Feedback Control System

Lecture 15
Chapter 7: Steady State Errors

Prepared By: Muhammad Abdullah

[email protected] , [email protected]

National University FAST (CFD Campus)

My YouTube Channel:
https://www.youtube.com/@BlueFish506

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Steady State Error

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.

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Evaluating Steady-State Errors

Figure 1: Steady State Error: (a) Step Input (b) Ramp Input

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 Figure 2: Closed-loop control system error: (a) General Representation (b)
Representation for Unity Feedback Systems

Steady State Error for Unity Feedback Systems

Steady-State Error in Terms of 𝑻(𝒔)

To find the error 𝐸(𝑠) between input 𝑅(𝑠) and output 𝐶(𝑠) :
𝐸(𝑠) = 𝑅(𝑠) − 𝐶(𝑠)
But output is:
𝐶(𝑠) = 𝑅(𝑠)𝑇(𝑠)
So, error becomes:
𝐸(𝑠) = 𝑅(𝑠)[1 − 𝑇(𝑠)]
To compute steady-state error, we apply the Final Value Theorem:
𝑒(∞) = lim 𝑒(𝑡) = lim 𝑠𝐸(𝑠)
𝑡→∞ 𝑠→0

Substitute 𝐸(𝑠) to get:

𝑒(∞) = lim 𝑠𝑅(𝑠)[1 − 𝑇(𝑠)]
𝑠→0

Example 1
Find the steady-state error for the system of Figure 2(𝑎) if
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𝑇(𝑠) =
𝑠 2 + 7𝑠 + 10
and the input is a unit step.

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Solution:
𝑒(∞) = lim 𝑠𝑅(𝑠)[1 − 𝑇(𝑠)]
𝑠→0
1 5
𝑒(∞) = lim (𝑠 × [1 − 2 ])
𝑠→0 𝑠 𝑠 + 7𝑠 + 10
𝑠 2 + 7𝑠 + 10 − 5 𝑠 2 + 7𝑠 + 5 0+0+5 1
𝑒(∞) = lim [ 2 ] = lim [ 2 ]= =
𝑠→0 𝑠 + 7𝑠 + 10 𝑠→0 𝑠 + 7𝑠 + 10 0 + 0 + 10 2

Steady State Error in Terms of 𝑮(𝒔)

For unity feedback systems where 𝐻(𝑠) = 1, the steady-state error is:
𝐸(𝑠) = 𝑅(𝑠) − 𝐶(𝑠), 𝐶(𝑠) = 𝐸(𝑠)𝐺(𝑠)
Solving gives:
𝑅(𝑠)
𝐸(𝑠) =
1 + 𝐺(𝑠)
Using the Final Value Theorem:
𝑠𝑅(𝑠)
𝑒(∞) = lim 𝑠𝐸(𝑠) = lim
𝑠→0 𝑠→0 1 + 𝐺(𝑠)

Steady State Error for Standard Inputs

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Step Input: 𝑅(𝑠) =
𝑠
1
𝑒step (∞) =
1 + lim 𝐺(𝑠)
𝑠→0
1
Ramp Input: 𝑅(𝑠) =
𝑠2
1
𝑒ramp (∞) =
lim 𝑠𝐺(𝑠)
𝑠→0
1
Parabolic Input: 𝑅(𝑠) =
𝑠3
1
𝑒parabolic (∞) =
lim 𝑠 2 𝐺(𝑠)
𝑠→0

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Example 2: Steady-State Errors for Systems with No Integrations
Find the steady-state errors for inputs of 5𝑢(𝑡),5𝑡𝑢(𝑡), and 5𝑡 2 𝑢(𝑡) to the system
shown in Figure 3. The function 𝑢(𝑡) is the unit step.

Figure 3

Solution:
For Step Input:
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𝑠𝑅(𝑠) 𝑠×
𝑒step (∞) = lim = lim 𝑠
𝑠→0 1 + 𝐺(𝑠) 𝑠→0 1 + 𝐺(𝑠)

5 5
𝑒step (∞) = =
1 + lim 𝐺(𝑠) 120(𝑠 + 2)
𝑠→0 1 + lim ( )
𝑠→0 (𝑠 + 3)(𝑠 + 4)

5 5 5
𝑒step (∞) = = = = 0.238
120 × 2 120 × 2 21
1+ 1+
3×4 3×4
For Ramp Input:
5 5
𝑠𝑅(𝑠) 𝑠× 2
𝑒ramp (∞) = lim = lim 𝑠 = lim 𝑠
𝑠→0 1 + 𝐺(𝑠) 𝑠→0 1 + 𝐺(𝑠) 𝑠→0 1 + 𝐺(𝑠)

5 5 5
𝑒ramp (∞) = = =
lim 𝑠 + lim 𝐺(𝑠) lim 𝑠𝐺(𝑠) 120(𝑠 + 2)
𝑠→0 𝑠→0 𝑠→0 lim 𝑠 ( )
𝑠→0 (𝑠 + 3)(𝑠 + 4)
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𝑒ramp (∞) = =
0
For Parabolic Input:

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 10 10
𝑠𝑅(𝑠) 𝑠× 3
𝑒parabolic (∞) = lim = lim 𝑠 = lim 𝑠2
𝑠→0 1 + 𝐺(𝑠) 𝑠→0 1 + 𝐺(𝑠) 𝑠→0 1 + 𝐺(𝑠)

10 10 10
𝑒parabolic (∞) = = =
lim 𝑠 2 + lim𝑠 2 𝐺(𝑠) lim 𝑠 2 𝐺(𝑠) 120(𝑠 + 2)
𝑠→0 𝑠→0 𝑠→0 lim 𝑠 2 ( )
𝑠→0 (𝑠 + 3)(𝑠 + 4)
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𝑒parabolic (∞) = =
0

Example 3: Steady-State Errors for Systems with One Integration

Find the steady-state errors for inputs of 5𝑢(𝑡), 5𝑡𝑢(𝑡), and 5𝑡 2 𝑢(𝑡) to the system
shown in Figure 4. The function 𝑢(𝑡) is the unit step.

