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Control Lec 2
Control Lec 2
Steady State
Accuracy
References
http://imtiazhussainkalwar.weebly.com/control-
systems.html
Contents
• Introduction
• Standard test input signals
• Steady-State Error for Unity Feedback System
• Static Error Constants and System Type
• Steady-State Error for Non-Unity Feedback
Systems
Standard Test Signals
• The characteristics of actual input signals are a
sudden shock, a sudden change, a constant
velocity, and constant acceleration.
4
• An example of an Impulse Signal.
5
Step Signal
A t0
u( t ) t
0 t0 0
6
Ramp Signal
r(t)
• The ramp signal imitate the constant
velocity characteristic of actual input
signal.
At t0
r(t )
0 t0
0 t
7
Parabolic Signal
• The parabolic signal imitate the p(t)
constant acceleration characteristic
of actual input signal.
At 2
t0
p(t ) 2
0 t0 t
0
8
Which Test Signal to Choose and When?
9
Typical Test Signals
10
Steady state error
• Steady-state error, ess: The difference between the input and the
output for a prescribed test input as time, t approaches ∞.
Step Input
steady state error
• Steady-state error, ess: The difference between the input and the
output for a prescribed test input as time, t approaches ∞.
Ramp Input
Test Inputs
• Test Inputs: Used for steady-state error analysis and design.
• Step Input:
– Represent a constant position.
– Useful in determining the ability of the control system to position itself
with respect to a stationary target.
• Ramp Input:
– Represent constant velocity input to a position control system by their
linearly increasing amplitude.
• Parabolic Input:
– Represent constant acceleration inputs to position control.
– Used to represent accelerating targets.
Test Inputs
Classification of Control Systems
• Control systems may be classified according to
their ability to follow step inputs, ramp inputs,
parabolic inputs, and so on.
• Position constant:
K p lim G ( s)
s 0
• Velocity constant:
K v lim sG ( s)
s 0
• Acceleration constant:
K a lim s 2G( s)
s 0
Position Error Constant, Kp
Steady-state error for step function input, R(s):
sR s R
R s R s ess lim
s 0 1 G s
1 lim G ( s )
s 0
Thus,
R
ess
1 K p
Velocity Error Constant, Kv
Steady-state error for step function input, R(s):
sR s R
Rs R s ess lim
s 0 1 G s
2
lim sG ( s )
s 0
Thus,
R
ess
Kv
Acceleration Error Constant, Ka
Steady-state error for step function input, R(s):
sR s R
Rs R s ess lim
s 0 1 G s
3
2
lim s
s 0
G (s)
Thus,
R
ess
Ka
Summary (for unity feedback)
Example 1
• For the system shown in figure below evaluate the static
error constants and find the expected steady state errors
for the standard step, ramp and parabolic inputs.
100( s 2)( s 5)
R(S) C(S)
2
s ( s 8)( s 12)
-
Example 1
100( s 2)( s 5)
G( s )
s 2 ( s 8)( s 12)
K p lim G( s )
s 0 K v lim sG( s )
s 0
100( s 2)( s 5)
K p lim 2 100s( s 2)( s 5)
s 0 s ( s 8)( s 12) K v lim 2
s 0 s ( s 8)( s 12)
Kp
Kv
0
0
0.09
Analysis via static error constant
• Example 2: Find the steady-state errors for inputs of 5u(t), 5tu(t), and
5t2u(t) by first evaluating the static error constants.
K p 20, K v 0, K a 0
R 5 R
estep () eramp ()
1 K p 21 Kv
R
eramp ()
Ka
Static Error Constant for non unity
feedback
• Static Error Constants: Limits that determine the steady-state
errors.
• Position constant:
K p lim G ( s ) H ( s )
s 0
• Velocity constant:
K v lim sG ( s ) H ( s )
s 0
• Acceleration constant:
K a lim s 2G ( s ) H ( s )
s 0
Non-Unity Feedback Systems
• Example 3: Calculate the error constants and determine ess for a
unit step, ramp and parabolic functions response of the following
system.
1 5s 1
G s ; H s
s s 12 s5
Non-Unity Feedback Systems
• Example 3: Calculate the error constants and determine ess for a
unit step, ramp and parabolic functions response of the following
system. 1 5s 1
G s ; H s
s s 12 s5
K p limG ( s ) H ( s )
s 0
5s 1
lim
s 0 s s 12s 5
1
ess
1 K p
0
Non-Unity Feedback Systems
• Example 3: Calculate the error constants and determine ess for a
unit step, ramp and parabolic functions response of the following
system.
5s 1
lim
s 0 s 12s 5
1
12
1
ess
KV
12
Non-Unity Feedback Systems
• Example 3: Calculate the error constants and determine ess for a
unit step, ramp and parabolic functions response of the following
system.
5ss 1
lim
s 0 s 12s 5
0
1
ess
Ka
Non-Unity Feedback Systems
• Problem: Calculate the error constants and determine e ss for a
unit step, ramp and parabolic functions response of the following
system.
Example 4
PROBLEM: Given the control system in Figure, find the value of
K so that there is 10% error in the steady state for a unit ramp
input...
𝑌 𝑠
𝐸 𝑠 ቚ = − ቤ ∗𝐷 𝑠
𝑑𝑢𝑒 𝑡𝑜 𝑑𝑖𝑠𝑡𝑢𝑟𝑏𝑎𝑛𝑐𝑒 𝐷 𝑠 𝑅 𝑠 =0
𝑠∗𝑌 𝑠
𝑒𝑠.𝑠 = − lim ቤ ∗𝐷 𝑠
𝑠→0 𝐷 𝑠
𝑅 𝑠 =0
Disturbance analysis
Substituting C(s) in the above equation, and solving for E(s), we obtain
To find the steady-state value of the error, we apply the final value theorem to
the above equation, and obtain:
Example 7
Dynamic Error Coefficient
Dynamic Error Coefficient
Dynamic Error Coefficient
Example 8
Example 8
Example 8
Example 9
Example 9
𝑟(𝑡)
y(𝑡)
10
+_ 0.5
𝑠(𝑠 + 1)(𝑠 + 8)