Steady-

Steady-State Error
446-
446-16

Prof. Neil A. Duffie

University of Wisconsin-
Wisconsin-Madison

16
® Neil A. Duffie, 1996
All rights reserved 1

Importance of Steady-
Steady-State Error
• Steady-
Steady-state conditions (no transients)
• Regulating control systems:
- deviation from set point (command)
- small error ∅ more accurate regulation
• Servo control systems:
- error after transition to new command
- error in following ramping commands
• System “type”:
- indicates if s.s. error will be zero, finite,… 2
16

Error in Unity Feedback Systems

R(s) + E(s) M(s) C(s)
Gc(s) Gp(s)
-

G(s) = Gc (s)Gp (s)

1
E(s) = R(s)
1+ G(s)
Given R(s) :
1
e ss = lim s R(s)
16
s→0 1+ G(s) 3
 Error in Nonunity Feedback Systems
R(s) + C(s)
G(s)
-

H(s)

DC feedback gain: K H = lim H(s)

s→ 0

R(s) + C(s)
KH G(s)
-
Scale input to
H(s)
16 units of output 4

Error in Nonunity Feedback Systems

R(s) + C(s)
KH G(s)
-

E(s) = R(s) - C(s) H(s)

⎛ G(s) ⎞
e ss = lim s ⎜ 1 − K H ⎟ R(s)
s→ 0 ⎝ 1 + G(s)H(s)⎠
⎛ G(s)K H ⎞
e ss = lim s ⎜ 1 − ⎟ R(s)
s→ 0 ⎝ 1 + G(s)K H ⎠
⎛ 1 ⎞
e ss = lim s ⎜ ⎟ R(s)
s→ 0 ⎝ 1 + G(s)K H ⎠
16 5

System Type Number

N(s) N(s)
G(s)H(s) = =
D(s) sN (s + a 1)(s + a 2 )…

• The type number of a system refers to

the order of the pole of G(s)H(s) at s=0.
• In other words, the type number is the
power N on (S+0)N = sN in the
denominator of G(s)H(s).

16 6
 Type 0 System: Unit Step Response
R(s) + Kp C(s)
Kc
- τps + 1

1
e ss = lim s R(s)
s→ 0 1+ G(s)
1 ⎛ 1⎞
e ss = lim s ⎜ ⎟
s→0 Kp ⎝ s⎠
1+ K c
τp s + 1
Finite
τ ps + 1 1 s.s error
e ss = lim =
s→0 τ p s + 1+ K c K p 1+ K cK p 7
16

Type 0 System: Unit Ramp Response

R(s) + Kp C(s)
Kc
- τps + 1

1
e ss = lim s R(s)
s→ 0 1+ G(s)
1 ⎛ 1⎞
e ss = lim s ⎜ 2⎟
s→0 Kp ⎝s ⎠
1+ K c Limit does
τp s + 1
not exist.
⎛ τ ps + 1 ⎞ ⎛ 1⎞
e ss = lim ⎜⎜ ⎟ ⎜ ⎟ Error becomes
s→0⎝ τ p s + 1+ K cK p ⎟
⎠ ⎝ s⎠ infinite!
16 8

Type 1 System: Unit Step Response

R(s) + Kc Kp C(s)
- s τps + 1

1
e ss = lim s R(s)
s→ 0 1+ G(s)
1 ⎛ 1⎞
e ss = lim s ⎜ ⎟
s→0 Kc Kp ⎝ s⎠
1+
s τp s + 1
s(τ p s + 1) Zero
e ss = lim =0
s→0 s(τ p s + 1) + K c K p s.s. error
16 9
 Type 1 System: Unit Ramp Response
R(s) + Kc Kp C(s)
- s τps + 1

1
e ss = lim s R(s)
s→ 0 1+ G(s)
1 ⎛ 1⎞
e ss = lim s ⎜ 2⎟
s→0 Kc Kp ⎝s ⎠
1+
s τp s + 1 Finite
s.s. error
τ ps + 1 1
e ss = lim =
s→0 s(τ p s 2 + 1) + K cK p K cK p
16 10

Steady-
Steady-State Error vs Type Number
System Step Ramp Parabola
Type Input Input Input

0 Finite ∞ ∞

1 0 Finite ∞

2 0 0 Finite

3 0 0 0

16 11

DC Motor-
Motor-Amplifier System
Table
Position
c(t)

v(t)

f(t)

16 12
 Motor Position Control System
Motor-
Motor-amplifier model:
dc(t)
≈ K m c(t)
dt

Proportional position control:

R(s) + V(s) K m C(s)

Kc
- s
F(s)
Ks
16 Sensor 13

Change Input Scaling

R(s) + F(s) K m C(s)
Ks Kc
- s
F(s)
Ks

Equivalent unity feedback system:

R(s) + E(s) K m C(s)

Ks Kc
- s

16 14

Motor Position: Unit Step Response

1
0.9
0.8
0.7
c(t) 0.6
0.5
0.4
0.3 1
τ=
0.2 K sK cK m
0.1
00 1 2 3 4 5 6 7 8
τ 4τ 5τ t/τ
t/τ
c(0-) =0
16 15
 Motor Position: Unit Ramp Response
8

7 1
τ=
6 K sK cK m
c(t)/τ
c(t)/τ 5

3
constant
2
s.s. error
1

00 1 2 3 4 5 6 7 8
τ 4τ 5τ t/τ
t/τ
c(0-) =0
16 16

Proportional Motor Control: Step Input

R(s) + E(s) K m C(s)

Ks Kc
- s
Type 1

1 ⎛ 1⎞
e ss = lim s ⎜ ⎟
s→0 K m ⎝ s⎠
1 + K sK c
s
s Zero
e ss = lim =0
s→0 s + K s K cK m s.s. error!
16 17

Proportional Motor Control: Ramp Input

R(s) + E(s) K m C(s)

Ks Kc
- s
Type 1

1 ⎛ 1⎞
e ss = lim s
K ⎝ 2 ⎟⎠
⎜
s→0
1 + K sK c m s
s Not zero!
1 1
e ss = lim = Increase
s→0 s + K sK cK m K sK cK m type #?
16 18
 Integral Motor Control System?

R(s) + E(s) Kc Km C(s)

Ks
- s s
Type 2
Ramp input:
1 ⎛ 1⎞
e ss = lim s
K K ⎝ 2 ⎟⎠
⎜
1+ K s c m s
s→0
s s
s Limit does not exist.
e ss = lim
s→0 s 2 + K sK cK m This is an oscillator!
16 19

Integral+Zero Motor Control System

R(s) + E(s) K c (τ c s + 1) Km C(s)

Ks
- s s
Type 2
Ramp input:
1 ⎛ 1⎞
e ss = lim s ⎜ 2⎟
s→0 K (τ s + 1) K m ⎝s ⎠
1+ Ks c c
s s
Zero!
s
e ss = lim 2 =0
s→0 s + K K K τ s + K K K
s c m c s c m
16 20