Steady-State Errors in Unity-

Feedback Control Systems

Chapter III
Transient-Response Analysis
Classification of Control Systems
Classification of Control Systems

Open-loop transfer function

K Ta s  1Tb s  1 Tm s  1

Gs   N
s T1s  1T2 s  1 Tp s  1

Type 0,1,2…., if N=0,1,2……

Classification of Control Systems

Open-loop transfer function

Gs   2
5 5
  type0
s  4s  3 s  1s  3

Gs  
1
 type1
s3s  1

Gs   2
5
 type2
s s  3
Steady-State Errors
The closed-loop transfer function is
C s  Gs 

Rs  1  Gs 
The transfer function between the error signal and input signal is

E s   Rs 
1
1  Gs 
Steady-State Errors

The steady-state error is

sRs 
ess  lim sEs   lim
s 0 s 0 1  G s 
Static Position Error Constant, Kp
The steady-state error of the system for a unit-step input is

ess  lim sEs   lim

s 1

s 0 s 0 1  G s  s

1
ess 
1  Gs  0
Static Position Error Constant, Kp
The static position error constant,Kp is define by
K p  lim G0  G0
s 0

The steady-state error is

1
ess 
1 K p
Static Position Error Constant, Kp
For a type 0 system
K Ta s  1Tb s  1
K p  lim Gs   lim K
s 0 s 0 T s  1T s  1
1 2

The steady-state error is

1
ess 
1 K
Static Position Error Constant, Kp
For a type 1 system
K Ta s  1Tb s  1
K p  lim Gs   lim 
s 0 s 0 s T s  1T s  1
1 2

The steady-state error is

1
ess  0
1 
Static Position Error Constant, Kp
For a type 2 system
K Ta s  1Tb s  1
K p  lim Gs   lim 2 
s 0 s 0 s T s  1T s  1
1 2

The steady-state error is

1
ess  0
1 
Static Position Error Constant, Kp

Type 0 system

Type 1 system

Type 2 system
Static Position Error Constant, Kp

G0 s  
2
s3
Static Position Error Constant, Kp

G0 s   2
2
s  3s
Static Velocity Error Constant, Kv
The steady-state error of the system for a unit-ramp input is

ess  lim sEs   lim

s 1
 2
s 0 s 0 1  G s  s

1
ess  lim
s 0 sGs 
Static Velocity Error Constant, Kv
The static velocity error constant,Kv is define by
K v  lim sGs 
s 0

The steady-state error is

1
ess 
Kv
Static Velocity Error Constant, Kv
For a type 0 system
sK Ta s  1Tb s  1
K v  lim sGs   lim 0
s 0 s 0 T1s  1T2 s  1

The steady-state error is

1
ess   
0
Static Velocity Error Constant, Kv
For a type 1 system
sK Ta s  1Tb s  1
K v  lim sGs   lim K
s 0 s 0 s T s  1T s  1
1 2

The steady-state error is

1 1
ess  
Kv K
Static Velocity Error Constant, Kv
For a type 2 system
sK Ta s  1Tb s  1
K v  lim sGs   lim 2 
s 0 s 0 s T s  1T s  1
1 2

The steady-state error is

1
ess   0

Static Acceleration Error Constant, Ka
The steady-state error of the system for a unit-parabolic input
 
(acceleration input) is  r t   , for t  0 
2
t
 2 

ess  lim sEs   lim

s 1
 3
s 0 s 0 1  G s  s

1
ess 
lim s 2Gs 
s 0
Static Acceleration Error Constant, Ka
The static acceleration error constant, Ka is define by
K a  lim s Gs 
2
s 0

The steady-state error is

1
ess 
Ka
Static Acceleration Error Constant, Ka
For a type 0 system
2
K Ta s  1Tb s  1
K a  lim s Gs   lim
s
2
0
s 0 s 0 T1s  1T2 s  1

The steady-state error is

1
ess   
0
Static Acceleration Error Constant, Ka
For a type 1 system
2
K Ta s  1Tb s  1
K a  lim s Gs   lim
s
2
0
s 0 s 0 sT1s  1T2 s  1

The steady-state error is

1
ess   
0
Static Acceleration Error Constant, Ka
For a type 2 system
2
K Ta s  1Tb s  1
K a  lim s Gs   lim 2
s
2
K
s 0 s 0 s T s  1T s  1
1 2

The steady-state error is

1 1
ess  
Ka K
Static Acceleration Error Constant, Ka
For a type 3 system
2
K Ta s  1Tb s  1
K a  lim s Gs   lim 3
s
2

s 0 s 0 s T s  1T s  1
1 2

The steady-state error is

1
ess   0

Steady-State Errors
Steady-State Errors
Non-unity feedback