Figure 4

Solution:
5 5 5
𝑒step (∞) = = = =0
1 + lim𝑠→0 𝐺(𝑠) 100(𝑠 + 2)(𝑠 + 6) 1+∞
1 + lim ( )
𝑠→0 𝑠(𝑠 + 3)(𝑠 + 4)
5 5 5 1
𝑒ramp (∞) = = = =
lim𝑠→0 𝑠𝐺(𝑠) 100(𝑠 + 2)(𝑠 + 6) 100 × 2 × 6 20
lim (𝑠 ) 3×4
𝑠→0 𝑠(𝑠 + 3)(𝑠 + 4)
10 10 10
𝑒para (∞) = = = =∞
lim𝑠→0 𝑠 2 𝐺(𝑠) 2 100(𝑠 + 2)(𝑠 + 6) 0
lim (𝑠 )
𝑠→0 𝑠(𝑠 + 3)(𝑠 + 4)

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Static Error Constants

Position Constant: 𝐾𝑝 = lim 𝐺(𝑠)

𝑠→0

Velocity Constant: 𝐾𝑣 = lim 𝑠𝐺(𝑠)

𝑠→0

Acceleration Constant: 𝐾𝑎 = lim 𝑠 2 𝐺(𝑠)

𝑠→0

Now steady state errors can be defined in terms of static error constants;
1
𝑒step (∞) =
1 + 𝐾𝑝
1
𝑒ramp (∞) =
𝐾𝑣
1
𝑒para (∞) =
𝐾𝑎

Example 4
For each system of Figure 5, evaluate the static error constants and find the expected
error for the standard step, ramp, and parabolic inputs.

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 Figure 5

Solution:
For System of Figure 5a:
500 × 2 × 5
𝐾𝑝 = lim𝑠→0 𝐺(𝑠) = = 5.208
8 × 10 × 12
𝐾𝑣 = lim𝑠→0 𝑠𝐺(𝑠) = 0
𝐾𝑎 = lim𝑠→0 𝑠 2 𝐺(𝑠) = 0
1 1
𝑒step (∞) = =
1 + 𝐾𝑝 1 + 5.208
1 1
𝑒ramp (∞) = = =∞
𝐾𝑣 0
1 1
𝑒para (∞) = = =∞
𝐾𝑎 0

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For System of Figure 5b:
𝐾𝑝 = lim𝑠→0 𝐺(𝑠) = ∞
500 × 2 × 5 × 6
𝐾𝑣 = lim𝑠→0 𝑠𝐺(𝑠) = = 31.25
8 × 10 × 12
𝐾𝑎 = lim𝑠→0 𝑠 2 𝐺(𝑠) = 0
1 1
𝑒step (∞) = = =0
1 + 𝐾𝑝 1 + ∞
1 1
𝑒ramp (∞) = = = 0.032
𝐾𝑣 31.25
1 1
𝑒para (∞) = = =∞
𝐾𝑎 0
For System of Figure 5c:
𝐾𝑝 = lim𝑠→0 𝐺(𝑠) = ∞
𝐾𝑣 = lim𝑠→0 𝑠𝐺(𝑠) = ∞
500 × 2 × 4 × 5 × 6 × 7
𝐾𝑎 = lim𝑠→0 𝑠 2 𝐺(𝑠) = = 875
8 × 10 × 12
1 1
𝑒step (∞) = = =0
1 + 𝐾𝑝 1 + ∞
1 1
𝑒ramp (∞) = = =0
𝐾𝑣 ∞
1 1
𝑒para (∞) = = = 1.14 × 10−3
𝐾𝑎 875

System Type

Number of integrators in forward path represent the type of the system (or poles at
origin).

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 Figure 6: Feedback control system for defining system type

Example 5
A unity feedback system has the following forward transfer function:
1000(𝑠 + 8)
𝐺(𝑠) =
(𝑠 + 7)(𝑠 + 9)

a. Evaluate system type, 𝐾𝑝 , 𝐾𝑣 , and 𝐾𝑎 .

b. Use your answers to a. to find the steady-state errors for the standard step,
ramp, and parabolic inputs.

Solution:

Part (a)
As there is no integrator in 𝐺(𝑠), so given system is of type-0.
1000(𝑠 + 8) 1000(8) 8000
𝐾𝑝 = lim𝑠→0 𝐺(𝑠) = lim = = = 127
𝑠→0 (𝑠 + 7)(𝑠 + 9) (7)(9) 63
𝐾𝑣 = lim 𝑠𝐺(𝑠) = 0 (since there’s no pole at origin)
𝑠→0

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𝐾𝑎 = lim 𝑠 2 𝐺(𝑠) = 0
𝑠→0
Part (b)
1 1 1
𝑒step (∞) = = = = 7.8 × 10−3
1 + 𝐾𝑝 1 + 127 128
1
𝑒ramp (∞) = =∞
𝐾𝑣
1
𝑒parabolic (∞) = =∞
𝐾𝑎

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