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Lecture 8

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STEADY

STATE
ERROR
DR/ GHADA
Lecture 8
KAREEM
Steady state error – Introduction

Steady state error refers to the long-term behavior of a dynamic system.


●Physical control systems suffer from steady-state error in response to certain types of
inputs.
• The Type of a system is significant to predict the nature of this error.
• A system having no pole at the origin is referred as Type-0 system.
• Thus, Type-1, refers to one pole at the origin and so on
where the order of the system is no of poles
.
• It will be shown in this lecture that it is the type of a system which can directly it will be
shown in this lecture that, it is the type of a system which can directly determine whether
a particular command will be followed by a system or not.
• We will consider three common commands: namely, step, ramp and parabolic ramp
and find out the steady state response/error of a system to follow these commands.
• A closed loop control system shows remarkable performance in reducing the steady
state error of a system
• 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
System Type
• Consider the open-loop TF with a unity-feedback

It involves the term 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.
The degree of the input polynomial for which the steady state error is a finite,
non‐zero constant
Type 0: finite, non‐zero error to a step input
Type 1: finite, non‐zero error to a ramp input
Type 2: finite, non‐zero error to a parabolic input
For unity‐feedback systems, system type is determined by the number of
integrators in the forward path as examples

Type 0: no integrators in the open‐loop TF

Type 1: one integrator in the open‐loop TF

Type 2: two integrators in the open‐loop TF


when characterizing a control system’s error performance we focus on three main
inputs:
 Step
 Ramp
 Parabola
We will derive expressions for the steady‐state error due to each
Steady State Error of Unity Feedback Systems:
Consider the system shown in following figure
The closed-loop transfer function is

The transfer function between the error signal E(s) and the input signal R(s) is

The final-value theorem provides a convenient way to find the steady-state


performance of a stable system
The steady state error is

For 1-a step input


Steady‐state error to a step input is
2- for ramp input
3-for parabolic input

Steady‐state error to a parabolic input is


We’ve seen that the steady‐state error to each of the inputs considered is

The limit term in each expression is the static error constant associated with that
particular input:
Steady‐state error vs. input and system type
Non unity feed back system:

Add and subtract unity‐feedback paths:


Combine the two upper parallel feedback paths:

Collapsing the inner feedback form leaves a unity feedback system


Can now apply unity feedback error analysis techniques
Examples
1- What is the steady‐state error to a constant reference input ,r(t)=3
, for the following feedback positioning system

A type 0 system,Non‐zero error to a constant reference Position constant


ess=0.27
2- Determine controller gain, K, to provide a 2% steady‐state error to a
constant ,reference input

Solution:

The controller gain is k=24.5


Consider the System (with no integrator) in the following figure
Consider the System (with one integrator) in the following figure
find K such that there is a 10 percent error in steady state?

Solution: Since system type is 1 the finite steady


state error should be for a ramp input.

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