Mu’tah University

Faculty of Engineering
Electrical Eng. Depart.
AUTOMATIC CONTROL
CHAPTER 5
THE PERFORMANCE OF FEEDBACK CONTROL
SYSTEMS
Dr. Khaled Alawasa
2nd Semester 2015 1
 CHAPTER OUTLINES
 Performance of Systems [Quantitative performance
indices]
 Study performance specifications of : first-order ,second-order
and higher order systems.
 Study the effects of a Third Pole and a Zero on the Second-Order
System Response.
 The s-Plane Root Location and the Transient Response
 The correlation between the system performance and the
location of the transfer function poles and zeros is discussed.
 The Steady-State Error of Feedback Control Systems

2
Review …. Chapter (2)
Mathematical Modelling

To study the behavior

of the system;
R(s) Transfer Y(s) effect of parameters,..

Function

3
 Review …. Chapter (4)
Comparison between Open loop and closed Loop.
 Open Loop Closed Loop
Controller Process Controller Process
R(s) Y(s) R(s) + Y(s)
Gc(s) G(s) Gc(s) G(s)
-
Feedback

H(s)

R(s) Gc (s)G(s) Y(s)

1 Gc (s)G(s)H(s)
In this chapter (5) :
Excellent disturbance rejection the performance of
 Minimize steady-state error T(s)(=Y(s)/R(s)) will be
…………. analyzed and studied. 4
 Introduction
 The ability to adjust the transient and steady-state
performance is a distinct advantage of feedback control
systems.
 Based on the desired performance of the control system,
the system(controller) parameters may be adjusted to
provide the desired response.
 Because control systems are inherently dynamic, their
performance is usually specified in terms of both the
transient response and the steady-state response.
 The transient response is the response that disappears with
time
 The steady-state response is the response that exists for a
long time following an input signal initiation (t∞ ; s=0).

5
 Introduction… continue
Design Specifications
• The design specifications for control systems
normally include several time response indices
for a specified input command, as well as a
desired steady-state accuracy.
• In any design, the specifications are often
revised to effect a compromise
• Therefore, specifications are seldom a rigid set
of requirements, but rather a first attempt at
listing a desired performance.

6
 Introduction … continue
• The effective compromise and adjustment of specifications are
graphically illustrated in Figure below.
• The parameter p may minimize the performance measure M2 if we
select p as a very small value.
• However, this results in large measure M1, an undesirable situation.
• If the performance measures are equally important, the crossover
point at Pmin provides the best compromise. This type of
compromise is normally encountered in control system Design Pmin

Examples:
Speed vs damping
Example: Effect of (R)
in the electrical circuits

7
 Introduction … continue
• The specifications, which are stated in terms
of the measures of performance, indicate the
quality of the system to the designer.
• In other words, the performance measures
help to answer the question,

How well does the system perform the task

for which it was designed?

8
 Time-domain
• The time-domain performance specifications are
important indices because control systems are
inherently time-domain systems.
• The system transient or time performance is the
response of prime interest for control systems.
• It is necessary to determine initially whether the
system is stable; we can achieve this goal by using
the techniques of ensuing chapters.
• If the system is stable, the response to a specific
input signal will provide several measures of the
performance.
9
 TEST INPUT SIGNALS
• However, because the actual input signal of the system
is usually unknown, a standard test input signal is
normally chosen.
• This approach is quite useful because there is a
reasonable correlation between the response of a
system to a standard test input and the system’s ability
to perform under normal operating conditions.
• Furthermore, using a standard input allows the
designer to compare several competing designs.
• Many control systems experience input signals that are
very similar to the standard test signals

10
 TEST INPUT SIGNALS
• The standard test input signals commonly
used are the step input, the ramp input, and
the parabolic input (A unit impulse function
also is used)

FIGURE 5.2
Test input signals:
(a) step, (b) ramp,
and (c) parabolic

Later… we will discuss the system

response when the input is sinusoidal
11
 Transfer Function-Polynomials
• The linear time-invariant transfer function model
represented by the block diagram can be expressed
as the ratio of two polynomials in the form

where the M zeros, zm, and the N poles, pn, are the roots of the numerator
polynomial, N(s), and the denominator polynomial, D(s), respectively.

