Control Engineering Tutorial 7 Presentation

Control Engineering
Tutorial #7
Steady State Error
GUC Faculty of Engineering and Material Science

Department of Mechatronics
Control Engineering ENME 503
Dr. Ayman Ali El-Badawy
Steady State Error

The definition of the error signal is e(t )  r (t )  y(t ) or E ( s)  R( s)  Y ( s)
then by using the final value theorem, the steady state error is ess  lim s  0
sE ( s)
E  R Y
Y(t)
Where R is the reference input and Y is the system output
So to calculate the steady state error, you need to know the following:
1. Input type (step, ramp, …)

2. Is the system unity feedback or not

1
1. Input type

2. Is the system unity feedback or not
1. Unity feedback case
G G R( s)
E ( s)  R( s)  Y ( s)  R( s)  R( s )  [1  ]R ( s ) 
1 G 1 G 1 G
R(s)
E (s) 
1 G
Applying the final value theorem, we get
sR( s )
ess  lim sE ( s )  lim
s 0 s 0 1 G

2
And, for various inputs, the result of this limit is summarized in the following table
For unity feedback

systems, only !!
But how to determine the system type???

System type (for a unity feedback)

E
R + Y
G(s)
system type is obtained from the denominator of the open _
loop transfer function, G(s)

And it equals the degree of the free S in the
denominator
So, the system type can be defined to be the degree of the polynomial
for which steady state error is a non-zero finite constant.

3
2. General Case (Non-unity feedback)
G G 1  GH  G
E ( s)  R( s)  Y ( s)  R( s)  R( s)  [1  ]R ( s )  R( s)
1  GH 1  GH 1  GH
1  GH  G
E (s)  R( s)
1  GH
Applying the final value theorem, we get
ess  lim sE(s)

s 0
Important Note:
For the case of non-unity feedback, you can not use the summarized table
given in slide 5

Problem 1
• Determine the system type and error constant (Kp, Kv or Ka).
(a ) H ( s)  10 s  4
50
(b) H ( s )  2  4
s

4
Solution
As you can see, the system is unity feedback, hence we can use the table in
slide 5. But first we need to get the system type:
5
(a) H ( s)  10s  4, G ( s ) 
s3
Then the open loop transfer is GH  5(10 s  4)  50( s  0.4)
s3 s3
As you see, there is no free s in the denominator, hence the system is type 0.
And, by looking in the table of slide 5, you see that the system to have a
steady state error, the input has to be step input, in this case you can get the
error constant Kp. For other inputs, the system has infinite steady state error
And the error constant is
50( s  0.4) 20
K  lim G  lim 
s3
p s 0 s 0
3

Another Solution
s
e s. s  lim R( s )
s 0 1  GH
1
 for step input : R( s) 
s
s 1 1 1
e s. s  lim .  lim 
    20
10 s  4 10 s  4 1 
s 0 5 s s 0 5
1  1 
 s  3   s  3  3
20
Therefore the system of Type 0, and K p 
3

5
50 5
(b ) H ( s )   4, G ( s ) 
s2 s3
50 50  4 s 2
5(  4) 5( )
s 2
s2 20( s 2  12.5)
Then the open loop transfer is GH   
s3 s3 s 2 ( s  3)
As you see, the degree of the free s in the denominator is 2, hence the
system is type 2.
And by looking in the table of slide 5, you see that the system to have a
steady state error, the input have to be acceleration input, in this case you
can get the error constant Ka. For other inputs, the system has zero steady
state error
And the error constant is
20( s 2  12.5) 20( s 2  12.5) 250

K a  lim s 2GH  lim s 2  lim   83.3
s 0 s 0 s 2 ( s  3) s 0 ( s  3) 3

Another Solution
s
e s . s  lim R( s )
s 0 1  GH
1
 for step input : R( s ) 
s
s 1 1 1
e s . s  lim .   0
 5  50
s 0  s lim
s 0  5  50  1 
1   2  4  1   2  4 
 s  3  s   s  3  s 
Therefore the system is not of Type 0
1
 for ramp input : R( s ) 
s2
s 1 1 1
e s . s  lim   0
 s 2 lim
.
 5  50
s 0 s 0  5  50  0
1   2  4  s   4s 
 s  3  s   s  3  s 
Therefore the system is not of Type 1
1
 for acc. input : R( s ) 
s3
s 1 1 1 1
e s . s  lim   
 s 3 lim
.
 5  50
s 0
1   2  4 
s 0  5 
s 
2
 50  4 s
2
0
250
 250

 s  3  s   s 3 3 3
250
Therefore the system of Type 2, K a 
3

6

7
How to calculate the transfer function for a
feedback system with disturbance?
Problem: We have 2 inputs!
1. Reference input
2. Disturbance
W (s)
R(s)  Y (s)
 Gc  Gp


What to do???
 Assume disturbance input = 0
 Get T.F. for the reference input.
 Then assume reference input = 0
 Get T.F. for the disturbance.
 The general transfer function is sum of both transfer functions!! 
W (s)
R(s)  Y (s)
 Gc  Gp


8
For a feed back system with disturbance
W (s)
R(s)  Y (s)
 Gc  Gp

Here, the closed loop T.F. is
GcG p  Gp
Y ( s)  R( s )  W ( s)
1  GcG p 1  GcG p

Problem 2

9
Problem 3
Consider the system shown in the Figure below, which represents control
of the angle of a pendulum which has no damping.
R+ + +
1
D(s) Y
_ + _
s2

10

11

12

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Control Engineering

GUC Faculty of Engineering and Material Science

Steady State Error

Where R is the reference input and Y is the system output

1. Input type (step, ramp, …)

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

2. Is the system unity feedback or not

1. Unity feedback case

GUC Faculty of Engineering and Material Science

For unity feedback

But how to determine the system type???

GUC Faculty of Engineering and Material Science

System type (for a unity feedback)

loop transfer function, G(s)

GUC Faculty of Engineering and Material Science

ess  lim sE(s)

GUC Faculty of Engineering and Material Science

• Determine the system type and error constant (Kp, Kv or Ka).

GUC Faculty of Engineering and Material Science

And the error constant is

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

And the error constant is

20( s 2  12.5) 20( s 2  12.5) 250

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

Problem: We have 2 inputs!

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

Here, the closed loop T.F. is

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

GUC Faculty of Engineering and Material Science

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