S E V E N

Steady-State Errors
SOLUTIONS TO CASE STUDIES CHALLENGES
Antenna Control: Steady-State Error Design via Gain
76.39K
a. G(s) = s(s+150)(s+1.32) . System is Type 1. Step input: e(∞) = 0; Ramp input:
1 1 2.59
e(∞) = K = 76.39K = K ; Parabolic input: e(∞) = ∞.
v
150 x 1.32
1 2.59
b. K = K = 0.2. Therefore, K = 12.95. Now test the closed-loop transfer function,
v
989.25
T(s) = 3 , for stability. Using Routh-Hurwitz, the system is stable.
s +151.32s2+198s+989.25

s3 1 198

s2 151.32 989.25

s1 191.46253 0

s0 989.25 0

Video Laser Disc Recorder: Steady-State Error Design via Gain

a. The input, 15t2 , transforms into 30/s3. e(∞) = 30/Ka = 0.005.
0.2*600 30
Ka = 20000 * K1K2K3 = 6x10-3 K1K2K3. Therefore: e(∞) = 30/Ka = −3
6x10 K1 K2 K3

= 5x10-3. Therefore K1K2K3 = 106.

2x10 5 (s + 600)
b. Using K1K2K3 = 106, G(s) = . Therefore, T(s) =
s (s + 2x10 )
2 4

2x10 5 (s + 600)
8 .
s + 2x10 s + 2x10 s + 1.2x10
3 4 2 5

Making a Routh table,

Copyright © 2011 by John Wiley & Sons, Inc.

7-2 Chapter 7: Steady-State Errors

s3 1 2x105

s2 2x104 1.2x108

s1 194000 0

s0 120000000 0

we see that the system is stable.

c.
Program:
numg=200000*[1 600];
deng=poly([0 0 -20000]);
G=tf(numg,deng);
'T(s)'
T=feedback(G,1)
poles=pole(T)

Computer response:
ans =

T(s)

Transfer function:
200000 s + 1.2e008
------------------------------------
s^3 + 20000 s^2 + 200000 s + 1.2e008

poles =

1.0e+004 *

-1.9990
-0.0005 + 0.0077i
-0.0005 - 0.0077I

ANSWERS TO REVIEW QUESTIONS

1. Nonlinear, system configuration
2. Infinite
3. Step(position), ramp(velocity), parabola(acceleration)
4. Step(position)-1, ramp(velocity)-2, parabola(acceleration)-3
5. Decreases the steady-state error
6. Static error coefficient is much greater than unity.
7. They are exact reciprocals.
8. A test input of a step is used; the system has no integrations in the forward path; the error for a step input
is 1/10001.
9. The number of pure integrations in the forward path

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-3

10. Type 0 since there are no poles at the origin

11. Minimizes their effect
12. If each transfer function has no pure integrations, then the disturbance is minimized by decreasing the
plant gain and increasing the controller gain. If any function has an integration then there is no control over
its effect through gain adjustment.
13. No
14. A unity feedback is created by subtracting one from H(s). G(s) with H(s)-1 as feedback form an
equivalent forward path transfer function with unity feedback.
15. The fractional change in a function caused by a fractional change in a parameter
16. Final value theorem and input substitution methods

SOLUTIONS TO PROBLEMS
1.
s R(s )
e (∞) = lim s E(s ) = lim
s →0 s →0 1+G(s )
where
450(s + 12)(s + 8)(s + 15)
G(s) = .
s(s + 38)(s + 2s + 28)
2

37
For step, e (∞) = 0. For 37tu(t) , R(s) = 2 . Thus, e (∞) = 6.075x10-2. For parabolic input,
s
e(∞) = ∞.

2.

a. From the figure ess = rss − c ss = 5 − 3 = 2

b. Since the system is linear, and because the original input was r (t ) = 2.5tu (t ) , the new steady
2
state error is ess = = 0.8 .
2.5
3.
s R(s )
e (∞) = lim s E(s ) = lim
s →0 s →0 1+G(s )
s(160/s3 )
= lim = 2.83
s →0 60(s + 3)(s + 4)(s + 8)
1+
s 2 (s + 6)(s + 17)

Copyright © 2011 by John Wiley & Sons, Inc.

7-4 Chapter 7: Steady-State Errors

4.
Reduce the system to an equivalent unity feedback system by first moving 1/s to the left past the
⎛1 ⎞
summing junction. This move creates a forward path consisting of a parallel pair, ⎜ + 1⎟ in cascade
⎝s ⎠
2
with a feedback loop consisting of G(s) = and H(s) = 7 . Thus,
s+3

⎛ (s + 1⎞ ⎛ 2/(s + 3) ⎞ 2(s + 1)
Ge (s) = ⎜ ⎟⎜ ⎟=
⎝ s ⎠ ⎝ 1 + 14 /(s + 3) ⎠ s(s + 17)
Hence, the system is Type 1 and the steady-state errors are as follows:

Steady-state error for 15u(t) = 0 .

