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Chapter 4-5

This document discusses steady-state errors in control systems. It defines steady-state error as the difference between the input and output of a system as time approaches infinity. It examines steady-state errors for various test inputs, including step, ramp, and parabolic inputs. It presents the formula for calculating steady-state error using the final value theorem. Finally, it provides examples of determining steady-state error for specific unity feedback systems and inputs.

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khin muyar aye
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10 views

Chapter 4-5

This document discusses steady-state errors in control systems. It defines steady-state error as the difference between the input and output of a system as time approaches infinity. It examines steady-state errors for various test inputs, including step, ramp, and parabolic inputs. It presents the formula for calculating steady-state error using the final value theorem. Finally, it provides examples of determining steady-state error for specific unity feedback systems and inputs.

Uploaded by

khin muyar aye
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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SEE 2113 KAWALAN: PEMODELAN DAN SIMULASI 4-43

Steady-State Errors
• Three performance criteria in analysis and design
of control systems:
o Transient response
o Stability
o Steady-state errors
• Transient response of 1st and 2nd order systems
have been discussed in previous lectures.
• This section focuses on steady-state errors of the
time response of a particular system.
Definition
• Steady-state error is the difference between the
input and the output for a prescribed test input as
t → ∞.
• Test inputs used for steady-state error analysis and
design are summarized in Table 7.1.
• Use for stable systems only.

ZHI
SEE 2113 KAWALAN: PEMODELAN DAN SIMULASI 4-44

Table 7.1

ZHI
SEE 2113 KAWALAN: PEMODELAN DAN SIMULASI 4-45

Steady-state errors:

• Output 1: zero ess; Output2: ess = e2 (∞)

• Output 1: zero ess; Output2: ess = e2 (∞)

ZHI
SEE 2113 KAWALAN: PEMODELAN DAN SIMULASI 4-46

• Steady-state error, ess can be obtained using the


final value theorem:

• Example: Find the steady-state error for an open


5
loop system with G ( s ) = 2 and the input
s + 7 s + 10
is unit step input.

ZHI
SEE 2113 KAWALAN: PEMODELAN DAN SIMULASI 4-47

Steady-state errors for Unity Feedback


Systems
• Consider a unity feedback system

• Assume system is stable, we can apply the final


value theorem:

• The steady-state error depends on the input signal.

ZHI
SEE 2113 KAWALAN: PEMODELAN DAN SIMULASI 4-48

Step input
1
• Consider the case when R ( s ) = ,
s

• Hence in order to have zero steady state error, the


term, lim G ( s ) , must be big. i.e.:
s→ 0

• This can only happen if

• If n = 0 ,

ZHI
SEE 2113 KAWALAN: PEMODELAN DAN SIMULASI 4-49

Ramp Input
1
• Consider the case when r (t ) = t , R ( s ) = 2
.
s

• Hence, to have zero steady state error for a ramp


input,

• This can only happen if

ZHI
SEE 2113 KAWALAN: PEMODELAN DAN SIMULASI 4-50

Parabolic input

1 1
• Consider the case when r (t ) = t 2 , R ( s ) = 3 .
2 s

• Hence, to have zero steady state error for a ramp


input,

• This can only happen if

• If n=2,

ZHI
SEE 2113 KAWALAN: PEMODELAN DAN SIMULASI 4-51

• Example: Find the steady-state error for input


u (t ), tu (t ), t 2 u (t ) to the system shown below. The
function u (t ) is the unit step.

ZHI
SEE 2113 KAWALAN: PEMODELAN DAN SIMULASI 4-52

• Example: Find the steady-state error for input


5u (t ), 5tu (t ), 5t 2 u (t ) to the system shown below.
The function u (t ) is the unit step.

ZHI

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