Control System Design and Analysis

(5505ELEMM)

Steady State Error Analysis

Dr. Zarchi Linn

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➢ Three types of input, usually basic design applications, are considered.

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 R(s) E(s) C(s)
+ For unity feedback system:
G(s)
-
E(s) = R(s) − C(s) System error

Unity feedback
H(s)=1

R(s) E(s) C(s)

+
G(s)
-
For a non-unity feedback system:

E(s) = R(s) − H (s)C(s)

H(s)
Actuating error

Non-unity feedback
H(s)≠1 4
Consider a unity feedback system, if the inputs are step response, ramp & parabolic
(no sinusoidal input). We want to find the steady-state error

ess = lim e(t )

t →

Where,
e(t ) = r (t ) − c(t )

By Final Value Theorem:

ess = lim e(t )  lim sE ( s )

t → s →0

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 Consider Unity Feedback System

E(s) = R(s) − C(s) (1)

C (s) G( s)
= (2)
R( s ) 1 + G ( s )

𝐺(𝑠)
𝐶 𝑠 = 𝑅(𝑠)
1 + 𝐺(𝑠)
Substitute (2) into (1)

G( s) 1
 E ( s ) = R( s ) − R( s ) = R( s) (3)
1 + G ( s) 1 + G(s)

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Based on equation (3), it can be seen that E(s) depends on:

(a) Input signal, R(s)

(b) G(s), open loop transfer function

Cases to be considered:

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( A) R ( s ) =
s
1
( B) R( s) = 2
s
1
(C ) R ( s ) = 3
s
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Case (A): Input is a unit step R(s)=1/s
1
1 s
E ( s) = R( s) =
1 + G( s) 1 + G( s)
ess = Steady − State _ Error  lim sE ( s )
s →0
 1   1 
ess = lim s  s  = lim 
s →0 1 + G ( s )  s →0 1 + G ( s ) 
   
 1   1 
= = 
1 + lim
s →0
G ( s)  1 + K p 

where K p = lim G ( s ) →
“Static Position Error
s →0 Constant”
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Case (B): Input is a unit ramp R(s)=1/s2
1
1 s 2
E ( s) = R( s ) =
1 + G( s) 1 + G( s)
ess = Steady − State _ Error  lim sE ( s )
s →0
 1 2 
 s   1 
ess = lim s = lim 
s →0 1 + G ( s )  s →0 s + sG ( s ) 
 
 
 1   1  1
=   =   
 0 + lim
s →0
sG ( s)   lim sG ( s)  KV
  s →0 
where K v = lim sG ( s ) →
“Static Velocity Error
s →0 Constant”
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Case (C): Input is a parabolic, R(s)=1/s3
1
1 s 3
E ( s) = R( s ) =
1 + G( s) 1 + G( s)
ess = Steady − State _ Error  lim sE ( s )
s →0
 1 3 
 s   1 
ess = lim s = lim  2
s →0 1 + G ( s )  s →0 s + s 2 G ( s ) 
 
 
 1   1  1
=   =   
 0 + lim s G ( s)   lim s G ( s)  K a
2 2
s →0   s →0 
where
K a = lim s 2G ( s ) → “Static Acceleration
Error Constant”
s →0

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 1
Unit step input 𝑒𝑠𝑠 = lim 𝑠𝐸 𝑠 =
𝑠→0 1 + lim𝐺 𝑠
𝑠→0

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Unit ramp input 𝑒𝑠𝑠 = lim 𝑠𝐸 𝑠 =
𝑠→0 lim𝑠𝐺 𝑠
𝑠→0

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Parabolic input 𝑒𝑠𝑠 =
lim 𝑠 2 𝐺(𝑠)
𝑠→0
Example (1)
A proportional plus integral (PI) controller is to be designed for a second order plant. The block diagram
of the closed-loop system is shown in the following figure.
(c) Find the steady-state error when the reference signal, R(s) is unit ramp input.

When input is unit ramp R(s) = 1/s2, the steady-state error is

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𝑒𝑠𝑠 = lim 𝑠𝐸 𝑠 =
𝑠→0 lim𝑠𝐺 𝑠
𝑠→0

𝐾1 𝑠 + 𝐾2 1
𝐺 𝑠 =
𝑠 𝑠 2 + 3𝑠 + 2

1 1 1 2
𝑒𝑠𝑠 = = 𝐾1 𝑠+𝐾2 1 = 𝐾2 =
lim𝑠𝐺 𝑠 lim𝑠 𝐾2
𝑠→0 𝑠→0 𝑠 𝑠2 +3𝑠+2 2
Example (2) (a) Find the steady-state error when the reference signal, R(s) is unit step input.

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𝑒𝑠𝑠 = lim 𝑠𝐸 𝑠 =
𝑠→0 1 + lim𝐺 𝑠
𝑠→0

𝐾
𝐺 𝑠 =
(𝑇𝑠 + 1)
1 1 1
𝑒𝑠𝑠 = = =
1+lim𝐺 𝑠 1+lim 𝐾 1+𝐾
𝑠→0 𝑠→0(𝑇𝑠+1)
(b) Find the steady-state error when the reference signal, R(s) is unit step input.

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𝑒𝑠𝑠 = lim 𝑠𝐸 𝑠 =
𝑠→0 1 + lim𝐺 𝑠
𝑠→0

𝐾
𝐺 𝑠 =
𝑠(𝑇𝑠 + 1)
1 1 1
𝑒𝑠𝑠 = = 𝐾 =
1+lim𝐺 𝑠 1+lim𝑠(𝑇𝑠+1) 1+∞
𝑠→0 𝑠→0
1
𝑒𝑠𝑠 = =0
∞
steady-state output

𝑐𝑠𝑠 = lim 𝑠𝐶 𝑠
𝑠→0

𝐶(𝑠)
The transfer function is →
𝑅(𝑠)
𝐶 𝑠 = 𝑇. 𝐹 × 𝑅(𝑠)
Example (3)

c) Find the steady-state error when the input is (i) unit step, (ii) unit ramp, and (iii) parabolic input.
a)
c)
𝑠+2
𝐺 𝑠 =
𝑠(𝑠 + 2)(𝑠 + 3)
1
𝑒𝑠𝑠 =
Unit step input 1 + lim 𝐺(𝑠)
𝑠→0
1 1 1 1
𝑒𝑠𝑠 = 1+lim 𝐺(𝑠) = 𝑠+2 = 1+∞ = ∞ = 0
𝑠→0
1+lim 𝑠(𝑠+2)(𝑠+3)
𝑠→0

1
𝑒𝑠𝑠 =
Unit ramp input lim 𝑠𝐺(𝑠)
𝑠→0
1 1 1
𝑒𝑠𝑠 = lim 𝑠𝐺(𝑠) = 𝑠+2 = 2 =3
𝑠→0
lim 𝑠𝑠(𝑠+2)(𝑠+3) 6
𝑠→0

1
𝑒𝑠𝑠 =
lim 𝑠 2 𝐺(𝑠)
𝑠→0

Parabolic input 1 1
𝑒𝑠𝑠 = 𝑠+2 =0=∞
lim 𝑠 2 𝑠(𝑠+2)(𝑠+3)
𝑠→0
Example (4)
Example (5)
Consider the following system to obtain the error signal E(s) when both the reference input R(s) and
disturbance input D(s) are present. Obtain also the steady-state error when the system is subjected to a
reference input (unit-ramp input) and disturbance input (step input of magnitude d)