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0 6 Lec6 EE418 Steady - State - Error

This document discusses steady state error in control systems. It defines system types based on the number of poles at the origin in the open-loop transfer function. Type 0 systems have no poles at the origin, type 1 systems have one pole, etc. The steady state error depends on the system type and the input. For a step input, the steady state error is determined by the static position error constant Kp. For a ramp input it is determined by the static velocity error constant Kv. And for a parabolic input it is determined by the static acceleration error constant Ka. The document provides formulas to calculate these constants and the corresponding steady state errors for different system types and inputs. An example calculates the constants and expected steady

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25 views18 pages

0 6 Lec6 EE418 Steady - State - Error

This document discusses steady state error in control systems. It defines system types based on the number of poles at the origin in the open-loop transfer function. Type 0 systems have no poles at the origin, type 1 systems have one pole, etc. The steady state error depends on the system type and the input. For a step input, the steady state error is determined by the static position error constant Kp. For a ramp input it is determined by the static velocity error constant Kv. And for a parabolic input it is determined by the static acceleration error constant Ka. The document provides formulas to calculate these constants and the corresponding steady state errors for different system types and inputs. An example calculates the constants and expected steady

Uploaded by

youssef hossam
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Automatic Control Systems

Lecture-6
Steady State Error

Emam Fathy
Department of Electrical and Control Engineering
email: [email protected]
http://www.aast.edu/cv.php?disp_unit=346&ser=68525

1
Introduction
• Physical control systems suffer from 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.

• Existence of steady-state error for a given input


depends on the type of open-loop transfer
function of the system.
System Type
• Consider the open-loop TF with a unity-
feedback

• It involves the term sN in the denominator,


representing N poles at the origin.

• A system is called type 0, type 1, type 2, ... , if


N=0, N=1, N=2, ... , respectively.
Steady State Error of Unity Feedback Systems

• Consider the system shown in following figure.

• The closed-loop transfer function is

C ( s )  E ( s )G ( s )
Steady State Error of Unity Feedback Systems
• The transfer function between the error signal E(s) and the
input signal R(s) is
E( s ) 1

R( s ) 1  G( s )
• The final-value theorem provides a convenient way to find
the steady-state performance of a stable system.
• Since E(s) is

• The steady state error is

Final-value theorem:
Static Position Error Constant (Kp)
• The steady-state error for a unit-step input is

• The static position error constant Kp is defined by

• Thus, the steady-state error in terms of the static position


error constant Kp is given by
Static Position Error Constant (Kp)
• For a Type 0 system

• For Type 1 or higher systems

• For a unit step input the steady state error ess is


Static Velocity Error Constant (Kv)
• The steady-state error of the system for a unit-ramp input is

• The static position error constant Kv is defined by

• Thus, the steady-state error in terms of the static velocity


error constant Kv is given by
Static Velocity Error Constant (Kv)
• For a Type 0 system

• For Type 1 systems

• For type 2 or higher systems


Static Velocity Error Constant (Kv)
• For a ramp input the steady state error ess is
Static Acceleration Error Constant (Ka)
• The steady-state error of the system for parabolic input is

• The static acceleration error constant Ka is defined by

• Thus, the steady-state error in terms of the static acceleration


error constant Ka is given by
Static Acceleration Error Constant (Ka)
• For a Type 0 system

• For Type 1 systems

• For type 2 systems

• For type 3 or higher systems


Static Acceleration Error Constant (Ka)
• For a parabolic input the steady state error ess is
Summary
Example 1
• For the system shown in figure below evaluate the static
error constants and find the expected steady state errors
for the standard step, ramp and parabolic inputs.

100( s  2 )( s  5)
R(S) C(S)
2
s ( s  8)( s  12 )
-
100( s  2 )( s  5)
G( s ) 
s 2 ( s  8)( s  12 )

K p  lim G( s )  100( s  2)( s  5) 


K p  lim  2  Kp  
s 0 s 0  s ( s  8)( s  12 ) 

 100s( s  2)( s  5) 
K v  lim sG( s ) K v  lim  2 
s 0 s 0  s ( s  8)( s  12) 
Kv  

2  100s 2 ( s  2)( s  5) 
K a  lim s G( s ) K a  lim  2  K a  10.4
s 0 s 0 
 s ( s  8 )( s  12 ) 

Kp   0

0
Kv  

K a  10.4  0.09
End of Lec

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