ME 304

CONTROL SYSTEMS
Radar Dish Mechanical Engineering Department,
Middle East Technical University

Armature Inside
controlled Outside θr input
p
dc motor θD output

θm

Gearbox
Control
Transmitter

θD

dc amplifier Control
Transformer Prof.
Prof Dr.
Dr Y.
Y Samim Ünlüsoy
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 1
 CH VI
COURSE OUTLINE
I. INTRODUCTION & BASIC CONCEPTS
II. MODELING DYNAMIC SYSTEMS
III. CONTROL SYSTEM COMPONENTS
IV
IV. STABILITY
V. TRANSIENT RESPONSE

VI
VI. STEADY STATE RESPONSE
VII. DISTURBANCE REJECTION
VIII
VIII. BASIC CONTROL ACTIONS & CONTROLLERS
IX. FREQUENCY RESPONSE ANALYSIS
X. SENSITIVITY ANALYSIS
XI. ROOT LOCUS ANALYSIS

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 2

STEADY STATE RESPONSE - OBJECTIVES
In this chapter :
„ Open lloop transfer
O f functions
f i off
feedback control systems will be
classified.
classified
„ Steady state error of feedback
control systems due to step
step, ramp,
ramp
and parabolic inputs will be
g
investigated.
„ Selection of controller parameters
for a specified
p steady
y state error and
the measures to be taken to reduce
steady state error will be examined.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 3
 STEADY STATE RESPONSE
„ Steady State Response is the
response of a system as time goes
to infinity.
„ It is particularly important since it
provides an indication of the
p
accuracy of a control system when
its output is compared with the
d i d iinput.
desired t
„ If they
y do not agree
g exactly,
y, then a
steady state error exists.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 4

 STEADY STATE RESPONSE
„ The Steady State Response of a
system is judged by the steady state
error due to step, ramp, and
parabolic (acceleration) inputs.
„ These inputs may be associated with
the ability of a control system to :
• Position itself relative to a stationary
t
target,
t
• Follow a target moving at constant
speed and
speed,
• Track an object that is accelerating.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 5

 STEADY STATE RESPONSE

„ Note that for the steady state

response to exist, the system must be
stable..
stable
„ Therefore before going into steady
state analysis it would be good
practise to check the stability of the
system.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 6

 STEADY STATE RESPONSE
„ The steady
y state response
p and error
can be obtained by using the final
value theorem.
„ The final value theorem :
„ The final value of a time signal can be
found from the Laplace
p transform of
the signal in the s-
s-domain.

li t →∞ y(t)=lim
lim (t) li s→osY(s)
Y( )

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 7

 STEADY STATE RESPONSE

„ The final value theorem :

In the case of the output of a system

C( ) G(s)R(s)
C(s)= G( )R( )

limt →∞ c(t)=lims→0sG(s)R(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 8

 OPEN LOOP TRANSFER FUNCTION

„ The open loop transfer

function of a general B(s)
= G(s)H(s)
feedback control system
y is R(s)
given by :

R(s) + Ea(s) C(s)

G(s)
-

Remove B(s)
H(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 9

 OPEN LOOP TRANSFER FUNCTION

„ The open loop transfer

B(s)
function of a unity feedback = G(s)
control
t l system
t is
i given
i by
b : R(s)

R(s) + E(s) C(s)

G(s)
-
Remove B(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 10

 STEADY STATE ERROR
Nise Ch. 7.1-
7.1-7.5, Dorf & Bishop Section 4.5, 5.7

The Laplace transform of actuating error,

Ea(s), for a general closed loop system :
R(s) + Ea(s) C(s)
G(s)
-
B(s)
H(s)

Ea (s)=R(s) -H(s)C(s) 1
Ea (s)= R(s)
=R(s) -H(s)G(s)Ea (s) 1+G(s)H(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 11

 R(s)
Ea (s)=
1+G(s)H(s) STEADY STATE ERROR
H(s)=1
R(s) + E(s) C(s)
G(s)
R(s) -
E(s)=
1+G(s)
( )

Note that the actuating and actual errors will

be identical only for a unity feedback system,
i
i.e. with
ith an ideal
id l sensor.
For a non-
non-unity feedback system, the actual
error may not be zero when the actuating
error is zero.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 12

 STEADY STATE RESPONSE

„ Here, with a systematic approach, it

will be shown that the steady state
error for a unity feedback system due
to a certain type of input depends on
the type of its open loop transfer
function.
„ For a non-
non-unity feedback system, the
analysis is somewhat more involved
involved*
*
and will not be covered here.

