ME2142

Chapter 6 Steady State Analysis

Chong Jin Ong

Department of Mechanical Engineering,

National University of Singapore

September 5, 2022

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Steady State Analysis of Systems

Consider the feedback control system shown above where the loop transfer
function G(s)H(s) is written as

K(τa s + 1)(τb s + 1) · · · (τm s + 1)

G(s)H(s) =
sN (τ1 s + 1)(τ2 s + 1) · · · (τp s + 1)

The system is called type 0, type 1, type 2, type 3, etc. if

N = 0, N = 1, N = 2, N = 3, etc. respectively.
This chapter shows the relationship between the error signal E(s) and system
type (N ) under different R(s).
Note that the error is for a closed-loop system with system type defined by the
openloop transfer function (or the loop transfer function)

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Error Analysis

Note that
C(s) G(s) E(s) 1
= and =
R(s) 1 + G(s)H(s) C(s) G(s)
Hence, the error signal is given by
R(s)
E(s) =
1 + G(s)H(s)

The steady state error can be found using the final-value theorem :
sR(s)
ess = lim e(t) = lim sE(s) = lim
t→∞ s=0 s=0 1 + G(s)H(s)

The final value theorem can be applied only if all the roots of the denominator
sR(s)
polynomial of 1+G(s)H(s) have negative real parts.

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Error Analysis
Consider the case where R(s) = 1s , or r(t) = 1 for t ≥ 0. Then

s 1s 1 1
ess = lim sE(s) = lim = =
s=0 s=0 1 + G(s)H(s) 1 + G(0)H(0) 1 + Kp
where Kp := lims=0 G(s)H(s) = G(0)H(0) is the step-error constant.
For Type 0 system,
K(τa s + 1)(τb s + 1) · · · (τm s + 1)
Kp = lim =K
s=0 s0 (τ1 s + 1)(τ2 s + 1) · · · (τp s + 1)

For Type 1 system or higher,

K(τa s + 1)(τb s + 1) · · · (τm s + 1)
Kp = lim =∞
s=0 sN (τ1 s + 1)(τ2 s + 1) · · · (τp s + 1)
In summary, for step input
1
ess = , for Type 0 system
1 + Kp
ess = 0 for Type 1 system or higher

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Error Analysis
1
Consider the case where R(s) = s2
, or r(t) = t for t ≥ 0. Then
s s12 1 1
ess = lim sE(s) = lim = lim =
s=0 s=0 1 + G(s)H(s) s=0 s + sG(0)H(0) Kv
where Kv := lims=0 sG(s)H(s) is the ramp-error constant
For Type 0 system,
K(τa s + 1)(τb s + 1) · · · (τm s + 1)
Kv = lim s =0
s=0 s0 (τ1 s + 1)(τ2 s + 1) · · · (τp s + 1)
For Type 1 system,
K(τa s + 1)(τb s + 1) · · · (τm s + 1)
Kv = lim s =K
s=0 s1 (τ1 s + 1)(τ2 s + 1) · · · (τp s + 1)
For Type 2 system or higher,
K(τa s + 1)(τb s + 1) · · · (τm s + 1)
Kv = lim s =∞
s=0 sN (τ1 s + 1)(τ2 s + 1) · · · (τp s + 1)
In summary, for ramp input
ess = ∞, for Type 0 system
1
ess = for Type 1 system
K
ess = 0 for Type 2 system or higher
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Error Analysis
1 t2
Consider the case where R(s) = s3
, or r(t) = 2
for t ≥ 0. Then
s s13 1 1
ess = lim sE(s) = lim = lim =
s=0 s=0 1 + G(s)H(s) s=0 s2 + s2 G(0)H(0) Ka
where Ka := lims=0 s2 G(s)H(s) is the parabolic-error constant
For Type 0 and Type 1 system,
K(τa s + 1)(τb s + 1) · · · (τm s + 1)
Ka = lim s2 N =0
s=0 s (τ1 s + 1)(τ2 s + 1) · · · (τp s + 1)
For Type 2 system,
K(τa s + 1)(τb s + 1) · · · (τm s + 1)
Ka = lim s2 =K
s=0 s2 (τ1 s + 1)(τ2 s + 1) · · · (τp s + 1)
For Type 3 system or higher,
K(τa s + 1)(τb s + 1) · · · (τm s + 1)
Ka = lim s2 N =∞
s=0 s (τ1 s + 1)(τ2 s + 1) · · · (τp s + 1)
In summary, for parabolic input
ess = ∞, for Type 0 and Type 1 system
1
ess = for Type 2 system
K
ess = 0 for Type 3 system or higher
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Summary
Given a closed-loop Feedback System

with the openloop or loop TF given by

K(τa s + 1)(τb s + 1) · · · (τm s + 1)
G(s)H(s) =
sN (τ1 s + 1)(τ2 s + 1) · · · (τp s + 1)
The error table for different system type and input function are
Type of system to step input to ramp input to parabolic input
1
Type 0 1+K
∞ ∞
1
Type 1 0 K
∞
1
Type 2 0 0 K
Type 3 0 0 0

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