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Steady State Errors
Steady State Errors
Lecture 1
Steady State Errors
Here
C(s) = R(s)T (s)
and therefore
E(s) = R(s) − R(s)T (s) = R(s)(1 − T (s))
As a result, the steady state error
1 s2 + 7s + 5
E(s) = 2 (1 − T (s)) = 2 2
s s (s + 7s + 10)
and the steady state error
s2 + 7s + 5
e(∞) = lim sE(s) = lim =∞
s→0 s→0 s(s2 + 7s + 10)
Steady State Errors ELEC304-Alper Erdogan 1–4
• Note that
E(s) = R(s) − C(s)
and
C(s) = E(s)G(s)
which yield
R(s)
E(s) =
1 + G(s)
Therefore the steady state error
sR(s)
e(∞) = lim sE(s) = lim
s→0 s→0 1 + G(s)
1
• For a step input R(s) = s
s 1s 1
e(∞) = lim =
s→0 1 + G(s) 1 + lims→0 G(s)
Steady State Errors ELEC304-Alper Erdogan 1–5
Examples
s 5s 5 5 5
e(∞) = lim = = =
s→0 1 + G(s) 1 + lims→0 G(s) 1 + 20 21
5
• The steady state error for r(t) = 5tu(t) (R(s) = s2
)
s s52 5
e(∞) = lim = =∞
s→0 1 + G(s) lims→0 sG(s)
Steady State Errors ELEC304-Alper Erdogan 1–8
Examples
s 5s 5 5
e(∞) = lim = = =0
s→0 1 + G(s) 1 + lims→0 G(s) ∞
5
• The steady state error for r(t) = 5tu(t) (R(s) = s2
)
s s52 5 5 1
e(∞) = lim = = =
s→0 1 + G(s) lims→0 sG(s) 100 20
10
• The steady state error for r(t) = 5t2u(t) (R(s) = s3
)
s 10
s3
10 10
e(∞) = lim = 2
= =∞
s→0 1 + G(s) lims→0 s G(s) 0
Steady State Errors ELEC304-Alper Erdogan 1–9
• Position constant
Kp = lim G(s) (1)
s→0
1
Steady state error for unit step input is e(∞) = 1+Kp .
• Velocity constant
Kv = lim sG(s) (2)
s→0
1
Steady state error for a ramp input is e(∞) = KV .
• Acceleration constant
Ka = lim s2G(s) (3)
s→0
1
Steady state error for a parabolic input is e(∞) = Ka .
Steady State Errors ELEC304-Alper Erdogan 1 – 12
Example