15 15
Steady-state error for 15tu(t) = = = 127.5 .
K v 2 / 17

Steady-state error for 15t

2
u(t) = ∞

5.
System is type 0. Kp = 1.488.
30
For 30u(t), e(∞) = = 12.1
1+ Kp
For 70tu(t), e(∞) = ∞

For 81t2u(t), e(∞) = ∞

6.
R( s) 150 / S 4
E ( s) = =
1 + G ( s) 1 + 210( S + 4)( S + 6)( S + 11)( S + 13)
S 3 ( S + 7)( S + 14)( S + 19)

Thus,
150
e(∞) = lim sE ( s ) = = 0.3875
s →0 (210)(4)(6)(11)(13)
(7)(14)(19)

7.
de = s E (s )
dt
6
. s2
Therefore, e(∞)
R(s)
= lim s2E(s) = lim s2 1+G(s) = lim s4 =
9
.
s→ 0 s→ 0 s →0 100( s + 1)( s + 2) 10
1+ 2
s ( s + 10)( s + 3)

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-5

8.
15 1020(13)(26)(33)
e( ∞ ) = ; Kp = = 25.65 . Therefore, e(∞) = 0.563.
1+ K p (65)(75)(91)
9.
70 70
For 70u(t), ess = = = 14 ; For 70tu(t), ess = ∞, since the system is Type 0.
1+ K p 5

10.
a. The closed-loop transfer function is,
5000
T (s ) =
s + 75s + 5000
2

from which, ωn = 5000 and 2ζωn = 75. Thus, ζ = 0.53 and

%OS = e −ζπ / 1− ζ
2
x100 = 14.01%.
4 4
b. Ts = = = 0.107 second.
ζω n 75 / 2
c. Since system is Type 1, ess for 5u(t) is zero.
5000 5
d. Since Kv is = 66.67, ess = = 0.075.
75 Kv
e. ess = ∞, since system is Type 1.

11.
100500(5)(14)(23)
K v = lim sG ( s ) = = 25000
s →0 (27)(α )(33)
Thus, α = 7.26.

12.
Kx 2 x 4 x6
K a = lim s 2 G ( s) = = 10,000 . Therefore, K = 7291.667.
s →0 5 x7

13.
5
s(s + 1)(s + 2) 5
a. Ge(s) = = 3 +
5(s + 3) s + 3s + 7s + 15
2
1+
s(s + 1)(s + 2)

Therefore, Kp = 1/3; Kv = 0; and Ka = 0.

Copyright © 2011 by John Wiley & Sons, Inc.

7-6 Chapter 7: Steady-State Errors

50
b. For 50u(t), e(∞) = 1 + K = 37.5; For 50tu(t), e(∞) = ∞; For 50t2u(t), e(∞) = ∞
p
c. Type 0

14.
60
R( s) s
E( s) = . Thus, e(∞) = lim sE(s) = lim s4
1 + G(s) s→ 0 s →0 1030(s 2 + 8s + 23)(s 2 + 21s + 18)
1+
s 3 (s + 6)(s + 13)
= 0.0110.

15.
Collapsing the inner loop and multiplying by 1000/s yields the equivalent forward-path transfer
function as,
10 5 (s + 2)
Ge (s) =
s( s + 1005s + 2000)
2

Hence, the system is Type 1.

16.

The transfer function from command input to error signal can be found using Mason’s rule or any
other method:

20
1− G2
E (s) s ( s + 3) s ( s + 3) − 20G2
= =
R( s) 20 s ( s + 3) + 20G1
1+ G1
s ( s + 3)
1
Letting R ( s ) = and by the final value theorem:
s
G ( s)
ess = Lim sE ( s ) = − Lim 2
s →0 s →0 G ( s )
1

a. If G1 is type 0, it is required that G 2 ( s ) = 0

b. If G1 is type 1, it is required that G 2 ( s ) must be type 0
c. If G1 is type 2, it is required that G 2 ( s ) must be type 1

17.
• R( s)
e(∞)= lim s 2 E(s) = lim s 2 .
s →0 s →0 1 + G ( s)
• s
1
For Type 0, step input: R(s) = s , and e(∞ )= lim =0
s →0 1 + G(s)

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-7

1
For Type 0, ramp input: R(s) = 2 , and
s
• 1 1 1
e(∞)= lim = =
s →0 1 + G(s) 1 + lim G ( s ) 1 + K p
s →0
• 1
1
For Type 0, parabolic input: R(s) = 3 , and e(∞ )= lim = ∞
s s → 0 s + sG ( s )

• s
1
For Type 1, step input: R(s) = s , and e(∞)= lim =0
s →0 1 + G ( s )

• 1
1
For Type 1, ramp input: R(s) = 2 , and e(∞ )= lim = 0
s s →0 1 + G ( s )

• 1
1 1
For Type 1, parabolic input: R(s) = 3 , and e(∞ )= lim = K
s s → 0 s + sG ( s ) v
• s
1
For Type 2, step input: R(s) = s , and e(∞)= lim =0
s →0 1 + G ( s )

• 1
1
For Type 2, ramp input: R(s) = 2 , and e(∞ )= lim = 0
s s →0 1 + G ( s )

• 1
1
For Type 2, parabolic input: R(s) = 3 , and e(∞ )= lim = 0
s s → 0 s + sG ( s )

18.
1/10 7K
a. e(∞)= = 0.01; where K v = = 10. Thus, K = 685.71 .
Kv 5 x8 x12

b. Kv = 10.

c. The minimum error will occur for the maximum gain before instability. Using the Routh-Hurwitz
K ( s + 7)
Criterion along with T ( s ) = :
s + 25s + 196 s 2 + ( 480 + K ) s + 7 K
4 3

Copyright © 2011 by John Wiley & Sons, Inc.