12
 System Response (1)
• The output response of a
system is the sum of two
responses: the forced
response and the natural
response.
• Although many techniques,
such as solving a differential
equation or taking the
inverse Laplace transform,
enable us to evaluate this
output response, these
techniques are laborious and
time-consuming.

13
 System Response
• write the output, c(t), in general terms. Specify the forced
and natural parts of the solution.

By inspection, each system pole generates an

exponential as part of the natural response.

• Taking the inverse Laplace

transform, we get
The poles determine the nature of
the time response.
Poles of the input function determine
the form of the forced response, and
poles of the transfer function determine
the form of the natural response. 14
 S-Plane (Poles and Zeros)
• The complex frequency (s-plane) : plot of the
poles and zeros graphically portrays the
character of the natural transient response of
the system.
S    j

(s  3) y o
Y (s ) 
(s  1)(s  2)

A pole-zero diagram is a plot of poles and zeros in the s-plane , a rectangular

coordinate system with real and imaginary axes.
Zero is represented at O , and pole is represented at X
15
 Poles and Zeros
• A pole is a value of s that makes a function , P(s), infinite , the
pole makes the denominator of P(s) zero.
• Pole values are the system eigenvaule
• A zero of the function makes the numerator of P(s) zero
• Example: Find the poles and zeros for this function:
6( s  1)
P( s ) 
9( s  2)( s 2  s 2  2)
• The numerator is zero when s=-1 , so -1 is the zero of P(s)
• The denominator is zero when s=-2, s=1±j , so -2, 1+j, and 1-j
are the poles of P(s)
Plot them in the s-plane? 16
 Feedback Control Systems
Transfer Function Order

First-Order Second -Order nth -Order

Control System Control System Control System
k K n 2 K n 2
T(s)  T (s )  2 T (s ) 
(s  a ) s  2n s  n 2 s (s 2  2n s  n 2 )
17
 First-Order Control System Model (1)
• The standard transfer function model for a first-
order system is:
Drill exercise
Find time constant and
steady state gain ?

10
G( s) 
s3
The step response of a first-order
system to a step input of magnitude a) τ=1,K=10
b) τ =(1/3), K=10
M is : c) τ =(1/3), K=(10/3)
d) τ =1, K =(10/3)

For unit a step input; M=1 18

 First-Order Control System Model (2)
Effect of a real-axis pole upon transient response
K Ka
T(s )    a  ??
( s  1) (s  a )
a: is the system bandwidth [rad/sec. ]

• First order system has always a real pole.

• As the pole location getting closer to the
origin, system become slower
19
 Transient Response Specifications
• Transient response specifications of the first order system
a
T(s)   T(t)  1  e at
(s  a )
1. Time constant, τ :
 the time constant is the time it takes for the step response to
rise to 63% of its final value 1
2. Rise time, Tr : 
a
 Rise time is defined as the time for the waveform to go from 0.1
to 0.9 of its final value.
2.31 0.11 2.2
Tr   
3. Settling time, Ts : a a a
 Settling time is defined as the time for the response to reach,
and stay within, 2% of its final value. ( i.e., output is 98%)

4
Ts 
a 20
 Example–First order System
• Consider the following TF :
50
G (s ) 
(s  50)
• Find : Time constant, τ , Rise time, Tr ,Settling
time, Ts.

Answers will be discussed during the lecture.

21
 First-Order Control System Model (3)
K
T(s ) 
( s  1)

Effect of changing τ
Effect of changing K (gain) (time constant)
Step Response
Step Response
5
10
K=5
4
8
τ=2 sec.
3
6 τ=1 sec.
Amplitude

Amplitude
K=2
2
4 τ=0.1 sec
1
2
K=1
0
0 0.01 0.02 0.03 0.04 0.05 0.06 0
0 2 4 6 8 10 12
Time (sec) Time (sec)

22
 First-Order Control System Model (4)
• For systems with time delay (dead time or
transport lag) θ, the transfer function is

• The step response for t ≥ θ to a step of

magnitude M is

Where u(t) is the unit step function.

