Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

EXPERIMENT 8 Date Perform: 28-07-2020

To Compute the Steady-State Error of transfer functions using MATLAB

Objective: To Compute the Steady-State Error of transfer functions using MATLAB

 To find the steady state error of transfer function using theoretical analysis
 To compute the steady state error of transfer function using MATLAB
Apparatus:
 Computer with installed MATLAB software
Theory:
Steady-state error is the difference between the input and the output for a prescribed test input as
t➙∞. Many steady-state errors in control systems arise from nonlinear sources, such as backlash
in gears or a motor that will not move unless the input voltage exceeds a threshold. Nonlinear
behavior as a source of steady-state errors, although a viable topic for study is beyond the scope
of a text on linear control systems. The steady state errors we study here are errors that arise
from the configuration of the system itself and the type of applied input.
Consider the figure where a closed loop system is shown and the error signal “E” given by the
difference of output and input signal. If the difference is zero then the system contain zero error
and if the system is provided by the gain then there will exist a finite error.

𝐸 = 𝑅(𝑠) − 𝐶(𝑠)
If we call the output at steady state then the steady state error will be given by
𝑐𝑠𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒 = 𝐾𝑒𝑠𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒
And
𝑐𝑠𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒
𝐾=
𝑒𝑠𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

This shows that by increasing the gain the steady state error reduces and output increases.
Consider the figure below where G(s) is a system given the error signal is given by

𝐸 = 𝑅(𝑠) − 𝐶(𝑠)
𝐶(𝑠) = 𝐸(𝑠)𝐺(𝑠)
Substituting it in above mentioned equation. We get the following error equation
𝑅(𝑠)
𝐸(𝑠) =
1 + 𝐺(𝑠)
By applying the final value theorem we can find the final value without using its inverse
transform.
So, 𝑒(∞) = lim 𝑒(𝑡) = lim 𝑠𝐸(𝑠)
𝑡→∞ 𝑠→0

Put the values and you will get the desired error for any input.\

In-Lab Exercise
1.1: Find the steady state error for the following given system as transfer function excited by step
input? Use MATLAB to evaluate it.
5
𝐺(𝑠) = 𝑠2 +7𝑠+10

Mathematically:
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

MATLAB Code:
clear all
clc

n = [5];
d = [1 7 10];
G = tf(n,d)

k = dcgain(G)

E = 1/(1+k)

Output:

1.2: For the given system G(s), find the steady state error for step input when 𝐺(𝑠) =
120(𝑠 + 2)
⁄(𝑠 + 3)(𝑠 + 4) .verify using MATLAB
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

Mathematically:

MATLAB Code:
clear all
clc

n = [120 240];
d = [1 7 12];

G = tf(n,d)

K = dcgain(G)

E = 1/(1+K)

Output:
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

1.3: Find the esteady state for 2 u(t), 5u(t) and 7u(t). verify using MATLAB
Mathematical:
Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

MATLAB Code:
clear all
clc

syms s

Expression = s*((2/s)/(1+(5/(s^2+7*s+10))));
pretty(Expression)
limit(Expression,s,0)

Expression = s*((5/s)/(1+(5/(s^2+7*s+10))));
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

pretty(Expression)
limit(Expression,s,0)

Expression = s*((7/s)/(1+(5/(s^2+7*s+10))));
pretty(Expression)
limit(Expression,s,0)
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

1.4: What happens to the steady state error when the system is excited by ramp and parabola
input? Give facts mathematically and verify using MATLAB. Give transfer function of q1.1.

Mathematical:

MATLAB Code:
clear all
clc

syms s
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

%For Ramp
Expression = s*(5/(s^2+7*s+10));
pretty(Expression)
A = limit(Expression,s,0)
E = 1/A

%For Parabolic
Expression = (s^2)*(5/(s^2+7*s+10));
pretty(Expression)
A = limit(Expression,s,0)
E = 1/A
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

CL0 Score→ Beginning

Exemplary (5) Proficient (4) Developing (3) Novice (1)
Statement↓ (2)

To comprehend
the theoretical
Correctly With minor Partially Poorly
basis for Doesn’t
1 answers all the mistakes answers answers the answers the
analyzing the answer
questions all the questions questions questions
given control
systems

To Follow the Correctly Correctly applies Applies Applies

given instructions applies MATLAB MATLAB MATLAB Can’t
2 to MATLAB commands with commands to commands complete
Build models of commands to little help to complete some with help to any task
physical systems complete all complete all tasks tasks complete
 Lab Manual of ‘FEEDBACK CONTROL SYSTEMS’

using MATLAB tasks some tasks

CLO Marks Obtained

Instructor’s Signatures: __________________________