Steady State error for a step input

For closed loop systems

 1 
ess  lim s  i ( s)
s 0
 1  Go ( s ) 

Where Go(s) is the open loop transfer function

1
For a unit step i(s) =
s

 1 1
ess  lim s. . 
s 0
 1  Go ( s ) s 

 1 
ess  lim 
s 0 1  G ( s )
 o 

From equation (1) above,

For type 0 as s  0

ao
Go ( s )  K
bo

For all other types as s  0

Go (s)  
With step inputs

lim Go (s)  K p
s 0

Kp is called the positional error constant and has no units.

For type O systems

ao
Kp  K
bo
 K p   for all others
1
 ess  for type 0 systems
  a o 
1   K bo 

ess = 0 for all other types

(Response) Steady state error with step input on type 0 systems.

If input has a step size of A then

A
ess 
1 K p 
for type 0 systems

Note
For type 0 system subjected to a unit step input

ess depends on kp the bigger the value of kp the smaller the error.

But k p k

K is the factor by which signals are multiplied in passing through the forward path.
 o(s
+ k 1 )
i(s) s  1
-

By increasing the amplification factor or gain(k) ess can be reduced.

See example 3 pg 172 Bottom.

Steady State error for a ramp input

 1 
ess  lim s  i ( s)
s 0
 1  Go ( s ) 

1
For a unit ramp i(s) =
s2

 1 1
ess  lim s. . 2
s 0
 1  Go ( s ) s 

 1 
ess  lim 
s 0 s  sG ( s )
 o 

1 1
 
lim s.Go ( s ) k v
s 0

Kv is a constant known as the velocity error constant. It has the units of second-1.

k v  lim s.Go ( s)
s 0

From eqn (1)

For type 0 system q = 0  s k  s.k
sq

lim sGo ( s)  0
s 0

 kv  0

 ess  1 
kv

For type 1 q=1

s.k k
sq

ao
 k v  lim s.Go ( s)  k
s 0 bo

 ess  1  1
k  
kv ao
 bo 

response shown below.

Similarly for type 2 systems and above

1
ess  0
lim s.Go ( s )
s 0
See example 4 pg 173 Bolton

Steady State error a for a parabolic input

  1 
ess  lim s  i ( s)
s 0
 1  Go ( s ) 

1
For a unit parabolic input i(s) =
s3

 1 1
ess  lim s. . 3
s 0
 1  Go ( s ) s 

 1 
ess  lim 2 
s 0 s  s G ( s )
2
 o 

1 1
 2

lim s .Go ( s ) k a
s 0

Where k a  lim s 2 .Go ( s) - acceleration error constant has units of second-2

s 0

From equation 1

For type 0 system q = 0  s 2 k  s 2 .k

sq

 k a  lim s 2 Go ( s )  0
s 0

 ka  0

 ess  1 
ka

For type 1 q=1

s2 k  s.k
sq

 k a  lim s 2 .Go ( s)  0
s 0
  ess  1 
ka

For type 2 systems q =2 therefore

s2 k k
sq

ao
 k a  lim s.Go ( s)  k
s 0 bo

 ess  1  1
k  
ka ao
 bo 

response shown below

For systems with higher type members as S approaches O S2Go(s) become infinity and
hence steady state error = 0.

If input was parabolic of the form A where A is a constant then steady state error with
s3
type 2 systems would be A .
ka

Principle of super position

With linear systems if an input 1 produces and output o1 and input 2 produces o2.Then
and input of (1+2) will produce an output of (o1+o2)

 
Therefore if input is 1  1 2 the steady state error is the sum of the errors due to each
s s
segment of input considered alone. See example 6,7,& 8 pg 176 Bottom.