23
 First-Order Control System Model (5)
• For systems with time delay (dead time or transport lag) θ,
the transfer function is

• The step response for t ≥ θ to a step of magnitude M is

Step Response
0.15

0.1

Amplitude
system (unit) step-response with 0.05

time delay ( 0.5 sec.)

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4
Time (sec) 24
 Performance of Second-order System
(1)
• Let us consider a single-loop second-order system and
determine its response to a unit step input. A closed-loop
feedback control system is shown in Figure 5.4. The closed-
loop system is :

FIGURE 5.4
Second-order
closed-loop control
25
system
 Performance of Second-order System
(2)
• Standard format for second-order transfer
function is :

Kn
2
Y ( s)
OR  2
R( s) s  2n s  n 2
K = Gain
ωn = Natural frequency of Oscillation
ζ = Damping Factor/ ratio (zeta)

The natural frequency of a second-order system is the frequency of

oscillation of the system without damping.
26
 Performance of Second-order System
(3)

•Rewrite Equation yields:

•With a unit step input, we obtain

•For which the transient output, as

obtained from the Laplace transform

27
 Performance of Second-order System
(4)

•The output consists of two components: exponential and sine forms.

•Exponential function represents an envelop of the system.
y(t)

Exponential decay generated the real part of

complex pole pair

Sinusoidal oscillation generated by

imaginary part of complex pole pair
28
 Performance of Second-order System
– Pole Mapping (Location) and System Response

• Model of 2nd-order system

Y ( s) n 2
T ( s)   2
R( s) s  2n s  n 2

• Roots of characteristic equation (Poles)

s1,2  n  n 1   2

The POLES location/type depends on ζ

 Performance of 2nd -order System (5)
1. Overdamped responses (ζ>1);
 Poles: Two real at σ1 and σ2
 Natural response: Two exponentials with time constants
equal to the reciprocal of the pole locations, or
y (t)  K 1e 1t  K 2e 1t
2. Underdamped responses ( 0< ζ<1); :
 Poles: Two complex at (-σ±ωd)
 Natural response: Damped sinusoid with an exponential envelope
whose time constant is equal to the reciprocal of the pole's real part.
The radian frequency of the sinusoid, the damped frequency of
oscillation, is equal to the imaginary part of the poles, or

y (t)  Ae t sin(d t   ) 30

 Performance of 2nd -order System (5)
3. Udamped responses (ζ=0);
 Poles: Two imaginary at ±ωd
 Natural response: Undamped sinusoid with radian
frequency equal to the imaginary part of the poles, or
y (t)  A sin(d t   )

4. Critically damped responses (ζ=1); :

 Poles: Two real at (-σ)
 Natural response: One term is an exponential whose
time constant is equal to the reciprocal of the pole
location. Another term is the product of time, t, and an
exponential with time constant equal to the reciprocal of
y (t)  K e 1t  K te 1t
the pole location, or
1 2
31
Performance of Second-order System
(5)
• If the damping ratio ζ is less than unity, the system is said to be
underdamped ( 0< ζ<1);
• if ζ is equal to unity(ζ=1), it is said to be critically damped;
• and if ζ is greater than unity (ζ>1), the system is said to be
overdamped.
• If damping ratio ζ =0 it is said to be undamped;

32
 2nd -order System- Exercise
• For the given transfer function find the
natural frequency and damping ratio
36 n 2
G (s )  2 G (s )  2
s  2n s  n 2
s  4.2s  36

 n  6,   0.35 under damp response

Plot the response..!!

