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Computation of Steady State Error of Various Types Control Systems
Computation of Steady State Error of Various Types Control Systems
Computation of the steady state error values for control systems with; 1. Parabolic input 2. Ramp input
1. PARABOLIC INPUT At 2 x(t ) = 2 Considering the Parabolic input Its Laplace transform is Thus the steady state error is A s( 3) s = lim ess = lim s 0 1 + G s H( s 0 s ( ) ) s +
R( ) = s A s3
A 2 2 s G( s) H( s)
ess =
A lim s 2G( s) H( s)
s 0
G ( s ) H ( s) =
Where the zeros are a, b, and the poles are c, d, The steady state error becomes generally;
ess =
1. For a Type zero system with a parabolic input, the steady state error is;
ess =
Leading to
A ess = = 0
2. For a Type 1 system with a parabolic input, the steady state error is;
ess =
Giving
A ess = = 0
3. For a Type 2 system with a parabolic input, the steady state error is;
ess =
Giving
ess = A ab ... K cd ...
Ka = ab ... K cd ...
ess =
A Ka
4. For a Type 3 system with a parabolic input, the steady state error is;
ess =
Giving
2. RAMP INPUT
G ( s ) H ( s) =
The steady state error becomes;
ess =
1. For a Type 0 system with a ramp input, the steady state error is;
ess = A A = Ks ( s + a )( s + b)... Ks( s + a)( s + b)... lim 0 lim s 0 s ( s + c )( s + d )... s 0 ( s + c )( s + d )...
Giving
ess =
A = 0
2. For a Type 1 system with a ramp input, the steady state error is;
ess =
ess =
ess =
Kv =
ab... K cd ...
ess =
A Kv
3. For a Type 2 system with a ramp input, the steady state error is;
ess =
Giving
A A = Ks( s + a)( s + b)... K ( s +a)( s +b)... lim 2 lim s 0 s ( s + c)( s + d )... s s( s +c)( s + )... 0 d
A ess = =
4. For a Type 3 system with a ramp input, the steady state error is;
ess =
A ess = =