Steady State Error & Error

Coefficients
Steady state analysis - Introduction
The steady state response has two specifications:

• Settling time ‘𝑡𝑠 ’: It is defined as time taken by the system output to reach the
steady state.
• Steady state error ‘𝑒𝑠𝑠 ’: It the difference between actual output & desired
output.
 Factors that contribute to the steady state
error in control systems
• Changes in the reference input.
• Type of the system like Type 0, Type 1, Type 2 etc.,
• Imperfection in system components (static friction, amplifier drift etc.,)
• Aging or deterioration of the components of the system.

We shall discuss the steady state error due to different inputs and “TYPE” of
the system.
The steady-state errors of linear control systems depend on the type of the
reference signal and the type of system.
 Derivation of steady state error
Consider a simple closed loop system with
negative feedback,
𝑬 𝒔 = 𝒆𝒓𝒓𝒐𝒓 𝒔𝒊𝒈𝒏𝒂𝒍,
𝑩 𝒔 = 𝒇𝒆𝒆𝒅𝒃𝒂𝒄𝒌 𝒔𝒊𝒈𝒏𝒂𝒍
𝐸 𝑠 =𝑅 𝑠 −𝐵 𝑠
𝐵 𝑠 =𝐶 𝑠 𝐻 𝑠
𝐸 𝑠 =𝑅 𝑠 −𝐶 𝑠 𝐻 𝑠
𝐶 𝑠 =𝐸 𝑠 𝐺 𝑠
𝐸 𝑠 =𝑅 𝑠 −𝐸 𝑠 𝐺 𝑠 𝐻 𝑠
𝑅 𝑠 Figure: Closed loop system block
𝐸 𝑠 = : for non unity feedback
1+𝐺 𝑠 𝐻 𝑠 diagram
𝑅 𝑠
𝐸 𝑠 = : for unity feedback
1+𝐺 𝑠
𝑬 𝒔 is the error function in Laplace domain, In time domain corresponding error
function will be e(t)
Derivation of steady state error- unity
feedback system
• The steady state error is given by,
𝑒𝑠𝑠 = lim 𝑒(𝑡)
𝑡⟶∞
• By using final value theorem we get,
𝑒𝑠𝑠 = lim 𝑒(𝑡) = lim 𝑠𝐸(𝑠)
𝑡⟶∞ 𝑠⟶0 Figure: Unity Closed loop system
block diagram
• Substituting the expression for E(s) derived we get,
𝑠𝑅(𝑠)
𝑒𝑠𝑠 = lim
𝑠⟶0 1 + 𝐺 𝑠
The steady state error depends on ,
• Reference input R(s)
• Open loop transfer function G(s)H(s)
• Dominant nonlinearities present if any
Note: Since we consider only LTI systems nonlinearities is not discussed
Effect of Input on Steady State Error
Test inputs used for steady-state error analysis and design are summarized below,
Effect of Input on Steady State Error
• Step inputs:
• Represent constant position
• Useful in determining the ability of the control system to position itself with respect to a
stationary target.
• An antenna position control is an example of a system that can be tested for accuracy using
step inputs.
• Ramp inputs:
• Represent constant velocity.
• These waveforms can be used to test a system’s ability to follow a linearly increasing input or,
equivalently, to track a constant velocity target.
• For example, a position control system that tracks a satellite that moves across the sky at a
constant angular velocity.
Effect of Input on Steady State Error
• Parabolic inputs:
• Represent constant acceleration
• Can be used to represent accelerating targets, such as a missile.
• Any physical control system inherently suffers steady-state error in response to
certain types of inputs.
• A system may have no steady-state error to a step input, but the same system may
exhibit nonzero steady-state error to a ramp input.
• For given input the steady state depends on type of the system.
Steady state error of a closed loop system due
to Step, Ramp and Parabolic Inputs
Step input of magnitude A: 𝑟 𝑡 = 𝐴
𝐴 𝑠𝑅(𝑠)
• 𝑅 𝑠 = , 𝑒𝑠𝑠 = lim
𝑠 𝑠⟶0 1+𝐺 𝑠
𝑠×𝐴Τ𝑠
• 𝑒𝑠𝑠 = lim
𝑠⟶0 1+𝐺 𝑠
𝐴 𝐴
• 𝑒𝑠𝑠 = lim =
𝑠⟶0 1+𝐺 𝑠 1+ lim 𝐺 𝑠
𝑠⟶0
𝐴
• 𝑒𝑠𝑠 =
1+𝐾𝑝