33
 Question
• How to measure the frequency, ωn, of a second
order system and the damping ratio ?
Step Response
1.4

1.2

1
System: G System: G
Time (sec): 0.345 Time (sec): 1.46
0.8
Amplitude

Amplitude: 1 Amplitude: 1

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3
Time (sec)

1 1 2
n  2 f  2  2   5.63 rad / sec
T (1.46  0.345) 1.1150 34
 Performance of Second-order System (1)
– Pole Mapping (Location)

• Model of 2nd-order system

Y ( s) n 2
T ( s)   2
R( s) s  2n s  n 2

• Roots of characteristic equation (Poles)

s1,2  n  j n   1    j d
2

The response depends on and n

 Performance of Second-order System (2)
– Pole Mapping (Location)
Y ( s) 2
T ( s)   2
R( s) s  2 s   2 s1, 2  n  jn 1   2    jd

with   0.707    45o

36
 Performance of Second-order System
Exercise
1 2 2

Exercise: Find the transient response for each system

A B C

37
Performance of Second-order System (6)
- Impulse Response.
• The Laplace transform of the unit impulse is
R(s)=1 and therefore the output for an impulse
is:

If ζ =0  system response become pure sinusoidal

If ωn =0  system response become pure exponential . 38
 Underdamped Second-Order Systems
- Step Response
Standard performance measures are usually defined in terms
of the step response of a system as shown in Figure 5.7
3
Four indices

FIGURE 5.7
Step response of a 4
control system 1 2
(Equation 5.9). 39
Underdamped Second-Order Systems
- Step Response
• 1. Rise time, Tr. The time required for the waveform to
go from 0.1 of the final value to 0.9 of the final value.
• 2. Peak time, Tp. The time required to reach the first,
or maximum, peak.
• 3. Percent overshoot, %OS. The amount that the
waveform overshoots the steady state, or final, value at
the peak time, expressed as a percentage of the
steady-state value.
• 4. Settling time, Ts. The time required for the
transient's damped oscillations to reach and stay within
±2% of the steady-state value.
• 5. Delay time, Td. The time required for the waveform
to reach to the 50% of the final value.
40
 Performance of Second-order System (8)
- Step Response.
• The swiftness of the response is measured by :
1. The rise time Tr
2. The peak time Tp

Tr Rise time : 0% – 100% normally used for underdamped systems

10% – 90% normally used for overdamped systems

Tp Peak time: Time to reach the first peak in an underdamped response

If the system is overdamped, then the peak time is not defined. 41
Performance of Second-order System (9)
- Step Response.
• The similarity with which the actual response
matches the step input is measured by :
1. The percent overshoot (% P.O) and
2. The settling time (Ts).
• The percent overshoot is defined a for a unit step
input:
where (Mpt) is the peak value of the time response, and is the
(fv)final value of the response.
Normally, fv is the magnitude of the input, but many systems
have a final value significantly different from the desired input
magnitude. For the system with a unit step represented by 42
previously we have (fv=1).
 Second-order System (10)
- Step Response. Exercise
From the given step response below of
a second order system find The percent
overshoot (% P.O).
Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0 43
0 1 2 3 4 5 6
Performance of Second-order System (11)
- The settling time
• The settling time, Ts, is defined as the time
required for the system to settle with in a
certain percentage δ of the input amplitude.
• we seek to determine the time for which the
response remains within 2% of the final value
• For the second-order system with closed-loop
damping constant ζωn and a response
described by Equation

44
 Performance of Second-order System (12)
- The settling time This is the key
for settling time.

• Settling time can be mathematically calculated when

the exponential term become less than 2% . This occurs
approximately when :

• Hence, we will define the settling time as four time

constants (τ=(1/ωζ ) of the dominant roots of the
characteristic equation.

45
Performance of Second-order System (13)
- The Peak time
• To obtain an explicit relation for Mpt and Tp as a
function of ζ one can differentiate the output
equation (below) set it equal to zero.
dy(t )
0
dt

• Alternatively, one can utilize the differentiation

property of the Laplace transform, which may be
written as

46
Performance of Second-order System (14)
- The Peak time
• Thus, we find that the peak time relationship
for this second-order system is:
dy(t )
0
dt

• The peak response is:

= 1 + overshoot
•Therefore, the percent overshoot is

47
 Performance of Second-order System (15)
– Evaluating The Peak time

Y(s)

Y(s)

Taking the inverse Laplace transform, produces :

y(t)

