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Lecture 13 2

This document discusses steady state error in control systems. It classifies control systems based on their open-loop transfer function and ability to follow step, ramp, and other inputs without error. Systems are classified as type 0, 1, 2, etc. depending on the power of the term involving s in the denominator of the transfer function. The document defines static error constants - position error constant Kp, velocity error constant Kv, and acceleration error constant Ka - which characterize the steady state error for different input types. It provides an example calculating these constants for a sample system and estimating the steady state errors for step, ramp, and parabolic inputs.

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khin muyar aye
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22 views

Lecture 13 2

This document discusses steady state error in control systems. It classifies control systems based on their open-loop transfer function and ability to follow step, ramp, and other inputs without error. Systems are classified as type 0, 1, 2, etc. depending on the power of the term involving s in the denominator of the transfer function. The document defines static error constants - position error constant Kp, velocity error constant Kv, and acceleration error constant Ka - which characterize the steady state error for different input types. It provides an example calculating these constants for a sample system and estimating the steady state errors for step, ramp, and parabolic 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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Control Systems (CS)

Lecture-13
Steady State Error

Dr. Dhafer Manea Hachim AL-HASNAWI


Assist Proof
Al-Furat Al-Awsat Technical University
Engineering Technical College / Najaf
email:[email protected]

1
Introduction
• 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.

• Whether a given system will exhibit steady-state


error for a given type of input depends on the type
of open-loop transfer function of the system.
Classification of Control Systems
• Control systems may be classified according to
their ability to follow step inputs, ramp inputs,
parabolic inputs, and so on.

• The magnitudes of the steady-state errors due


to these individual inputs are indicative of the
goodness of the system.
Classification of Control Systems
• Consider the unity-feedback control system
with the following open-loop transfer function

• 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.
Classification of Control Systems
• As the type number is increased, accuracy is
improved.

• However, increasing the type number


aggravates the stability problem.

• A compromise between steady-state accuracy


and relative stability is always necessary.
Steady State Error of Unity Feedback Systems

• Consider the system shown in following figure.

• The closed-loop transfer function is


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


Static Error Constants
• The static error constants are figures of merit of
control systems. The higher the constants, the
smaller the steady-state error.
• In a given system, the output may be the position,
velocity, pressure, temperature, or the like.
• Therefore, in what follows, we shall call the output
“position,” the rate of change of the output
“velocity,” and so on.
• This means that in a temperature control system
“position” represents the output temperature,
“velocity” represents the rate of change of the
output temperature, and so on.
Static Position Error Constant (Kp)
• The steady-state error of the system 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.

R(S) -
C(S)
Example#1 (evaluation of Static Error Constants)
100( s  2)( s  5)
G( s ) 
s 2 ( s  8)( s  12)
K p  lim G( s )
s 0 K v  lim sG( s )
s 0
 100( s  2)( s  5) 
K p  lim  2   100s( s  2)( s  5) 
s 0  s ( s  8)( s  12)  K v  lim  2 
s 0  s ( s  8)( s  12) 
Kp  
Kv  

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


K a  lim  2 
s 0  
s 0
 s ( s  8 )( s  12 ) 
 100( 0  2)( 0  5) 
K a     10.4
 ( 0  8)( 0  12) 
Example#1 (Steady Sate Errors)
Kp   Kv   K a  10.4

0

0

 0.09

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