BRAC UNIVERSITY

EEE 306 – Control System Laboratory

Experiment No. 02
Analysis of Effect of Input Waveform, Loop Gain, and System Type upon
Steady-State Errors

Objectives:
 To verify the effect of input waveform, loop gain, and system type upon steady-state
errors

Software requirements:
MATLAB

Theory:
The difference between the input and output of a control system as the time tends to infinity,
i.e. the system has reached a steady state is called the steady state error. The steady-state error
depends on the type of input (step, ramp, parabolic etc.) and the type of system (0, I or II).

System Type:
The system type depends on the open loop transfer function (G(s)). The number of pure
integrations in the forward path of a system is called the type of a system. Let us consider the
following systems:
1
𝐺(𝑠) = 𝑠2 +2𝑠+5 is a type-0 system.
1
𝐺(𝑠) = 𝑠(𝑠2 +2𝑠+5) is a type-I system.

1
𝐺(𝑠) = 𝑠2 (𝑠2 +2𝑠+5) is a type-II system.

Steady State Error:

Consider the following block diagram:

Here: 𝐸(𝑠) = 𝑅(𝑠) − 𝐶(𝑠)

⇒ 𝐸(𝑠) = 𝑅(𝑠) − 𝐸(𝑠). 𝐺(𝑠)

Prepared by: Abir Ahsan Akib

⇒ 𝐸(𝑠){1 + 𝐺(𝑠)} = 𝑅(𝑠)
𝑅(𝑠)
⇒ 𝐸(𝑠) =
1 + 𝐺(𝑠)
𝑠. 𝑅(𝑠)
⇒ 𝑒(∞) = lim
𝑠→0 1 + 𝐺(𝑠)

1
Now if the system is provided with unit step input, R(s)=
𝑠
1
𝑠. 𝑠 1 1 1
∴ 𝑒(∞) = lim = lim = =
𝑠→0 1 + 𝐺(𝑠) 𝑠→0 1 + 𝐺(𝑠) 1 + lim 𝐺(𝑠) 1 + 𝑘𝑝
𝑠→0

Here kp = Position Constant

1
Now if the system is provided with unit ramp input, R(s)=
𝑠2
1 1
𝑠. 𝑠 𝑠 1 1 1
∴ 𝑒(∞) = lim = lim 𝑠 = lim = =
𝑠→0 1 + 𝐺(𝑠) 𝑠→0 1 + 𝐺(𝑠) 𝑠→0 𝑠 + 𝑠. 𝐺(𝑠) lim 𝑠. 𝐺(𝑠) 𝑘𝑣
𝑠→0

Here kv = Velocity Constant

1
Now if the system is provided with parabolic input, R(s)=
𝑠3
1
𝑠. 1 1 1
∴ 𝑒(∞) = lim 𝑠 3 = lim = =
𝑠→0 1 + 𝐺(𝑠) 2 2
𝑠→0 𝑠 + 𝑠 . 𝐺(𝑠) 2
lim 𝑠 . 𝐺(𝑠) 𝑘𝑎
𝑠→0

Here ka = Acceleration Constant

kp, kv and ka are called static error constants.

Relationships between input, system type, static error constants, and steady-state
errors:

Input Steady Type 0 Type I Type II

State Static Error Static Error Static Error
Error Error Error Error
Formula Constant Constant Constant
Step, u(t) 1 kp=Constant 1 kp=∞ 0 kp=∞ 0
1 + 𝑘𝑝 1 + 𝑘𝑝
Ramp, 1 kv=0 ∞ kv= 1 kv=∞ 0
tu(t) 𝑘𝑣 Constant 𝑘𝑣
Parabola, 1 ka=0 ∞ ka=0 ∞ ka= 1
𝟏2 Constant
t u(t) 𝑘𝑎 𝑘𝑎
𝟐