* See Nise, Section 7.6, and Kuo, pp.248-

pp.248-249.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 13

 SYSTEM TYPE
Nise 7
7.3,
3 Dorf & Bishop 5
5.7
7

„ The open loop transfer function of a unity feedback

control
t l system
t can be
b written
itt in
i the
th generall form
f :
P
(
K ∏ 1+ Tp s
p=1
)
T(s)=
⎛ 2 ⎞
M Q ⎜ s s ⎟
sN ∏ (1+ τms ) ∏ ⎜1+2ξ q + ⎟
m=1 q=1 ⎜ ωnq ω2 ⎟
⎝ nq ⎠
„ A unity feedback control system with this open loop
transfer function is called a type N system.
system.
sN : N poles at the origin (free integrators),
K : open
p loop
pggain.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 14
 SYSTEM TYPE – EXAMPLE 1a

R(s) s2 s+1 C(s)

+ ( s+3 )
2
s3 ( s+2 )
_

s2 s +1 s +1
G( )
G(s)= =
( s +3 )
2
s ( s +2 ) s ( s +2 )( s +3 )2
3

N=1 : type 1 system

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 15

 SYSTEM TYPE – EXAMPLE 1b

R(s) s2 s+1 C(s)

+ ( s+3 )
2
s3 ( s+2 )
_

1
s +1 ( s +1)
G(s)= = 18
2 2
⎛ 1 ⎞ 2 ⎛ 1 ⎞ ⎛ 1 ⎞⎛ 1 ⎞
s (2 ) ⎜ s +1 ⎟ ( 3 ) ⎜ s +1 ⎟ s ⎜ s +1 ⎟ ⎜ s +1 ⎟
⎝2 ⎠ ⎝3 ⎠ ⎝2 ⎠⎝ 3 ⎠

Open loop gain : 1/18

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 16
 R(s)
E(s)= STEADY STATE ERROR
1+G(s)

U i
Using th
the final
fi l value
l theorem
th :

ess = limt →∞ e(t)

sR(s)
= lims→0 sE(s)=
sE(s) lims→0
1+G(s)

Note
N t that
th t the
th steady
t d state
t t error
depends on the input and the open
l
loop ttransfer
f function
f ti off the
th system.
t

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 17

 STEADY STATE ERROR
Step Input

Step Input :

r(t)=R ⎛R ⎞
s⎜ ⎟
⎝ s⎠
ess = lim
li s→0
R 1+G(s)
R(s)=
s R
=
1+lims→0 G(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 18

 R
ess =
1+lims→0 G(s)
STEADY STATE ERROR

Define the position error constant

K s = lims→0 G(s)
Then
R
ess =
1+K s

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 19

K s = G(0) R
ess =
1+K s STEADY
STATE
K ( T1s +1)( T2 s +1) ... ( Tms +1)
G(s)=
sN (τ 1s +1)(τ 2 s +1) ... (τ n s +1)
ERROR

K for type 0 systems

Ks =
∞ for type 1 or higher systems
R
for type 0 systems
1+K
ess =
0 for type 1 or higher systems

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 20

 STEADY STATE ERROR
Ramp Input

R
Ramp I
Inputt :
⎛R ⎞
s⎜ 2 ⎟
⎝ s ⎠
r(t)=Rt ess = lims→0
1+G(s)
n! R
L {t } = n+1
n
= lims→0
s s +sG(s)
R R
R(s)= 2 =
s lims→0 sG(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 21

 R
ess =
lims→0 sG(s)
STEADY STATE ERROR

Define the velocity error constant

K v = lims→0 sG(s)
Then
R
ess =
Kv

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 22

 R
K v = lims→0 sG(s) ess =
Kv STEADY
STATE
K ( T1s +1)( T2 s +1) ... ( Tms +1)
G(s)=
sN (τ 1s +1)(τ 2 s +1) ... (τ n s +1)
ERROR

