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Ece131l Exp6

This document summarizes the results of Module 6 of a control systems laboratory course. The module covered steady-state error and system types. For different system types (0, 1, 2) with step, ramp, and parabolic inputs, the position, velocity, and acceleration constants (Kp, Kv, Ka) were calculated from the given transfer function. Using these constants and the appropriate formulas, the theoretical steady-state errors were determined and agreed with errors calculated graphically. The conclusions drawn were that steady-state error depends on system type and input type, and that varying the value of n in the transfer function changes the system type.

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Carmela Sapalaran
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141 views

Ece131l Exp6

This document summarizes the results of Module 6 of a control systems laboratory course. The module covered steady-state error and system types. For different system types (0, 1, 2) with step, ramp, and parabolic inputs, the position, velocity, and acceleration constants (Kp, Kv, Ka) were calculated from the given transfer function. Using these constants and the appropriate formulas, the theoretical steady-state errors were determined and agreed with errors calculated graphically. The conclusions drawn were that steady-state error depends on system type and input type, and that varying the value of n in the transfer function changes the system type.

Uploaded by

Carmela Sapalaran
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Mapa Institute of Technology

School of Electrical, Electronics and Computer Engineering


Feedback and Control Systems Laboratory
ECE131L/B12

CONTROL SYSTEMS
Module No.: 6
Steady-State Error and System Types

Submitted by:
Sapalaran, Ma. Carmela P.

Submitted to:
Engr. Ernesto Vergara

Submitted on:
August 27, 2015

Interpretation of Results
Module 6 is about Steady-State Error and System Types. For the first
part, the value of Kp (position constant) was calculated for the given 3
types, given the transfer function G(s) = (20(s+1))/(sn(s+4)(s+3)) with a
step input the value of n for the given 3 types (ex. Type 0: n=0, Type 1:
n=1, etc) was substituted. When Kp was obtained the steady-state error can
be calculated with the use of formula e()=1/(1+Kp), based on the result if
the system is type 0, the steady-state error for the given system with a step
input is equal to 0.3750; with type 1 and type 2 system the steady-state
error is equal to 0. The steady-state error formula was derived from the
system with unity feedback and a forward path transfer function. The given
input and output was also plot with the use of ltiview command, to calculate
graphically the steady-state error based on the result it agrees with the
computation with the use of formula for steady-state error with step input.
For the second part, using the same function from the first part but
with ramp input, the value of Kv (velocity constant) was calculated for the
given 3 types. When Kv was obtained the steady-state error can be
calculated with the use of formula e()=1/Kv, based on the result if the
system is type 0 the steady-state error is equal to infinity (), if the system
is type 1 the steady-state error is equal to 0.6, and if the system is type 2
the steady-state error is equal to 0. The given input and output was also plot

with the use of ltiview command, to calculate graphically the steady-state


error based on the result it agrees with theoretical value (formula based).
For the third part, using the same function from the first part but with
parabolic input, the value of Ka (acceleration constant) was calculated for
the given 3 types. When Ka was obtained the steady-state error can be
calculated with use of formula e()=1/Ka, based on the result if the system
is type 1 the steady-state error is equal to infinity (), if the system is type
2 the steady-state error is equal to 0.6, and lastly if the system is type 3 the
steady-state error is equal to 0. With graphical solution there are some cases
where steady-state error value doesnt satisfy the value using the formula.
For the seatwork the gain, K was calculated given the steady-state
error equal to 0.1 with a step input and based on the result K is equal to 54,
after that the input and output of the system was plotted since the unknown
value for the transfer function was obtained.

Conclusion:

Upon the completion of this module Ive learned that steady state
error is the difference between the input and the output for prescribed test
input as time approaches infinity.
The steady-state errors depend upon the type of test input and the
system type. To vary the system type the value of n must be varied, from
the given system G(s) = (K(s-z1)(s-z2))/(sn(s-p1)(s-p2)). Ive learned that
when n is equal to 0 it is called as type zero system, when n is equal to 1 it
is called as type one system, etc.
In this module we used system type step, ramp, and parabola. Where
step input is equal to 1/s, ramp input is equal to 1/s 2, and parabolic input is
equal to 1/s3.
The steady-state error for the step input is equal to e()=1/(1+Kp),
where Kp is the position constant.
The steady-state error for the ramp input is equal to e()=1/Kv,
where Kv is the velocity constant.
The steady-state error for the parabolic input is equal to e()=1/Ka
where Ka is the acceleration constant.

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