For a given type of the system, lim 𝐺 𝑠 is constant and is called Position Error
𝑠⟶0
Coefficient 𝑲𝒑
• So when step input is selected as input , position error coefficient 𝑲𝒑 will control
the error along with the magnitude of the input.
Steady state error of a closed loop system due
to Step, Ramp and Parabolic Inputs
• Ramp input of magnitude A: 𝑟 𝑡 = 𝐴𝑡
𝐴 𝑠𝑅(𝑠)
•𝑅 𝑠 = , 𝑒𝑠𝑠 = lim
𝑠2 𝑠⟶0 1+𝐺 𝑠
𝐴 𝐴
• 𝑒𝑠𝑠 = lim = lim
𝑠⟶0 𝑠[1+𝐺 𝑠 ] 𝑠⟶0 𝑠+𝑠𝐺 𝑠

𝐴 𝐴
• 𝑒𝑠𝑠 = =
lim 𝑠𝐺 𝑠 𝑲𝒗
𝑠⟶0

For a given type of the system, lim 𝑠𝐺 𝑠 is constant and is called Velocity Error
𝑠⟶0
Coefficient 𝑲𝒗
• So when ramp input is selected as input , velocity error coefficient 𝑲𝒗 will control
the error along with the magnitude of the input.
Steady state error of a closed loop system due
to Step, Ramp and Parabolic Inputs
𝐴
• Parabolic input of magnitude A: 𝑟 𝑡 = 𝑡 2
2
𝐴 𝑠𝑅(𝑠)
•𝑅 𝑠 = , 𝑒𝑠𝑠 = lim
𝑠3 𝑠⟶0 1+𝐺 𝑠
𝐴 𝐴
• 𝑒𝑠𝑠 = lim = lim
𝑠⟶0 𝑠 2 [1+𝐺 𝑠 ] 𝑠⟶0 𝑠 2 +𝑠 2 𝐺 𝑠

𝐴 𝐴
• 𝑒𝑠𝑠 = =
lim 𝑠 2 𝐺 𝑠 𝑲𝒂
𝑠⟶0
For a given type of the system, lim 𝑠 2 𝐺 𝑠 is constant and is called
𝑠⟶0
Acceleration Error Coefficient 𝑲𝒂
• So when parabolic input is selected as input , acceleration error coefficient 𝑲𝒂 will
control the error along with the magnitude of the input.
Static Error Coefficients
Position Error Coefficient 𝑲𝒑 = lim 𝐺 𝑠
𝑠⟶0
Velocity Error Coefficient 𝑲𝒗 = lim 𝑠𝐺 𝑠
𝑠⟶0
Acceleration Error Coefficient 𝑲𝒂 = lim 𝑠 2 𝐺 𝑠
𝑠⟶0
• The static error coefficients defined are figures of merit of control systems.
• The higher the coefficients, the smaller the steady state error, maintaining transient
response within acceptable range.
“TYPE” of the system
• Consider the feedback control system with the following open-loop transfer
function,
𝐾 1 + 𝑇1 𝑠 1 + 𝑇2 𝑠 1 + 𝑇3 𝑠 … …
𝐺 𝑠 = 𝑗
𝑠 1 + 𝑇𝑎 𝑠 1 + 𝑇𝑏 𝑠 1 + 𝑇𝑐 𝑠 … …
Where K = Resultant system gain , ‘j’=TYPE of the system, 𝑇1 , 𝑇2 … & 𝑇𝑎 , 𝑇𝑏 … are
time constants
• ‘TYPE’ of the system means number of poles at the origin of open loop TF G(s).
• 𝑗 = 0 ; 𝑇𝑌𝑃𝐸 0 𝑠𝑦𝑠𝑡𝑒𝑚, 𝑛𝑜 𝑝𝑜𝑙𝑒𝑠 𝑎𝑡 𝑡ℎ𝑒 𝑜𝑟𝑖𝑔𝑖𝑛.
• 𝑗 = 1 ; 𝑇𝑌𝑃𝐸 1 𝑠𝑦𝑠𝑡𝑒𝑚, 𝑜𝑛𝑒 𝑝𝑜𝑙𝑒 𝑎𝑡 𝑡ℎ𝑒 𝑜𝑟𝑖𝑔𝑖𝑛.
• 𝑗 = 2 ; 𝑇𝑌𝑃𝐸 2 𝑠𝑦𝑠𝑡𝑒𝑚, 𝑡𝑤𝑜 𝑝𝑜𝑙𝑒𝑠 𝑎𝑡 𝑡ℎ𝑒 𝑜𝑟𝑖𝑔𝑖𝑛 etc. ,
What is the physical meaning of TYPE &
ORDER of the system (transfer function)??
Static Position Error Coefficient (Kp)