Prepared by: Abir Ahsan Akib

MATLAB Interpretation:

clc;
clear all;
close all;
s=tf('s');
G0=(100*(s+3)*(s+5))/((s+7)*(s+8)); %Type 0 System
G1=(100*(s+3)*(s+5))/(s*(s+7)*(s+8)); %Type I System
G2=(100*(s+3)*(s+5))/(s*s*(s+7)*(s+8)); %Type II System
ts0 = feedback(G0,1);
ts1 = feedback(G1,1);
ts2 = feedback(G2,1);
t = 0:0.1:10;
R0=(t>=0); %Unit Step
R1=t; %Unit Ramp
R2=0.5.*t.*t; %Parabola
[y0,t,x0] = lsim(ts0,R0,t); %Response of Type 0 system to Step input
e0=R0'-y0; %Error of Type 0 system to Step input
[y1,t,x1] = lsim(ts1,R0,t); %Response of Type I system to Step input
e1=R0'-y1; %Error of Type I system to Step input
[y2,t,x2] = lsim(ts2,R0,t); %Response of Type II system to Step input
e2=R0'-y2; %Error of Type II system to Step input
figure;
subplot(311),plot(t,y0,'r',t,R0,'b', t,e0 ,'k'),xlabel('Time
(sec)'),ylabel('Amplitude'),ylim([0,1.5])
subplot(312),plot(t,y1,'r',t,R0,'b', t,e1 ,'k'),xlabel('Time
(sec)'),ylabel('Amplitude'),ylim([0,1.5])
subplot(313),plot(t,y2,'r',t,R0,'b', t,e2 ,'k'),xlabel('Time
(sec)'),ylabel('Amplitude'),ylim([0,1.5])

[yy0,t,xx0] = lsim(ts0,R1,t); %Response of Type 0 system to Ramp input

ee0=R1'-yy0; %Error of Type 0 system to Ramp input
[yy1,t,xx1] = lsim(ts1,R1,t); %Response of Type I system to Ramp input
ee1=R1'-yy1; %Error of Type I system to Ramp input
[yy2,t,xx2] = lsim(ts2,R1,t); %Response of Type II system to Ramp input
ee2=R1'-yy2; %Error of Type II system to Ramp input
figure;
subplot(311),plot(t,yy0,'r',t,R1,'b', t,ee0 ,'k'),xlabel('Time (sec)'),ylabel('Amplitude')
subplot(312),plot(t,yy1,'r',t,R1,'b', t,ee1 ,'k'),xlabel('Time (sec)'),ylabel('Amplitude')
subplot(313),plot(t,yy2,'r',t,R1,'b', t,ee2 ,'k'),xlabel('Time (sec)'),ylabel('Amplitude')

[yyy0,t,xxx0] = lsim(ts0,R2,t); %Response of Type 0 system to Parabolic input

eee0=R2'-yyy0; %Error of Type 0 system to Parabolic input
[yyy1,t,xxx1] = lsim(ts1,R2,t); %Response of Type I system to Parabolic input
eee1=R2'-yyy1; %Error of Type I system to Parabolic input
[yyy2,t,xxx2] = lsim(ts2,R2,t); %Response of Type II system to Parabolic input
eee2=R2'-yyy2; %Error of Type II system to Parabolic input
figure;
subplot(311), plot(t,yyy0,'r',t,R2,'b', t,eee0 ,'k'),xlabel('Time (sec)'),ylabel('Amplitude')
subplot(312),plot(t,yyy1,'r',t,R2,'b', t,eee1 ,'k'),xlabel('Time (sec)'),ylabel('Amplitude')
subplot(313), plot(t,yyy2,'r',t,R2,'b', t,eee2 ,'k'),xlabel('Time (sec)'),ylabel('Amplitude')

Prepared by: Abir Ahsan Akib

Prepared by: Abir Ahsan Akib
Homework:
Observe the following unity negative feedback system:

1. What is the type of the system? Comment by analyzing the error corresponding to step,
ramp and parabolic input.
2. Show the step response of the system and find the step information of the system. Show
the same for the other two types. Find the steady state error in each cases.
3. Show the ramp response of the system. Show the same for the other two types. Find the
steady state error in each cases.
4. Show the parabolic response of the system. Show the same for the other two types. Find
the steady state error in each cases.
5. What are the theoretical values of errors in each case? Do the steady state error in each
case match the theoretical value?

Prepared by: Abir Ahsan Akib