48
Performance of Second-order System (16)
– Evaluating The Peak time
• Tp is found by differentiating y(t) and finding
the first zero crossing after t =0 . This task is
simplified by "differentiating" in the frequency
domain:

y(t)

49
 Performance of Second-order System (17)
– Evaluating The Peak time
• Assuming zero initial conditions and using , we get
 
 y (t )  sC (s)
 

 
 y (t ) 
 

Sin(x) become zero


y (t ) when x=pi, 2*pi,…

Setting the derivative equal to zero yields

50
The first peak, which occurs at the peak time,
Tp, is found by letting n = 1
 Performance of Second-order System (18)
– Evaluating Evaluation of %0S (P.O)
• The percent overshoot, %OS, is given by

The term cmax is found by evaluating c(t) at the peak time,

c(Tp).

For the unit step

51
Performance of Second-order System (19)
– Evaluating Evaluation of %0S (P.O)
• Notice that the percent overshoot is a
function only of the damping ratio, ζ.

52
 Performance of Second-order System (20)
- Evaluating the Rise time
• A precise analytical relationship between rise time and
damping ratio, ζ, cannot be found. However, we can utilize
the linear approximation :
• which is accurate for

53
Performance of Second-order System (21)
- Effect of ζ and ωn
FIGURE 5.10 FIGURE 5.11
The step response The step response
For ζ = 0.2 for ωn=1 For ωn=5 with ζ = 0.7
and ωn=10 and ζ = 1.

Note that the Low ζ fast response

overshoot is independent of ωn

Effect of  n Effect of  54
Performance of Second-order System (23)
Example -Solution
• comparing it with standard 2nd order T.F. :

100 n 2
G( s)  2  2
s  15 s  100 s  2n s  n 2

 n  10,    0.75  underdamped system

Answers :

Tr1= 0.23 sec. Tp= 0.475 sec. Ts= 0.533 sec. P.O= 2.838
55
 Second-order System
- Step Response. Exercise
From the given step response below of a second
order system find :
1. The rise time (Tr) Zeta=0.1
2. The peak time (Tp) wn=3
3. The percent overshoot (% P.O) G11=tf([ wn^2 ],[ 1 2*Zeta*wn^2 wn^2] )
step(G11)
4. The settling time (Ts).
5. Steady state error (ess) Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

56
0
0 1 2 3 4 5 6
 Second-order System
- Step Response. Exercise-Solution Step Response
1.4

System: G11
Peak amplitude: 1.37
1.2
Overshoot (%): 36.8 System: G11 System: G11
At time (sec): 1.05 Settling Time (sec): 3.74 Final Value: 1
1
System: G11
Rise Time (sec): 0.657
0.8
Amplitude

0.6

0.4

0.2

0
0 1 2 3 4 5 6

1. The rise time (Tr) = 0.657 sec. Time (sec) MATLAB has these features;
2. The peak time (Tp) =1.05 sec. as you have been show in the class.
3. The percent overshoot (% P.O)=36.8%
4. The settling time (Ts)=3.74 sec. 57
5. Steady state error (ess)=0
 … Try to exercise your hands
• Find ζ, ωn, Tp, %OS, Tr, and Ts from the
following transfer function:
361
G( s)  2
s  16 s  361

• Answer:   0.23
n  19
T r  0.079 sec
T p  0.59 sec
T s  1.92 sec
O .S %  23.3% 58
 Performance of Second-order System (25)
– Pole Mapping (Location)-Exercise
• Given the pole plot shown in Figure below,
find ζ, ωn, Tp, %OS, and Ts.
s1, 2  n  jn 1   2    jd
From the plot :
 n  3
 jn 1   2   j 7

  0.394
n  7.616
Tp  0.449 sec
Ts  1.333 sec
O.S %  26% 59
 Performance of Second-order System (26)
EXAMPLE 5.1 Parameter selection
• A single-loop feedback control system is shown in Figure below. We select
the gain K and the parameter p so that the time-domain specifications
will be satisfied.
• The transient response to a step should be as fast as is attainable while
1. retaining an over-shoot of less than 5%.
2. the settling time to within 2% of the final value should be less than 4
seconds.
3. The damping ratio, for an overshoot of 4.3%
4. Damping factor (ζ ) is 0.707.