7-8 Chapter 7: Steady-State Errors

s4 1 196 7K For Stability

s3 25 480+K

s2 4420-K 175K K < 4420

s1 − K 2 − 435 K + 2121600 -1690.2 < K <

1255.2

s0 175K K>0

7K
Thus, for stability and minimum error K = 1255.2. Thus, Kv = = 18.3 and
5 x8 x12
1/10 1/10
e(∞)= = = 0.0055 .
Kv 18.3
19.
40 40 1040
e(∞) = = = = 0.006 . Hence, Ka = 173333.33.
K v Ka / 26 Ka
20.
K
s(s+1) K
Find the equivalent G(s) for a unity feedback system. G(s) = 10 = s(s+11) . Thus, e(∞) =
1 + s+1
100 100
Kv = K/11 = 0.01; from which K = 110,000.
21.
3K 20
Ka = ; e( ∞ ) = = 0.061. Hence, K = 765.03.
7 Ka

22.
10 1 30K
a. e(∞) = K = 6000 . But, Kv = 5 = 60,000. Hence, K = 10,000. For finite error for a ramp
v

input, n = 1.
10000( s 2 + 3s + 30)
b. K p = lim G ( s ) = lim =∞
s →0 s →0 s ( s + 5)
10000( s 2 + 3s + 30)
K v = lim sG ( s ) = lim s = 60000
s →0 s →0 s ( s + 5)
10000( s 2 + 3s + 30)
K a = lim s 2G ( s ) = lim s 2 =0
s →0 s →0 s ( s + 5)

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-9

23.
a. Type 0
R(s) 12 / s 12
b. E(s) = 1 + G(s) . Thus, e(∞) = lim sE ( s ) = lim s = .
s →0 s →0 K ( s + 6s + 6) 1 + 0.08 K
2
1+
( s + 5) 2 ( s + 3)

c. e(∞) = ∞, since the system is Type 0.

24.
27 27
e(∞) = = = 0.4. Thus, K = 325 .
K v 247 K /1188
25.
1 1
e(∞) = = = 0.08. Thus, K = 111.
1 + K p 1 + 6K
58
26.
K 2000
The system is stable for 0 < K < 2000. Since the maximum Kv is Kv = = = 6.25, the
320 320
1 1
minimum steady-state error is K = = 0.16.
v 6.25
27.
To meet steady-state error characteristics:

Therefore, Kα = 9β2.
K(s+α)
To meet the transient requirement: Since T(s) = 2 ,
s + (K+2β)s + (β2 + Kα)

ωn2 = 10 = β2 + Kα ; 2ζωn = 10 = K+2β. Solving for β, β = ±1. For β = +1, K = 1.16 and α = 7.76.

An alternate solution is β = -1, K = 5.16, and α = 1.74.

28.
a. System Type = 1
K 1 1 K
b. Assume G(s) = . Therefore, e(∞) = K = = 0.01, or = 100.
s(s+α) v K/α α
G(s) K
But, T(s) = 1 + G(s) = 2 .
s +αs+K
100
Since ωn = 10, K = 100, and α = 1. Hence, G(s) = s(s+1) .

Copyright © 2011 by John Wiley & Sons, Inc.

7-10 Chapter 7: Steady-State Errors

1
c. 2ζωn = α = 1. Thus, ζ = 20 .
29.
G(s) K(s+α)
T(s) = 1 + G(s) = 2 . Hence, K+β = 2, Kα = ωn2 = (12+12) = 2.
s +(K+β) s+αK
1 β
Also, e(∞) = K = = 0.1. Therefore, β = 0.1Kα = 0.2, K = 1.8, and α = 1.111.
v Kα

30.
G(s) K K
System Type = 1. T(s) = 1 + G(s) = 2 . From G(s), Kv = a = 110. For 12% overshoot, ζ =
s +as+K

0.56. Therefore, 2ζωn = a , and ωn2 = K. Hence, a = 1.12 K .

K
Also, a = . Solving simultaneously,
110

K = 1.52 x 104, and a = 1.38 x 102.

31.
K K
a. For 20% overshoot, ζ = 0.456. Also, Kv = 1000 = a . Since T(s) = 2 , 2ζωn = a, and
s +as+K

ωn = K . Hence, a = 0.912 K . Solving for a and K, K = 831,744, and a = 831.744.

1 K K
b. For 10% overshoot, ζ = 0.591. Also, K = 0.01. Thus, Kv = 100 = a . Since T(s) = 2 ,
v s +as+K

2ζωn = a, and ωn = K . Hence, a = 1.182 K . Solving for a and K, K = 13971 and a = 139.71.