For step input , Position Error Coefficient 𝑲𝒑 = lim 𝐺 𝑠

𝑠⟶0
Consider a TYPE ‘0’ system,
K 1 + T1 s 1 + T2 s . .
G s =
1 + Ta s 1 + Tb s . .
K 1+T1 s 1+T2 s ..
• 𝑲𝒑 = lim 𝐺 𝑠 = lim =𝐾
𝑠⟶0 𝑠⟶0 1+Ta s 1+Tb s ..
𝐴
• 𝑒𝑠𝑠 =
1+𝐾
• The steady state error can be reduced by changing ‘A’ or ‘K’.
Note: ‘K’ can be increased by introducing a variable gain amplifier in the forward
path , but the increase should be with the limit so as to maintain the stability.
For TYPE ‘0’ system position error coefficient & steady state error is finite
 Static Position Error Coefficient (Kp)
For step input , Position Error Coefficient 𝑲𝒑 = lim 𝐺 𝑠
𝑠⟶0
Consider a TYPE ‘1’ system,
K 1 + T1 s 1 + T2 s . .
G s =
𝑠 1 + Ta s 1 + Tb s . .
K 1+T1 s 1+T2 s ..
• 𝑲𝒑 = lim 𝐺 𝑠 = lim =∞
𝑠⟶0 𝑠⟶0 𝑠 1+Ta s 1+Tb s ..
𝐴 𝐴
• 𝑒𝑠𝑠 = = =0
1+𝑲𝒑 ∞

For TYPE ‘1’ system, position error coefficient is infinite & steady state error is zero
Static Position Error Coefficient (Kp)
For step input , Position Error Coefficient 𝑲𝒑 = lim 𝐺 𝑠
𝑠⟶0
Consider a TYPE ‘2’ system,
K 1 + T1 s 1 + T2 s . .
G s = 2
𝑠 1 + Ta s 1 + Tb s . .
K 1+T1 s 1+T2 s ..
• 𝑲𝒑 = lim 𝐺 𝑠 = lim =∞
𝑠⟶0 𝑠⟶0 𝑠 2 1+Ta s 1+Tb s ..
𝐴 𝐴
• 𝑒𝑠𝑠 = = =0
1+𝑲𝒑 ∞

For TYPE ‘2’ system, position error coefficient is infinite & steady state error is zero
Conclusion
For a step input , the steady state error for different TYPE’ s of system can be
summarized as follows,

