Unity Feedback System Unity Feedback System

Error, E(s)=R(s)-C(s) C (s ) C ( s) G ( s)
=? =
R(s) + E(s) C(s) R ( s) R ( s) 1 + G (s)
G(s)
-
E (s ) E ( s) R (s ) C ( s)
=? = −
R ( s) R ( s) R (s ) R (s )
Desired input System output E ( s) 1
=
“Open Loop” Transfer Function R ( s) 1 + G (s )

Final value theorem Example #1a

Find steady-state error for
lim e(t) = e ss = lim sE(s)
t →∞ s →0 • unit step input
• unit ramp input FVT does not apply!
if the real parts of all poles of E(s) are <0
R(s) + E(s) 6( s + 3) C(s)
except for possibly one pole at s=0
-
(s + 4)(s + 5)

i.e., if the system is stable!

Example #1b Example #1c

E ( s) 1 1 Use Simulink to plot response to
= =
R ( s ) 1 + G ( s) 1 + 6(s + 3) • unit step input
( s + 4)( s + 5) • unit ramp input
s + 4at
Can(have + 5)one
)( smost
E ( s ) = R ( s ) “pole” of E(s) at R(s) + E(s) 6( s + 3) C(s)
( s + 4)( s + 5) + 6( s + 3) (s + 4)(s + 5)
s=0 -
For a unit ramp,
 1  ( s + 4)( s + 5) 
E ( s ) =   
 
s 2 ( s + 4 )( s + 5 ) + 6 ( s + 3) 

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 Example #2a Example #2b
Find steady-state error for E (s) s ( s + 3)( s + 7 )
• unit step input =
R( s ) s ( s + 3)( s + 7 ) + 4( s + 2)
• unit ramp input
For a unit step,
R(s) + E(s) 4(s + 2) C(s)  1  s ( s + 3)( s + 7) 
E ( s ) =   
- s( s + 3)(s + 7 )  s  s ( s + 3)( s + 7) + 4( s + 2)  0
 ( s + 3)( s + 7)  0( 21)
lim sE ( s) = s  =
s→ 0  s ( s + 3)( s + 7) + 4( s + 2)  0( 21) + 8

Example #2c Why different answers?

Use Simulink to plot response to
R(s) + E(s) 6( s + 3) C(s)
• unit step input
- (s + 4)(s + 5)
• unit ramp input

R(s) + E(s) 4(s + 2) C(s)

s( s + 3)(s + 7 )
R(s) + E(s) 4( s + 2) C(s)
- s (s + 3)(s + 7)
-

Why different answers? Type 0

R(s) + E(s) 6( s + 3) C(s) R(s) + E(s) 6( s + 3) C(s)
-
(s + 4)(s + 5) -
(s + 4)(s + 5)

R(s) + E(s) 1 4( s + 2) C(s) No “pure integrators” in the open-loop TF

s (s + 3)(s + 7)
-
“pure integrator”

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 Type 1 Type 2

One “pure integrator” in the open-loop TF Two “pure integrators” in the open-loop TF

R(s) + E(s) 1 4( s + 2) C(s) R(s) + E(s) 1 8 C(s)

s (s + 3)(s + 7) s 2 (s +1)(s + 9)
- -
“pure integrator” 2 “pure integrators”

Static Error Constants Table 7.2: Type 0 Systems

With unity feedback control systems of this form,
Steady-state Static
R(s) + E(s) C(s) Input error formula error constant Error
G(s)
- 1 1
Step, u(t) ess = Kp =constant ess =
1+ K p 1+ K p
Position error constant K p = lim G (s )
s →0 1
Velocity error constant K v = lim sG ( s ) Ramp, t ess = Kv=0 ess = ∞
p. 344 Kv
s→0
Acceleration error constant K a = lim s G (s )
2 1
Parabola, 1 t 2 ess = Ka =0 ess = ∞
s→0 2 Ka

Table 7.2: Type 1 Systems Table 7.2: Type 2 Systems

Steady-state Static Steady-state Static
Input error formula error constant Error Input error formula error constant Error

1 1
Step, u(t) ess = Kp =∞ ess = 0 Step, u(t) ess = Kp =∞ ess = 0
1+ K p 1+ K p
1 1 1
Ramp, t ess = Kv=constant ess = Ramp, t ess = Kv=∞ ess = 0
Kv Kv Kv
1
Parabola, 1 t 2 ess =
1
Ka =0 ess = ∞ Parabola, 1 t 2 ess =
1
Ka =constant ess =
2 Ka 2 Ka Ka

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 7.4: SS Error Specs Problem #12, p. 365
What does a desired Kv=1000 tell you? R(s) + not E(s)! 10 C(s)
• System is stable (otherwise no Kv) -
- s ( s +1)
• System is Type 1 (constant Kv) s +1
• Input to system is a ramp (see Table 7.2)
• Steady-state error is ess=A/Kv a) find Kp , Kv, and Ka “pure integrator”
where input is At b) find ess for inputs of 50U(t), 50t, and 50t2
c) state the system type not necessarily Type 1!

Redraw Problem #12 Problem #12, Part (a)

R(s) + E(s) 10 C(s) R(s) + E(s) 10 C(s)
+ s ( s +1) (s +10)(s + 1)
- - -
s +1
10
K p = lim G (s ) = =1
s →0 10
What is G(s) in the unity feedback form?
0
R(s) + E(s) C(s) K v = lim sG ( s) = =0
10 s→0 10
(s +10)(s + 1) 0
Type 0! - K a = lim s 2G (s ) = =0
s→0 10

Problem #12, Part (b) Problem #38, p. 371

R(s) + E(s) 10 C(s) R(s) + not E(s)! s +1 C(s)
(s +10)(s + 1) s 2 (s + 2)
- -
K
 1 
input = 50U (t ) → e ss = 50  = 25
Type 0  1+ 1 a) the system type
from input = 50t → ess = ∞ b) the value of K to yield 0.1% error in the steady-state
Table 7.2 input = 50t → e ss = ∞
2 Unless told otherwise, assume E(s) = R(s)-C(s)

4
 Redraw Problem #38 Problem #38 in Unity Gain Form
R(s) + E(s) s +1 C(s) R(s) + E(s) s +1 C(s)
2
- + - s (s + 2) - + -
2
s (s + 2)
? K-1

What is G(s) in the unity feedback form?

What goes in here?
R(s) + E(s) s +1 C(s)
Must have unity feedback to
s 3 + 2s 2 + ( K − 1)(s +1)
use Table 7.2! -
Type 0!

Solve Problem #38 Simulink Simulation

Since we have a Type 0 system, Plot: error = input -output

1
K p = lim G (s ) =
s →0 K −1
0. 1 1 1 K −1
ess = 0. 1% = = = =
100 1 + K p 1 + 1 K − 1+ 1
K −1
100 System to be simulated
0.1K = 100K − 100 → K =
100.1