32.
a. For the inner loop:
1
s2(s+1) s
G1(s) = 1 = 4 3
1+ 3 s +s +1
s (s+1)
1 1
Ge(s) = 2 G1(s) = 5 4 3
s (s+3) s(s +4s +3s +s+3)

Ge(s) 1
T(s) = 1+G (s) = 6 5 4 2
e s +4s +3s +s +3s+1

b. From Ge(s), system is Type 1.

c. Since system is Type 1, ess = 0

1 5
d. ; From Ge(s), Kv = lim sGe (s) = 3 . Therefore, ess = K = 15.
s→ 0 v

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-11

e. Poles of T(s) = -3.0190, -1.3166, 0.3426 ± j0.7762, -0.3495. Therefore, system is unstable and

results of (c) and (d) are meaningless

33.
a. For the inner loop:
10
s(s+1)(s+3)(s+4) 10
G1(s) = 20 = 3 2
1 + (s+1)(s+3)(s+4) s(s +8s +19s+32)

20
Ge(s) =
s(s3+8s2+19s+32)

Ge(s) 20
T(s) = 1+G (s) = 4 3
e s +8s +19s2+32s+20
b. From Ge(s), system is Type 1.
c. Since system is Type 1, ess = 0
20 5 5
d. From Ge(s), Kv = lim sGe (s) = 32 = 8 . Therefore, ess = K = 8.
s→ 0 v

e. Poles of T(s) = -5.4755, -0.7622 ± j1.7526, -1. Therefore, system is stable and results of parts c and
d are valid.
34.
Program:
numg1=[1 9];deng1=poly([0 -6 -12 -14]);
'G1(s)='
G1=tf(numg1,deng1)
numg2=6*poly([-9 -17]);deng2=poly([-12 -32 -68]);
'G2(s)='
G2=tf(numg2,deng2)
numh1=13;denh1=1;
'H1(s)='
H1=tf(numh1,denh1)
numh2=1;denh2=[1 7];
'H2(s)='
H2=tf(numh2,denh2)
%Close loop with H1 and form G3
'G3(s)=G2(s)/(1+G2(s)H1(s)'
G3=feedback(G2,H1)
%Form G4=G1G3
'G4(s)=G1(s)G3(s)'
G4=series(G1,G3)
%Form Ge=G4/1+G4H2
'Ge(s)=G4(s)/(1+G4(s)H2(s))'
Ge=feedback(G4,H2)
%Form T(s)=Ge(s)/(1+Ge(s)) to test stability
'T(s)=Ge(s)/(1+Ge(s))'
T=feedback(Ge,1)
'Poles of T(s)'
pole(T)
%Computer response shows that system is stable. Now find error specs.
Kp=dcgain(Ge)
'sGe(s)='
sGe=tf([1 0],1)*Ge;
'sGe(s)'

Copyright © 2011 by John Wiley & Sons, Inc.

7-12 Chapter 7: Steady-State Errors

sGe=minreal(sGe)
Kv=dcgain(sGe)
's^2Ge(s)='
s2Ge=tf([1 0],1)*sGe;
's^2Ge(s)'
s2Ge=minreal(s2Ge)
Ka=dcgain(s2Ge)
essstep=100/(1+Kp)
essramp=100/Kv
essparabola=200/Ka

Computer response:
ans =
G1(s)=
Transfer function:
s + 9
-------------------------------
s^4 + 32 s^3 + 324 s^2 + 1008 s
ans =
G2(s)=
Transfer function:
6 s^2 + 156 s + 918
------------------------------
s^3 + 112 s^2 + 3376 s + 26112
ans =
H1(s)=
Transfer function:
13
ans =
H2(s)=
Transfer function:
1
-----
s + 7
ans =
G3(s)=G2(s)/(1+G2(s)H1(s)
Transfer function:
6 s^2 + 156 s + 918
------------------------------
s^3 + 190 s^2 + 5404 s + 38046
Solutions to Problems 7-13
ans =
G4(s)=G1(s)G3(s)
Transfer function:
6 s^3 + 210 s^2 + 2322 s + 8262
------------------------------------------------------
s^7 + 222 s^6 + 11808 s^5 + 273542 s^4 + 3.16e006 s^3
+ 1.777e007 s^2 + 3.835e007 s
ans =
Ge(s)=G4(s)/(1+G4(s)H2(s))
Transfer function:
6 s^4 + 252 s^3 + 3792 s^2 + 24516 s + 57834
-------------------------------------------------------
s^8 + 229 s^7 + 13362 s^6 + 356198 s^5 + 5.075e006 s^4
+ 3.989e007 s^3 + 1.628e008 s^2 + 2.685e008 s
+ 8262
ans =
T(s)=Ge(s)/(1+Ge(s))
Transfer function:
6 s^4 + 252 s^3 + 3792 s^2 + 24516 s + 57834
-------------------------------------------------------
s^8 + 229 s^7 + 13362 s^6 + 356198 s^5 + 5.075e006 s^4
+ 3.989e007 s^3 + 1.628e008 s^2 + 2.685e008 s
+ 66096
ans =
Poles of T(s)
ans =
-157.1538
-21.6791

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-13

-14.0006
-11.9987
-11.1678
-7.0001
-5.9997
-0.0002
Kp =
7
ans =
sGe(s)=
ans =
sGe(s)
Transfer function:
6 s^5 + 252 s^4 + 3792 s^3 + 2.452e004 s^2
+ 5.783e004 s
--------------------------------------------------------
s^8 + 229 s^7 + 1.336e004 s^6 + 3.562e005 s^5
+ 5.075e006 s^4 + 3.989e007 s^3 + 1.628e008 s^2
+ 2.685e008 s + 8262
Kv =
0
ans =
s^2Ge(s)=
ans =
s^2Ge(s)
Transfer function:
6 s^6 + 252 s^5 + 3792 s^4 + 2.452e004 s^3
+ 5.783e004 s^2
--------------------------------------------------------
s^8 + 229 s^7 + 1.336e004 s^6 + 3.562e005 s^5
+ 5.075e006 s^4 + 3.989e007 s^3 + 1.628e008 s^2
+ 2.685e008 s + 8262
Solutions to Problems 7-15
Ka =
0
essstep =
12.5000
essramp =
Inf
essparabola =
Inf

35.
10K1
The equivalent forward transfer function is, G(s) = s(s+1+10K ) .
f
G(s) 10K1 10K1
Also, T(s) = 1 + G(s) = s2+(10K +1)s+10K . From the problem statement, Kv = 1+10K = 10.
f 1 f

Also, 2ζωn = 10Kf+1 = 2(0.5) 10K1 = 10K1 . Solving for K1 and Kf simultaneously, K1 = 10 and

Kf = 0.9.

