Lecture III

Chapter 7. Steady-State Errors

 7.1. Introduction
Definition and Test Inputs
 Steady-state error is the difference between the input and the output for a prescribed test
input as t → ∞ .
 Test inputs used for steady-state error analysis and design are summarized in Table 7.1.
Evaluating Steady-State Errors

 M  M

 A step input and two possible outputs  A ramp input and three possible outputs
 Output 1 has zero steady-state error and  Output 1 has zero steady-state error
 Output 2 has a finite steady-state error, e2(∞).  Output 2 and Output 3 have a finite steady-state
error, e2(∞)
 7.2 Steady-State Error for Unity Feedback Systems

 Steady-state Error in Terms of T(s)

 Consider, Figure 7.3(a) . To find E(s), the error between the input , R(s), and the output, C(s),

 Figure 7.3(a)

 Example: The final value theorem is derived from the Laplace transform of the derivative.


Continue

 To solve for e(t) at any time , t , we are interested in the final value of the error, e(∞).
 Applying the final value theorem, which allows us to use the final value of e(t)
without talking the inverse Laplace transform of E(s), and then letting t approach
infinity,
Example 7.1. Find the steady-state error for the system of Figure 7.3(a) if
5
T(s)= 2 and the input is a unit step.
(𝑠 +7𝑠+10)

Figure 7.3(a)

1 1 5
 Input R(s) , unit step = , 𝐸 𝑠 = 1−
𝑠 𝑠 𝑠 2 +7𝑠+10
5 𝑠 2 +7𝑠+5
 T(s)= 𝐸 𝑠 =
𝑠 2 +7𝑠+10 𝑠(𝑠 2 +7𝑠+10)
 M
 e(∞)= lim 𝑠 𝐸(𝑠)
𝑠→0
 M 𝑠 2 +7𝑠+5
 = lim s
𝑠→0 𝑠(𝑠 2 +7𝑠+10)
1
 m  =
2
Steady-state Error in Terms of G(s)
 M

 The system configuration as a unity feedback  = lim 𝑠𝐸 𝑠 Eq 7.11

𝑠→0
system with a forward transfer function, G(s). Eq.(7.11)
 Consider the feedback control system shown
in Figure 7.3(b)  M

Figure 7.3(b)  M
 E(s) is actually the error between the input ,
R(s), and the output, C(s),  m

 M  M

 Mm  M

  n
Example 7.2. Find the steady-state error for input of 5u(t),5tu(t), and 5t2u(t) to
the system shown in Figure7.5. The function u(t) is the unit step.

Figure7.5

 M  Mm
 M
5
 The input, R(s)= 5tu(t), the Laplace transform= ,
 M 𝑠2

 The input, R(s)= 5u(t), the Laplace  M

5
transform= , 2
𝑠  The input, R(s)= 5t2u(t), the Laplace transform = 5× ,
 M 𝑆3
10
=
𝑆3

 M
 G(s) =
Example 7.3. Find the steady-state error for input of 5u(t),5tu(t), and 5t2u(t) to
the system shown in Figure7.6. The function u(t) is the unit step.

Figure7.6

 M 5
 The input, R(s)= 5tu(t), the Laplace transform=
𝑠2
 M  N

 M
2
 The input, R(s)= 5u(t), the Laplace  The input, R(s)= 5t2u(t), the Laplace transform = 5 × 𝑆3
5 10
transform= , =
𝑆3
𝑠
 M  m

 M
7.3 Static Error Constants and System Type

 The three terms in the denominator that are taken to the limit
 Static Error Constants determine the steady-state error. These are called limit static
error constant.
 M


 M

 M
 V

 M

 V
 M

 m
Example 7.4. For each system of Figure 7.7, evaluate the static error constants
and find the expected error for the standard step, ramp, and parabolic inputs.

(a)

 For a step input,

 B

 N

 M
 For a ramp input ,

 M  c

 For a parabolic input ,

 M
  For a step input,
 B

 M

 M
 For a ramp input ,

 m  M

 For a parabolic input ,

 m
 (c)

 For a step input,

 M

 M

 M
 For a ramp input ,

 M
 M

 For a parabolic input ,

 m
Example 7.6 Given the control system in Figure 7.10, find the value of K so that
there is 10% error in the steady state.

 The system is Type 1, the error stated in the

problem must apply to a ramp input; only a  B
ramp yields a finite error in Type 1 system.
 Kv = 10
 W
= 10
 M K = 672
𝐾(𝑠+5)
= lim 𝑠
𝑠→0 𝑠(𝑠+6)(𝑠+7)(𝑠+8)
Skill- Assessment Exercise 7.3

A unity feedback system has the following forward transfer function:

Find the value of K to yield a 10% error in the steady state.

7.5 Steady-state Error for Disturbances
Feedback control systems are used to compensate for disturbances or unwanted inputs
that enter a system.
The advantage of using feedback is that regardless of these disturbances, the system
can be designed to follow the input with small or zero error .

 The transform of the output is given by  S

 B
 S

 B

 𝑅 𝑠 − 𝐸 𝑠 = 𝐸 𝑠 𝐺1 (s)𝐺2 (s)+D(s)𝐺2 (s)

 E(s)(1+G1(s)G2(s))= R(s)-D(s)G2(s)  N ,
Continue

 The steady-state error due to R(s)  The steady-state error component due to a
step disturbance is found to be
M
 M

 The steady-state error due to disturbance

N
Example 7.7 Find the steady-state error component due to a step disturbance for
the system of Figure 7.13

 N
 V

 N
1
=− lim 1
𝑅 𝑠 − 𝐸 𝑠 = 𝐸 𝑠 𝐺1(s)𝐺2(s)+D(s)𝐺2(s) 𝑠→0 𝑠(𝑠+25)+1000

E(s)(1+G1(s)G2(s))= R(s)-D(s)G2(s)
=
 m

 m  =
Skill- Assessment Exercise 7.3

Evaluate the steady-state error component due to a step disturbance for the system
of Figure 7.14
 Chapter 7 . Steady-State Errors

လလေ့လာထာားသငသ
ေ့့် ညေ့့် ပုစ္ဆာမ ာား

 Example- 7.1,7.2,7.3,7.4,7.5,7.6,7.7,7.8,7.9  Skill Assessment Exercise- 7.1,7.2,7.3,7.4,7.5

References