-feedback configuration, e.g.:

 Add and subtract unity-feedback paths:

K. Webb ESE 430

 Non-Unity-Feedback Systems
34

 Combine the two upper parallel feedback paths:

 Collapsing the inner feedback form leaves a unity-

feedback system
 Can now apply unity-
feedback error analysis
techniques
K. Webb ESE 430
35 Steady-State Error – Examples

K. Webb ESE 430

 Steady-State Error – Example 1
36

 What is the steady-state error to a constant reference input, 𝑟𝑟 𝑡𝑡 =

3 𝑐𝑐𝑐𝑐 ⋅ 𝑢𝑢 𝑡𝑡 , for the following feedback positioning system?

 A type 0 system
 Non-zero error to a constant reference
 Position constant:
𝐾𝐾𝑝𝑝 = lim 𝐺𝐺 𝑠𝑠 = 10
𝑠𝑠→0
 Steady-state error:
1 1
𝑒𝑒𝑠𝑠𝑠𝑠 = 𝑟𝑟𝑠𝑠𝑠𝑠 = 3 𝑐𝑐𝑐𝑐
1 + 𝐾𝐾𝑝𝑝 1 + 10

𝑒𝑒𝑠𝑠𝑠𝑠 = 0.27 𝑐𝑐𝑐𝑐

K. Webb ESE 430
 Steady-State Error – Example 1
37

𝑒𝑒𝑠𝑠𝑠𝑠 = 0.27 𝑐𝑐𝑐𝑐

K. Webb ESE 430

 Steady-State Error – Example 1
38

 What is the same system’s steady-state error to a unit

ramp input, 𝑟𝑟 𝑡𝑡 = 𝑡𝑡 ⋅ 𝑢𝑢 𝑡𝑡 ?
 A type 0 system, so error to a ramp reference will be infinite
 Verify using closed-loop transfer function
𝐺𝐺 𝑠𝑠 10
𝑇𝑇 𝑠𝑠 = =
1 + 𝐺𝐺 𝑠𝑠 𝑠𝑠 + 11
 Steady-state error is
1 10
𝑒𝑒𝑠𝑠𝑠𝑠 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 1 − 𝑇𝑇 𝑠𝑠 = lim 𝑠𝑠 2 1 −
𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠 𝑠𝑠 + 11
1 𝑠𝑠 + 1
𝑒𝑒𝑠𝑠𝑠𝑠 = lim =∞
𝑠𝑠→0 𝑠𝑠 𝑠𝑠 + 11

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 Steady-State Error – Example 1
39

𝑒𝑒𝑠𝑠𝑠𝑠 = ∞

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 Steady-State Error – Example 2
40

 Design the controller, 𝐷𝐷 𝑠𝑠 , for error of 0.05 to a unit ramp

input

 Plant is type 0
 Forward path must be type 1 for finite error to a ramp input
 𝐷𝐷 𝑠𝑠 must be type 1, so one very simple option is:
𝐾𝐾
𝐷𝐷 𝑠𝑠 =
𝑠𝑠
 Forward-path transfer function is
𝐾𝐾 𝑠𝑠 + 2
𝐷𝐷 𝑠𝑠 𝐺𝐺 𝑠𝑠 =
𝑠𝑠 𝑠𝑠 + 1 𝑠𝑠 + 5

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 Steady-State Error – Example 2
41

 The velocity constant is

𝐾𝐾 𝑠𝑠 + 2 2𝐾𝐾
𝐾𝐾𝑣𝑣 = lim 𝑠𝑠𝑠𝑠 𝑠𝑠 = lim 𝑠𝑠 =
𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠 𝑠𝑠 + 1 𝑠𝑠 + 5 5
 Steady-state error is
1 5
𝑒𝑒𝑠𝑠𝑠𝑠 = =
𝐾𝐾𝑣𝑣 2𝐾𝐾
 For error of 0.05:
5
𝑒𝑒𝑠𝑠𝑠𝑠 = 0.05 =
2𝐾𝐾
𝐾𝐾 = 50
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 Steady-State Error – Example 2
42

𝑒𝑒𝑠𝑠𝑠𝑠 = 0.05

K. Webb ESE 430

 Steady-State Error – Example 3
43

 Next, consider a non-unity-feedback system:

 Determine controller gain, 𝐾𝐾, to provide a 2% steady-state

error to a constant reference input
 First, convert to a unity-
feedback system
 Combine forward-path blocks
 Simultaneously add and subtract
unity-feedback paths

K. Webb ESE 430

 Steady-State Error – Example 3
44

 Combine the top two parallel feedback paths

 Simplifying the inner feedback form leaves a unity-feedback

system

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 Steady-State Error – Example 3
45

 Steady-state error for this type 0 system is

1
𝑒𝑒𝑠𝑠𝑠𝑠 =
1 + 𝐾𝐾𝑝𝑝
where
20 ⋅ 𝐾𝐾
𝐾𝐾𝑝𝑝 = lim 𝐺𝐺 𝑠𝑠 = = 2 ⋅ 𝐾𝐾
𝑠𝑠→0 10
 For 2% steady-state error
1
𝑒𝑒𝑠𝑠𝑠𝑠 = 0.02 =
1 + 2 ⋅ 𝐾𝐾
 The controller gain is
𝐾𝐾 = 24.5

K. Webb ESE 430

 Steady-State Error – Example 3
46

 Note that the

controller gain has
been set to satisfy
a steady-state
error requirement
only
 Closed loop poles
are very lightly- 𝑒𝑒𝑠𝑠𝑠𝑠 = 0.02
damped
 Dynamic response
is likely
unacceptable

K. Webb ESE 430

 Steady-State Error – Example 4
47

 Now, consider a unity-feedback system with a disturbance

input

where
1
𝐷𝐷 𝑠𝑠 = 𝐾𝐾 and 𝐺𝐺 𝑠𝑠 =
𝑠𝑠+5

 Determine the controller gain, 𝐾𝐾, such that error due to a

constant disturbance is 1% of 𝑊𝑊 𝑠𝑠
 For this value of 𝐾𝐾, what is the steady-state error to a
constant reference input?
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 Steady-State Error – Example 4
48

 The total error is given by

𝐸𝐸 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝑌𝑌 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝐸𝐸 𝑠𝑠 𝐷𝐷 𝑠𝑠 𝐺𝐺 𝑠𝑠 + 𝑊𝑊 𝑠𝑠 𝐺𝐺 𝑠𝑠
𝐸𝐸 𝑠𝑠 1 + 𝐷𝐷 𝑠𝑠 𝐺𝐺 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝑊𝑊 𝑠𝑠 𝐺𝐺 𝑠𝑠
1 𝐺𝐺 𝑠𝑠
𝐸𝐸 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝑊𝑊 𝑠𝑠
1 + 𝐷𝐷 𝑠𝑠 𝐺𝐺 𝑠𝑠 1 + 𝐷𝐷 𝑠𝑠 𝐺𝐺 𝑠𝑠

 Substituting in controller and plant transfer functions

gives
𝑠𝑠 + 5 1
𝐸𝐸 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝑊𝑊 𝑠𝑠
𝑠𝑠 + 5 + 𝐾𝐾 𝑠𝑠 + 5 + 𝐾𝐾
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 Steady-State Error – Example 4
49

 Error due to a constant disturbance can be found by applying the

final value theorem
1
𝑒𝑒𝑠𝑠𝑠𝑠,𝑤𝑤 = lim 𝑠𝑠 −𝑊𝑊 𝑠𝑠
𝑠𝑠→0 𝑠𝑠 + 5 + 𝐾𝐾
1 1 1
𝑒𝑒𝑠𝑠𝑠𝑠,𝑤𝑤 = lim −𝑠𝑠 =−
𝑠𝑠→0 𝑠𝑠 𝑠𝑠 + 5 + 𝐾𝐾 5 + 𝐾𝐾

 We can calculate the required gain for 1% error

1
𝑒𝑒𝑠𝑠𝑠𝑠,𝑤𝑤 = 0.01 = ⟶ 𝐾𝐾 = 95
5 + 𝐾𝐾
 At this gain value, the error due to a constant reference is
1 𝑠𝑠 + 5 5
𝑒𝑒𝑠𝑠𝑠𝑠,𝑟𝑟 = lim 𝑠𝑠 = ⟶ 5%
𝑠𝑠→0 𝑠𝑠 𝑠𝑠 + 5 + 𝐾𝐾 100

K. Webb ESE 430