36.

We calculate the Velocity Error Constant,

Copyright © 2011 by John Wiley & Sons, Inc.

7-14 Chapter 7: Steady-State Errors

3 2 2
s ( −34.16 s − 144.4 s + 7047 s + 557.2) 0.00842( s + 7.895)( s + 0.108 s + 0.3393)
K v = Lim sG ( s ) P ( s ) = Lim 5 4 3 2 2
s →0 s →0
s + 13.18 s + 95.93s + 14.61s + 31.94 s ( s + 0.07895)( s + 4 s + 8)

557.2
= 0.0357 = 0.623
31.94
1 25
For a unit ramp input the steady state error is e ss = = 1.605 . The input slope is = 15.6
Kv 1.605

37.

a.

From the point of view of e(t) the above block diagram is equivalent to the original. In this unity
1
s α
feedback block diagram the open loop transmission is G ( s ) = α = , the system is
β s+β
1+
s

type 0.
α
b. The position error constant is K P = G (0) = . The steady state error is
β
1 1 β
ess = = = .
1+ KP α α+β
1+
β

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-15

38.

sR(s) − sD(s)G 2 (s) 1 100

e(∞) = lim , where G1(s) = s+5 and G2 = s+2 . From the problem statement,
s→ 0 1 + G1 (s)G 2 (s)
100
1−
1
R(s) = D(s) = s . Hence, e(∞) = lim s + 2 = − 49 .
s→ 0 1 100 11
1+
s+5 s+2
39.

Error due only to disturbance: Rearranging the block diagram to show D(s) as the input,

Therefore,
K2
s(s+4) K2(s+3)
-E(s) = D(s) K1K2(s+2) = D(s) s(s+3)(s+4) + K1K2(s+2)
1 + s(s+3)(s+4)

1 3
For D(s) = s , eD(∞) = lim sE(s) = - 2K .
s→0 1
1 1 6
Error due only to input: eR(∞) = K = K K = K K .
v 1 2 1 2
6

Design:
3
eD(∞) = - 0.000012 = - 2K , or K1 = 125,000.
1
6
eR(∞) = 0.003 = K K , or K2 = 0.016
1 2

Copyright © 2011 by John Wiley & Sons, Inc.

7-16 Chapter 7: Steady-State Errors

40.
35 35
a. The open loop transmission is G ( s ) P( s ) = , so K P = Lim G ( s ) P ( s ) = . For a unit
s+2 s →0 2
1
step input essr = = 0.0541 . Since the input is threefold that we have that
1+ KP
essr = 3(0.0541) = 0.1622
b.

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-17

7
c. The transfer function from disturbance to error signal is
E ( s)
=− s+2 =− 7
D( s) 7 s + 37
1+ 5
s+2
⎛ 7 ⎞⎛ 1 ⎞ 7
Using the final value theorem e ssd = Lim sE ( s ) = Lim s⎜ − ⎟⎜ − ⎟ = = 0.1892
s →0 s →0
⎝ s + 37 ⎠⎝ s ⎠ 37
d.

Copyright © 2011 by John Wiley & Sons, Inc.

7-18 Chapter 7: Steady-State Errors

e. etot = essr + essd = 0.1622 + 0.1892 = 0.351

f.

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-19

41.
C(s) G1 (s)G2 (s) E (s) G1 (s)
= ; ∴ a1 =
R(s) 1 + G2 (s)H1 (s) R(s) 1 + G2 (s)H1 (s)
sR(s)G1 (s)
ea1 (∞) = lim
s →0 1 + G (s)H (s)
2 1
42.
System 1:
Forming a unity-feedback path, the equivalent unity feedback system has a forward transfer function of

10(s + 10)
s(s + 2) 10(s + 10)
Ge (s) = =
10(s + 10)(s + 3) 11s + 132s + 300
2
1+
s(s + 2)
1
a. Type 0 System; b. Kp = K p = lim Ge (s) = 1/ 3 ; c. step input; d. e(∞) = = 3/4;
s→ 0 1 + Kp
⎛1
s ⎞
sR( s) ⎝ s⎠
e. ea −step (∞) = lim = lim 10( s + 10)(s + 4) = 0
.
s→ 0 1+ G (s ) H ( s ) s→ 0
1+
s( s + 2)
System 2:
Forming a unity-feedback path, the equivalent unity feedback system has a forward transfer function of

Copyright © 2011 by John Wiley & Sons, Inc.