60
 Performance of Second-order System (27)
EXAMPLE 5.1 Parameter selection -Solution
K n 2
G( s)  2  2
s  p s  K s  2n s  n 2
 K  n
2

 p  2n
4 1 1
Ts   4 sec.  n  1  n    2
n  0.707
 K  n  2
2

 p  2n  2
2
G( s)  2
s  2s  2
r12  1  j1 61
 The S-plane Root Location and The
Transient Response (1)
• The transient response of a closed-loop feedback control
system can be described in terms of the location of the
poles of the transfer function. The closed-loop transfer
function is written in general as

The output of a system (with gain=1 ) without repeated roots and a unit step
input can be formulated as a partial fraction expansion a

62
 The S-plane Root Location And The
Transient Response (2)

The roots of the

system must be either

Then the inverse trans form results in the transient

response as the sum of terms :

The transient response is composed of the steady-state

output, exponential terms, and damped sinusoidal terms. 63
 The S-plane Root Location And The
Transient Response (3)
Impulse response

FIGURE 5.17 Impulse response for various root locations in the s-plane.
64
(The conjugate root is not shown.)
 The S-plane Root Location and The
Transient Response (4)
Step response

65
System Response with Additional Poles (1)
(Third order system)
• We have analyzed systems with one or two
poles, such as G(s) 1
G( s)  2
s  s  1
• However; How this system, third order
system, can be analyzed? :

66
dominant roots
System Response with Additional Poles (2)
(Third order system)
• In the last section, we analyzed systems with one
or two poles.
• It must be emphasized that the formulas
describing percent overshoot, settling time, and
peak time were derived only for a system with
two complex poles and no zeros.
• If a system such as that has more than two poles
or has zeros, we cannot use the formulas to
calculate the performance specifications that we
derived.
67
System Response with Additional Poles (3)
• For example, for a third-order system with a
closed-loop transfer function

This is the key

68
System Response with Additional Poles (4)

• It was ascertained experimentally that the performance (as

indicated by the percent overshoot, P.O., and the settling
time, ),was adequately represented by the second-order
system curves when:

• In other words, the response of a third-order system can be

approximated by the dominant roots of the second-order
system as long as the real part of the dominant roots is less
than one tenth of the real part of the third root .
1
n 
10 69
 System Response with Additional
Poles
• Let us now look at the conditions that would
have to exist in order to approximate the
behavior of a three-pole system as that of a
two-pole system.

Third pole

70
 System Response with Additional
Poles
closer Second order
Far away

Compare case II with III

We can see that the closer the pole is to the

dominant poles, the greater its effect on the
transient response.
71
System Response with Additional
Poles

c2(t) getting closer to the c1(t)

72
 Performance of Second-order System
With ZERO
• We have analyzed systems with one or two
poles ( without zero) : G(s)  1
s  s  1
2

• However; How this system, second order

system with zero. can be analyzed? :

9
( s  a)
T ( s)  2a
s  2s 9
73
 System Response With Zeros
Step Response
1.6

9
1.4
( s  a)
T ( s)  2a
1.2
s  2s 9
1
Amplitude

0.8
zero at -3

0.6
zero at -5 We can see that the closer the zero is to the
dominant poles, the greater its effect on the
0.4
zero at - 10 transient response.
0.2 no zero

0
0 1 2 3 4 5 6 7
Time (sec)
74
 System Response With Zeros
pole-zero cancellation
• Use pole-zero cancellation to make second-order
approximations to a system.
K
T ( s)  2
s  as  b

• If the pole term, (s + p3), and the zero term, (s + z),

cancel out, we are left with as a second-order transfer
function.
• If p3=z, we will have a complete pole-zero cancellation,
however, also with small difference between, system can
be approximated by second-order transfer .