0 for type
yp 0 systems
y
Kv = K for type 1 systems
∞ for type 2 or higher systems
∞ for type 0 systems
R
ess = for type 1 systems
K
0 for type 2 or higher systems

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 23

 STEADY STATE ERROR
Acceleration Input

P
Parabolic
b li (acceleration)
( l ti ) Input
I t:

R 2 ⎛R ⎞
r(t)= t s⎜ 3 ⎟
2 ⎝ s ⎠
ess = lims→0
n! 1 G( )
1+G(s)
L {t } = n+1
n

s R
= lims→0 2
R s +s2 G(s)
R(s)= 3 R
s =
lims→0 s2 G(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 24

 R
ess =
lims→0 s2 G(s)
STEADY STATE ERROR

Define the acceleration error

constant

K a = lims→0 s2 G(s)

Then
R
ess =
Ka

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 25

 2 R
K a = lims→0 s G(s) ess =
Ka STEADY
STATE
K ( T1s +1)( T2 s +1) ... ( Tms +1)
G(s)=
sN (τ 1s +1)(τ 2 s +1) ... (τ n s +1)
ERROR

0 for type
yp 0 and 1 systems
y
Ka = K for type 2 systems
∞ for type 3 or higher systems
∞ for type 0 and 1 systems
R
ess = for type 2 systems
K
0 for type 3 or higher systems

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 26

 STEADY STATE ERROR - Summary

System Step Ramp Parabolic

Type Input Input Input
R
0
1+K ∞ ∞
R
1 0 K ∞
R
2 0 0
K

3 0 0 0

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 27

 STEADY STATE ERROR
Multiple Inputs

For linear systems, the steady state

error for the simultaneous
application of two or more inputs
p p
will be the superposition of the
steady state errors due to each
p
input applied
pp separately.
p y

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 28

 STEADY STATE ERROR

For example, for an input of

3t2
r(t)=1+2t +
2

the steady state error is given as

the superposition of the steady
responses to each of the inputs.
inputs
1 2 3
ess = + +
1+K s K v K a

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 29

 STEADY STATE ERROR

Therefore the steady state error of the system

subjected to the composite input will be :
1 2 3
ess = + +
1+K s K v K a
1 2 3
= + + =∞ for type
yp 0 systems
y
1 K 0 0
1+K
1 2 3
= + + =∞ for type 1 systems
1+ ∞ K 0
1 1 3 3
= + + = for type 2 systems
1+ ∞ ∞ K K
1 1 3
= + + =0 for type 3 or higher systems
1+ ∞ ∞ ∞

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 30

 STEADY STATE ERROR - Observations

It is observed that :
i) When ess is finite, increasing the
open loop gain decreases the
steady state error.
R
Step : 1+K
Ramp : R
Acceleration : K
K : open loop gain

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 31

 STEADY STATE ERROR - Observations

ii) As the type of the system is

increased, ess decreases
decreases..
Therefore one may attempt to
improve the steady state response
by including an integrator in the
controller.
This, however, may cause stability
problems which become critical for
type 3 or higher systems.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 32

 STEADY STATE ERROR - Observations

iii) The approach to the minimization

of the steady state error in
control systems
y mayy thus be :
Determine the maximum possible
open loop gain and check the
maximum allowable open loop
gain that will not result in
instability.
Choose the smaller of the two
open loop gain values.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 33

 STEADY STATE ERROR – Example
p 1a

Determine the steady

y state error for
r(t)=2+3t
Amplifier gain
R(s) 10 C(s)
100 s ( s +5 )
+
_

1000 1000 200

G(s)= = =
s(s +5) s(5)(0.2s +1) s(0.2s +1)

N=1 : type 1 system, K=200

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 34

 STEADY STATE ERROR – Example
p 1b

200
G(s) =
s(0.2s +1)

N=1
N 1 : type
t 1 system,
t K=200
K 200
ess = 0 for r(t)= 2 (step input)
R 3
ess = = = 0.015 for r(t)= 3t (ramp input)
K 200
Hence ess = 0.015 =1.5 %

It is obvious that if you increase the value

of the open loop gain K K, say by increasing
amplifier gain, steady state error will
decrease.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 35
 STEADY STATE ERROR – Example
p 1c

Let us check the maximum value of the

amplifier gain without causing instability.
Amplifier gain
R(s) 10 C(s)
Ka s ( s +5 )
+
_

10K a
C(s) s ( s +5 ) 10K a
= = 2
R(s) 10K a s +5s +10K a
1+
s ( s +5 )

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 36

 STEADY STATE ERROR – Example
p 1d

Thus the characteristic p

polynomial
y is g
given
by : 2
D(s)= s +5s +10K a

It is obvious that it passes Hurwitz test.