7-20 Chapter 7: Steady-State Errors

10(s + 10)
s ( s + 2) 10(s + 10)
Ge (s ) = 10(s + 10)s = s(11s + 102)
1+
s(s + 2)
1
a. Type 1 System; b. Kv = lim sGe (s) = 0.98 ; c. ramp input; d. e( ∞ ) = = 1.02 ;
s→ 0 Kv
⎛1
s 2⎞
sR(s) ⎝s ⎠ 1
e. ea −ramp (∞) = lim = lim = .
s →0 1 + G (s ) H (s ) 10(s + 10)(s + 1) 50
s→0
1+
s(s + 2)
43.
System 1. Push 5 to the right past the summing junction:

R(s) + 5( s + 4)
5(s+4)
( s + 3)( s + 7) C(s)
(s+ 5)(s+ 8)
-

Produce a unity-feedback system:

R(s) + s + 4)
5(5(s+4) C(s)
( s + 3)( s + 7)
(s + 5)(s + 8)
- -

5( s + 4)
( s + 3)( s + 7) 5( s + 4) 20 1
Thus, Ge ( s ) = = 2 . Kp = . estep = 1+K = 0.67, eramp = ∞,
5( s + 4) s + 15s + 41 41 p
1+
( s + 3)( s + 7)
eparabola = ∞.
5( s + 4)
Checking for stability, from first block diagram above, T(s) = 2 . The system is stable.
s + 20 s + 61

System 2. Push 20 to the right past the summing junction and push 10 to the left past the pickoff point:

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-21

200( s + 4)
200(s+4)
R(s) + C(s)
( s + 3)( s + 7)
(s+5)(s+8)
-

1
40
Produce a unity-feedback system:

+ 200( s + 4)
200(s+4)
R(s) C(s)
( s + 3)( s + 7)
(s+5)(s+8)
-
-

-39
40

200( s + 4)
( s + 3)( s + 7) 200( s + 4) 200(4)
Thus, Ge ( s ) = = 2 . Kp = = −1.05 .
200( s + 4) ⎛ 39 ⎞ s − 185s − 759 −759
1− ⎜ ⎟
( s + 3)( s + 7) ⎝ 40 ⎠
1
estep = 1+K = -20, eramp = ∞, eparabola = ∞.
p
Ge ( s ) 200( s + 4)
Checking for stability, from first block diagram above, T ( s) = = 2 .
1 + Ge ( s) s + 15s + 41
Therefore, system is stable and steady-state error calculations are valid.

44.
a. Produce a unity-feedback system:

Copyright © 2011 by John Wiley & Sons, Inc.

7-22 Chapter 7: Steady-State Errors

R(s) + (s+1) C(s)

- s2(s+2)
-

K-1

(s+1)
s2(s+2) s+1
Thus, Ge(s) = (s+1)(K-1) = s3+2s2+(K-1)s+(K-1) . System is Type 0.
1+ 2
s (s+2)

b. Since the system is Type 0, the appropriate static error constant is Kp. Thus,
1
estep (∞) = 0.001 =
1+ K p

1
Therefore, Kp = 999 = K-1 . Hence, K = 1.001001.
(s+1)
s2(s+2) s+1
Check stability: Using original block diagram, T(s) = K(s+1) = s3+2s2+Ks+K .
1+ 2
s (s+2)
Making a Routh table:

s3 1 K

s2 2 K
K
s1 2 0

s0 K 0

Therefore, system is stable and steady-state error calculations are valid.

45.
a. Produce a unity-feedback system:

s+4 2
H1(s) = -1=
s+2 s+2

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-23

R(s) + ( s + 1)
KK(s+1) C(s)

- ( s + 3)
ss22(s+2)
-

21
+ 2
s s+3

K ( s + 1)
s 2 ( s + 3) K ( s + 1)( s + 2)
Thus, Ge ( s ) = = 4 . System is Type 0.
2 K ( s + 1) s + 5s 3 + 6 s 2 + 2 Ks + 2 K
1+ 2
s ( s + 3)( s + 2)

b. Since Type 0, appropriate static error constant is Kp.

2K
c. Kp = =1
2K
1 1
d. estep = 1+K =
p 2

Check stability: Using original block diagram,

K ( s + 1)
s 2 ( s + 3) K ( s + 1)( s + 2)
T ( s) = = .
K ( s + 1)( s + 4) s 4 + 5s 3 + ( K + 6) s 2 + 5Ks + 4 K
1+ 2
s ( s + 3)( s + 2)

Making a Routh table:

s4 1 K+6 4K

s3 5 5K 0

s2 6 4K 0
5
s1 3 K 0 0

Copyright © 2011 by John Wiley & Sons, Inc.

7-24 Chapter 7: Steady-State Errors

s0 4K 0 0

Therefore, system is stable for 0 < K and steady-state error calculations are valid.

