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Q.47 A control system has G ( s)  and H ( s)  K . What is the value of K for which the steady-state
s ( s  5)
error for unit-step input is less than 5%?
(A) 0.913 (B) 0.927 (C) 0.953 (D) 1.050
Ans. *
Sol. Given :
10
(i) G ( s)  and H ( s)  K
s ( s  5)
(ii) Unit step input, r (t )  u (t )
10
R( s) C (s)
s ( s + 5)

For non-unity feedback steady state error is given by,

 1 G(s) 
ess  lim sR( s )   
s 0
 K H 1  GH ( s ) 
Where, K H  H ( s ) s0  H (0)  K

 10 

1 1 s ( s  5) 
ess  lim s   

s 0 s K 10 K 
1
 s ( s  5) 
1 10  1 10
ess  lim   2   

s 0 K s  5s  10 K  K 10 K
1 1
ess   0
K K
Hence, steady state error is independent of K and equal to zero for all values of K.
Note : The steady state error for type 1 system is zero when it is excited by unit-step input. Hence there
is a mistake in the question.
Modified Question :
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A control system has G ( s )  and H ( s)  K . What is the value of K error for unit for which the
s ( s  2)
steady-state error for unit ramp input is less than 50 %.
For unit ramp input steady state error is given by,
1
ess 
KV
Where KV  lim sG ( s ) H ( s )
s 0

10 K
KV  lim s   2K
s 0 s ( s  5)
 1
ess 
2K
1 50

2 K 100
100
K
100
K 1
Hence, the correct option is (D).