Application of Routh’s
Routh s stability criterion will
result in only one condition on stability :

s2 1 10Ka Ka > 0
s1 5 0
s0 10Ka

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 37

 STEADY STATE ERROR – Example
p 1e

As an alternative solution, let us

calculate the steady state error using
the final value theorem.
1000 r(t)= 2 +3t
( )
C(s) ( +5)
s(s ) 1000
= = 2 3
R(s) 1000 s(s +5)+1000 R(s)= + 2
1+ s s
s(s +5)

1000
E(s)= R(s) - C(s)= R(s) - R(s)
s(s +5)+1000
s(s +5) s(s +5) ⎛2 3 ⎞
E(s)= 2 R(s) = 2 ⎜ + 2⎟
s +5s +1000 s +5s +1000 ⎝ s s ⎠
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 38
 STEADY STATE ERROR – Example
p 1f

Thus with the error expression in Laplace

d
domain
i : s +5 ⎛ 2s +3 ⎞
E(s)= ⎜ ⎟
s2 +5s +1000 ⎝ s ⎠
ess = lims→0 sE(s)
⎛ 2s +3 ⎞ s +5
= lims→0 s ⎜ ⎟ 2
⎝ s ⎠ s +5s +1000
15
= = 0.015
0 015 =1
=1.5 5%
1000

It is obvious that this method requires

considerably higher effort.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 39

 STEADY STATE ERROR – Example
p 2a

Determine the value of amplifier gain Ka

such
h th
thatt th
the steady
t d state
t t error for
f a ramp
input r(t)=3t is going to be at most 2 %.

R(s) 300 C(s)

Ka s ( s +5 )( s +2 )
+
_ Amplifier
gain

300K a 300K a 30K a

G(s)= = =
s(s +2) ( s +5 ) s (2 ) (5)(0.5s
(5)(0 5s +1) ( 0 2s +1) s(0
0.2s s(0.5s
5s +1)(0
+1)(0.2s
2s +1)

N=1 : type 1 system, K=30Ka

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 40
 STEADY STATE ERROR – Example
p 2b

30K a
G(s) =
s(0.5s +1)(0.2s +1)

N=1 : type 1 system,

system K=3Ka; R=3
R 3
ess = = ≤ 0.02 for r(t)=
r(t) 3t (ramp input)
K 30K a
3
Hence K a ≥ =5
30 ( 0.02 )

Now , the limit on Ka with respect to

stability should be checked.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 41

 STEADY STATE ERROR – Example
p 2c

Let us check the maximum value of the

amplifier gain without causing instability.
R(s) 30 C(s)
Ka s ( s +5 )( s +2 )
+
_ Amplifier
p
gain

30K a
C(s) s(s +2) ( s +5 ) 30K a
= = 3
R(s) 30K a s +7s2 +10s +30K a
1+
s(s +2) ( s +5 )

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 42

 STEADY STATE ERROR – Example
p 2d

Thus the characteristic polynomial is given

by :
by 3 2
D(s)= s +7s +10s +30K a
It is obvious that it passes Hurwitz test.
Application of Routh’s stability criterion will
result in :

s3 1 10 Ka > 0
s2 7 30Ka
70 - 30K a 30 70
s1 0 10 − K a > 0 Ka < = 2.33
2 33
7 7 30
s0 30Ka
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 43
 STEADY STATE ERROR – Example
p 2e

It is obvious that the value of Ka required

f
for the
h specified
ifi d steady
d state error will
ill
make the system unstable.
Therefore, the minimum possible steady
state error will be higher than the desired
value.
value
Can you determine the minimum possible
steady
t d state
t t error for
f this
thi system
t ?

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 44