46.
Program:
K=10
numg1=K*poly([-1 -2]);deng1=poly([0 0 -4 -5 -6]);
'G1(s)='
G1=tf(numg1,deng1)
numh1=[1 6];denh1=poly([-8 -9]);
'H1(s)='
H1=tf(numh1,denh1)
'H2(s)=H1-1'
H2=H1-1
%Form Ge(s)=G1(s)/(1+G1(s)H2(s)
'Ge(s)=G1(s)/(1+G1(s)H2(s))'
Ge=feedback(G1,H2)
%Test system stability
'T(s)=Ge(s)/(1+Ge(s))'
T=feedback(Ge,1)
pole(T)
Kp=dcgain(Ge)
'sGe(s)'
sGe=tf([1 0],1)*Ge;
sGe=minreal(sGe)
Kv=dcgain(sGe)
's^2Ge(s)'
s2Ge=tf([1 0],1)*sGe;
s2Ge=minreal(s2Ge)
Ka=dcgain(s2Ge)
essstep=30/(1+Kp)
essramp=30/Kv
essparabola=60/Ka

K=1E6
numg1=K*poly([-1 -2]);deng1=poly([0 0 -4 -5 -6]);
'G1(s)='
G1=tf(numg1,deng1)
numh1=[1 6];denh1=poly([-8 -9]);
'H1(s)='
H1=tf(numh1,denh1)
'H2(s)=H1-1'
H2=H1-1
%Form Ge(s)=G1(s)/(1+G1(s)H2(s)
'Ge(s)=G1(s)/(1+G1(s)H2(s))'
Ge=feedback(G1,H2)
%Test system stability
'T(s)=Ge(s)/(1+Ge(s))'
T=feedback(Ge,1)
pole(T)
Kp=dcgain(Ge)
'sGe(s)'
sGe=tf([1 0],1)*Ge;
sGe=minreal(sGe)

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-25

Kv=dcgain(sGe)
's^2Ge(s)'
s2Ge=tf([1 0],1)*sGe;
s2Ge=minreal(s2Ge)
Ka=dcgain(s2Ge)
essstep=30/(1+Kp)
essramp=30/Kv
essparabola=60/Ka

Computer response:
K =

10

ans =

G1(s)=

Transfer function:
10 s^2 + 30 s + 20
-------------------------------
s^5 + 15 s^4 + 74 s^3 + 120 s^2

ans =

H1(s)=

Transfer function:
s + 6
---------------
s^2 + 17 s + 72

ans =

H2(s)=H1-1

Transfer function:
-s^2 - 16 s - 66
----------------
s^2 + 17 s + 72

ans =

Ge(s)=G1(s)/(1+G1(s)H2(s))

Transfer function:
10 s^4 + 200 s^3 + 1250 s^2 + 2500 s + 1440
-----------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 + 2448 s^4 + 7178 s^3 + 7480 s^2 - 2300 s - 1320

Copyright © 2011 by John Wiley & Sons, Inc.

7-26 Chapter 7: Steady-State Errors

ans =

T(s)=Ge(s)/(1+Ge(s))

Transfer function:
10 s^4 + 200 s^3 + 1250 s^2 + 2500 s + 1440
---------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 + 2458 s^4 + 7378 s^3 + 8730 s^2 + 200 s + 120

ans =

-8.5901 + 0.3993i
-8.5901 - 0.3993i
-6.0000
-4.4042 + 0.1165i
-4.4042 - 0.1165i
-0.0057 + 0.1179i
-0.0057 - 0.1179i

Kp =

-1.0909

ans =

sGe(s)

Transfer function:
10 s^5 + 200 s^4 + 1250 s^3 + 2500 s^2 + 1440 s
-----------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 + 2448 s^4 + 7178 s^3 + 7480 s^2 - 2300 s - 1320

Kv =

ans =

s^2Ge(s)

Transfer function:
10 s^6 + 200 s^5 + 1250 s^4 + 2500 s^3 + 1440 s^2
-----------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 + 2448 s^4 + 7178 s^3 + 7480 s^2 - 2300 s - 1320

Ka =

essstep =

-330.0000

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-27

essramp =

Inf

essparabola =

Inf

K =

1000000

ans =

G1(s)=

Transfer function:
1e006 s^2 + 3e006 s + 2e006
-------------------------------
s^5 + 15 s^4 + 74 s^3 + 120 s^2

ans =

H1(s)=

Transfer function:
s + 6
---------------
s^2 + 17 s + 72

ans =

H2(s)=H1-1

Transfer function:
-s^2 - 16 s - 66
----------------
s^2 + 17 s + 72

ans =

Ge(s)=G1(s)/(1+G1(s)H2(s))

Transfer function:

1e006 s^4 + 2e007 s^3 + 1.25e008 s^2 + 2.5e008 s + 1.44e008

--------------------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 - 997542 s^4 - 1.899e007 s^3 - 1.16e008 s^2 - 2.3e008 s

- 1.32e008

Copyright © 2011 by John Wiley & Sons, Inc.

7-28 Chapter 7: Steady-State Errors

ans =

T(s)=Ge(s)/(1+Ge(s))

Transfer function:

1e006 s^4 + 2e007 s^3 + 1.25e008 s^2 + 2.5e008 s + 1.44e008

--------------------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 + 2458 s^4 + 1.007e006 s^3 + 9.009e006 s^2 + 2e007 s

+ 1.2e007

ans =

-28.2460 +22.2384i
-28.2460 -22.2384i
16.7458 +22.2084i
16.7458 -22.2084i
-6.0000
-1.9990
-1.0007

Kp =

-1.0909

ans =

sGe(s)

Transfer function:

1e006 s^5 + 2e007 s^4 + 1.25e008 s^3 + 2.5e008 s^2 + 1.44e008 s

--------------------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 - 9.975e005 s^4 - 1.899e007 s^3 - 1.16e008 s^2

- 2.3e008 s - 1.32e008

Kv =

ans =

s^2Ge(s)