75
 System Response With Zeros at RHP
This system called : nonminimum-phase system
Step Response
1.6

1.4

1.2

0.8
Amplitude

0.6

0.4 zero at +5
9
0.2
zero at +10
( s  a)
0
no zero
a
T ( s)  2
-0.2
zero at +3
s  2s 9
-0.4
0 1 2 3 4 5 6 7
Time (sec)

76
 The Steady-State Error of Feedback
Control Systems
• One of the fundamental reasons for using
feedback, despite its cost and increased
complexity, is the attendant improvement
in the reduction of the steady-state error
of the system.
• It is useful to determine the steady-state
error of the system for the three standard
test inputs for the unity feedback system.
77
The Steady-State Error of Feedback
Control Systems

78
 Steady-State Error
Step Input [1]
• The steady-state error for a step input of
magnitude A is therefore:

• It is the form Gc(s)G(s) of the loop transfer

function that determines the steady- state
error.
79
 Steady-State Error
Step Input [2]
• The loop transfer function is written in general
form as

• Therefore, the loop transfer function as s

approaches zero depends on the number of
integrations, N.
80
 Steady-State Error
Step Input [3]
• If N is greater than zero, then approaches
infinity, and the steady-state error approaches
zero.
• The number of integrations is often indicated
by labeling a system with a type number that
simply is equal to N.

• The constant Gc(0)G(0) is denoted by the

position error constant, Kp and is given by
81
 Steady-State Error
System Type

1 1
Type 0 Gc ( s)G( s) 
( s  1)( s  3) s 0 ( s  1)( s  3)

Gc ( s)G( s) 
1 1
Type 1 s( s  1)( s  3) s ( s  1)( s  3)
1

1 1
Type 2 Gc ( s)G( s)  2
s ( s  1)( s  3) s 2 ( s  1)( s  3)

82
 Steady-State Error
Step Input [4]
• The steady-state tracking error for a step input
of magnitude A is thus given by

• Hence, the steady-state error for a unit step

input with one integration or more, N>1 is
always zero
83
 Steady-State Error
Ramp Input
• The steady-state error for a ramp (velocity) input
with a slope A is :

A
ess 
Kv
• where Kv is designated the velocity error
constant. The velocity error constant is
computed as
84
 Steady-State Error
Acceleration Input
• When the system input is r (t )  At 2 the 2

steady-state error is
A
ess 
Ka
where Ka is designated the acceleration error constant. The
acceleration error constant is

• The steady-state error is infinite for one integration

• When the number of integrations equals or exceeds three, then the
85
steady-state error of the system is zero.
 Summary of Steady-State Errors
Control systems are often described in terms of their type
number and the error constants, Kp, Kv, Ka and Definitions for
the error constants and the steady-state error for the three
inputs are summarized in Table 5.5.The usefulness of the error
constants can be illustrated by considering a simple example

86
 EXAMPLE 5.4 Steady-state error
• calculate the steady-state error for a unit step
input for the system shown in Figure below

K1=2

H(s)

 Use block diagram reduction to simplify it

Answer : ess  5.9%
87
 Steady-State Errors Exercise
• Determine an appropriate gain K so that the
steady-state error to a step input is minimized.

G( s) 1 G( s)
e()  lim sE ( s)  lim s(1  )  lim (1  )
s 0 s 0 1  G ( s) s s  0 1  G ( s)
 
T (s)

e()  (1  T (0))
88
 Sections :

5.7 Performance Indices

5.9 Design Examples
5.10 System Performance Using Control
Design Software/ Simulation using
MATLAB
Self-Reading, self-learning
89
 Selected problems Assignment
• E5.2,E5.4
• E5.6, E5.8, E5.10
• E5.13, E5.14
• E5.19, E5.20, E5.22
 Chapter Outcome
Upon completion of Chapter 5,students should:
1. Be aware of key test signals used in controls and of
the resulting transient response characteristics of
second-order systems to test signal inputs.
2. Recognize the direct relationship between the pole
locations of second-order systems and the transient
response.
3. Be familiar with the design formulas that relate the
second-order pole locations to: percent overshoot,
settling time, rise time, and time to peak.
4. Be aware of the impact of a zero and a third pole on
the second-order system response.
5. Steady-State Errors Analysis

91