𝐴
𝑒𝑠𝑠 = , 𝑓𝑜𝑟 𝑇𝑌𝑃𝐸 0 𝑠𝑦𝑠𝑡𝑒𝑚𝑠
1+𝐾

𝑒𝑠𝑠 = 0, 𝑓𝑜𝑟 𝑇𝑌𝑃𝐸 1 𝑜𝑟 ℎ𝑖𝑔ℎ𝑒𝑟 𝑠𝑦𝑠𝑡𝑒𝑚𝑠

Static Velocity Error Coefficient (Kv)
For ramp input , Velocity Error Coefficient 𝑲𝒗 = lim 𝑠𝐺 𝑠
𝑠⟶0
Consider a TYPE ‘0’ system,
K 1 + T1 s 1 + T2 s . .
G s =
1 + Ta s 1 + Tb s . .
K 1+T1 s 1+T2 s ..
• 𝑲𝒗 = lim 𝑠𝐺 𝑠 = lim 𝑠 =0
𝑠⟶0 𝑠⟶0 1+Ta s 1+Tb s ..
𝐴 𝐴
• 𝑒𝑠𝑠 = = =∞
𝑲𝒗 0
• TYPE 0 systems will not follow the ramp input of any magnitude and will produce
large error in the output which may damage the parameters of the system.
• Hence ramp input should not be applied to the TYPE 0 system.
Static Velocity Error Coefficient (Kv)
For ramp input , Velocity Error Coefficient 𝑲𝒗 = lim 𝑠𝐺 𝑠
𝑠⟶0
Consider a TYPE ‘1’ system,
K 1 + T1 s 1 + T2 s . .
G s =
𝑠 1 + Ta s 1 + Tb s . .
K 1+T1 s 1+T2 s ..
• 𝑲𝒗 = lim 𝑠𝐺 𝑠 = lim =𝐾
𝑠⟶0 𝑠⟶0 1+Ta s 1+Tb s ..
𝐴 𝐴
• 𝑒𝑠𝑠 = = = 𝑓𝑖𝑛𝑖𝑡𝑒
𝑲𝒗 𝐾
Static Velocity Error Coefficient (Kv)
For ramp input , Velocity Error Coefficient 𝑲𝒗 = lim 𝑠𝐺 𝑠
𝑠⟶0
Consider a TYPE ‘2’ system,
K 1 + T1 s 1 + T2 s . .
G s = 2
𝑠 1 + Ta s 1 + Tb s . .
K 1+T1 s 1+T2 s ..
• 𝑲𝒗 = lim 𝑠𝐺 𝑠 = lim =∞
𝑠⟶0 𝑠⟶0 𝑠 1+Ta s 1+Tb s ..
𝐴 𝐴
• 𝑒𝑠𝑠 = = =0
𝑲𝒗 ∞
• This is true for any system of TYPE more than two.
• Hence all the systems of TYPE 2 & more than 2 follow the input with negligible
error.
Conclusion
For a ramp input , the steady state error for different TYPE’ s of system can be
summarized as follows,

𝐴
𝑒𝑠𝑠 = = ∞, 𝑓𝑜𝑟 𝑇𝑌𝑃𝐸 0 𝑠𝑦𝑠𝑡𝑒𝑚𝑠
𝐾𝑣

𝐴 𝐴
𝑒𝑠𝑠 = = , 𝑓𝑜𝑟 𝑇𝑌𝑃𝐸 1 𝑠𝑦𝑠𝑡𝑒𝑚𝑠
𝐾𝑣 𝐾

𝐴
𝑒𝑠𝑠 = = 0, 𝑓𝑜𝑟 𝑇𝑌𝑃𝐸 2 𝑜𝑟 ℎ𝑖𝑔ℎ𝑒𝑟 𝑠𝑦𝑠𝑡𝑒𝑚𝑠
𝐾𝑣
Static Acceleration Error Coefficient (Ka)
For parabolic input , Acceleration Error Coefficient 𝑲𝒂 = lim 𝑠 2 𝐺 𝑠
𝑠⟶0
Consider a TYPE ‘0’ system,
K 1 + T1 s 1 + T2 s . .
G s =
1 + Ta s 1 + Tb s . .
2 2 K 1+T1 s 1+T2 s ..
• 𝑲𝒂 = lim 𝑠 𝐺 𝑠 = lim 𝑠 =0
𝑠⟶0 𝑠⟶0 1+Ta s 1+Tb s ..
𝐴 𝐴
• 𝑒𝑠𝑠 = = =∞
𝑲𝒂 0
Static Acceleration Error Coefficient (Ka)
For parabolic input , Acceleration Error Coefficient 𝑲𝒂 = lim 𝑠 2 𝐺 𝑠
𝑠⟶0
Consider a TYPE ‘1’ system,
K 1 + T1 s 1 + T2 s . .
G s =
𝑠 1 + Ta s 1 + Tb s . .
2 2 K 1+T1 s 1+T2 s ..
• 𝑲𝒂 = lim 𝑠 𝐺 𝑠 = lim 𝑠 =0
𝑠⟶0 𝑠⟶0 𝑠 1+Ta s 1+Tb s ..
𝐴 𝐴
• 𝑒𝑠𝑠 = = =∞
𝑲𝒂 0
• For both TYPE ‘0’ and ‘1’ systems, error will be uncontrollable if parabolic input
is used.
• Hence parabolic input should not be used to excite TYPE ‘0’ & ‘1’ systems.
Static Acceleration Error Coefficient (Ka)
For parabolic input , Acceleration Error Coefficient 𝑲𝒂 = lim 𝑠 2 𝐺 𝑠
𝑠⟶0
Consider a TYPE ‘2’ system,
K 1 + T1 s 1 + T2 s . .
G s = 2
𝑠 1 + Ta s 1 + Tb s . .
2 2 K 1+T1 s 1+T2 s ..
• 𝑲𝒂 = lim 𝑠 𝐺 𝑠 = lim 𝑠 2 =𝐾
𝑠⟶0 𝑠⟶0 𝑠 1+Ta s 1+Tb s ..
𝐴 𝐴
• 𝑒𝑠𝑠 = = = 𝑓𝑖𝑛𝑖𝑡𝑒.
𝑲𝒂 𝐾
• TYPE ‘2’ system will follow the parabolic input with finite error & it can be
controlled by system parameters ‘A’ & ‘K’.
• For TYPE ‘3’ or more if parabolic input is used , error will be negligibly small.
Conclusion
For a parabolic input , the steady state error for different TYPE’ s of system can be
summarized as follows,

𝑒𝑠𝑠 = ∞, 𝑓𝑜𝑟 𝑇𝑌𝑃𝐸 0 & 𝑇𝑌𝑃𝐸1 𝑠𝑦𝑠𝑡𝑒𝑚𝑠

𝐴
𝑒𝑠𝑠 = , 𝑓𝑜𝑟 𝑇𝑌𝑃𝐸 2 𝑠𝑦𝑠𝑡𝑒𝑚𝑠
𝐾

𝑒𝑠𝑠 = 0, 𝑓𝑜𝑟 𝑇𝑌𝑃𝐸 3 𝑜𝑟 ℎ𝑖𝑔ℎ𝑒𝑟 𝑠𝑦𝑠𝑡𝑒𝑚𝑠

Conclusions
• The step-, ramp-, or parabolic-error constants are significant for the error analysis
only when the input signal is a step function, ramp function, or parabolic function,
respectively.
• Because the error constants are defined with respect to the forward-path transfer
function G(s), the method is applicable to only for unity feedback system.
• The steady-state error of a system with an input that is a linear combination of the
three basic types of inputs can be determined by superimposing the errors due to
each input component.
Conclusions
• When the system configuration differs from unity feedback with H(s) = l, we can
either simplify the system to unity feedback system or establish the error signal
and apply the final-value theorem.
• The error-constant method also does not apply to systems with inputs that are
sinusoidal
Problems
Example 1:A memory in a glass thermometer has an overall transfer function
𝐴
T 𝑠 = , if the thermometer requires 1min to indicate as 95% of its final value
𝑠+𝐴
for a unit step excitation determine the value of A.
Problems
• Example 2: Determine the static error coefficients of unity feedback system whose
open loop transfer function are
𝐾
a) 𝐺 𝑠 = 𝑠(𝑠2+4𝑠+200)
𝐾(1+2𝑠)(1+4𝑠)
b) 𝐺 𝑠 = 𝑠 2 (𝑠 2 +2𝑠+10)