Transfer function:

1e006 s^6 + 2e007 s^5 + 1.25e008 s^4 + 2.5e008 s^3 + 1.44e008 s^2
--------------------------------------------------------------------------------
s^7 + 32 s^6 + 401 s^5 - 9.975e005 s^4 - 1.899e007 s^3 - 1.16e008 s^2

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-29

- 2.3e008 s - 1.32e008

Ka =

essstep =

-330.0000

essramp =

Inf

essparabola =

Inf
47.
a. Mason’s rule can be used to find the open loop transfer from input to output:
1 1
Only one forward path, T1 = K T ( K v + )K m
τs LCs 2
K mα
Three touching loops, L1 = − , L2 = −
1
, L3 = −
1
Ls LCs 2
Z L Cs
K α 1 1
Δ = 1+ m + + ; Δ1 = 1
Ls LCs 2 Z L Cs
KT K m 1
(K v + )
TΔ LCs 2
τs 1
G ( s) = 1 1 = . Letting Z L =
Δ K α 1 1 sC L
1+ m + 2
+
Ls LCs Z L Cs
KT K m 1
(K v + )
LCs 2
τs K K ( K τs + 1)
G(s) = = 2 T m v
K α 1 C τs [L(C + C L ) s + K mαC ]
1+ m + 2
+ L
Ls LCs C

Since the system is not unity feedback, we calculate

K T K m ( K vτs + 1)
G ( s) τs [L(C + C L ) s + K mαC ]
2
=
1 + GH ( s ) − G ( s ) K K ( K τs + 1) K K ( K τs + 1)
1+ β 2 T m v − 2 T m v
τs [L(C + C L ) s + K mαC ] τs [L(C + C L ) s + K mαC ]
K K ( K vτs + 1)
= T m
τ
s 2 [L(C + C L ) s + K mαC ] + ( β − 1) T m ( K vτs + 1)
K K
τ

Copyright © 2011 by John Wiley & Sons, Inc.

7-30 Chapter 7: Steady-State Errors

The system is type 0.

G(s) 1
b. For a step input we calculate K P = Lim =
s →0 1 + GH ( s ) − G ( s ) β − 1
1 1
Then ess = = 1−
1+ KP β

48.
G1(s)G2(s) D(s)G2(s)
Y(s) = R(s) 1 + G (s)G (s)H(s) + 1 + G (s)G (s)H(s)
1 2 1 2

G1(s)G2(s) D(s)G2(s)
E(s) = R(s) - Y(s) = R(s) - 1 + G (s)G (s)H(s) R(s) - 1 + G (s)G (s)H(s)
1 2 1 2

= ⎡1 - 1 + G (s)G (s)H(s)⎤ R(s) - 1 + G (s)G (s)H(s) D(s)

G1(s)G2(s) G2(s)
⎣ 1 2 ⎦ 1 2
Thus,

⎪⎧ ⎡ G1 (s)G 2 (s) ⎤ G 2 (s) ⎫⎪

e(∞) = lim sE(s) = lim ⎨ ⎢1 − ⎥ R(s) − D(s) ⎬
s→0 s→0
⎪⎩ ⎣ 1 + G1 (s)G 2 (s)H(s) ⎦ 1 + G1 (s)G 2 (s)H(s) ⎪⎭

49.
a. E(s) = R(s) - C(s). But, C(s) = [R(s) - C(s)H(s)]G1(s)G2(s) + D(s). Solving for C(s),

R(s)G1(s)G2(s) D(s)
C(s) = 1 + G (s)G (s)H(s) + 1 + G (s)G (s)H(s)
1 2 1 2
Substituting into E(s),

E(s) = ⎡1 - 1 + G (s)G (s)H(s)⎤ R(s) - 1 + G (s)G (s)H(s) D(s)

G1(s)G2(s) 1
⎣ 1 2 ⎦ 1 2

1
b. For R(s) = D(s) = s ,
lim G1 (s)G 2 (s) 1
e(∞) = lim sE(s) = 1 − s→0
−
s→0 1 + lim G1 (s)G 2 (s)H(s) 1 + lim G1 (s)G 2 (s)H(s)
s→0 s→0

c. Zero error if G1(s) and/or G2(s) is Type 1. Also, H(s) is Type 0 with unity dc gain.
50.
First find the forward transfer function of an equivalent unity feedback system.

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-31

K
s(s + 1)(s + 4) K
Ge (s) = K (s + a − 1) = s 3 + 5s 2 + ( K + 4)s + K( a − 1)
1+
s(s + 1)(s + 4)

1 1 a −1
Thus, e(∞) = e(∞) = = =
1 + Kp 1 + K a
K(a − 1)

a δe a ⎛ a − (a − 1) ⎞ a − 1
Finding the sensitivity of e(∞), Se:a = = = 2 .
e δa a ⎝ a
2 ⎠ a
a −1

51.
P δT P( s) (1 + L( s ))( F ( s )G ( s ) H ( s )) − F ( s ) L( s )(G ( s ) H ( s ))
a. S T :P = =
T δP L( s ) (1 + L( s )) 2
F (s)
1 + L( s )

P ( s ) F ( s )G ( s ) H ( s ) 1
= =
F ( s ) L( s ) (1 + L( s )) 1 + L( s )
T ( s) 1 L( s)
b. S T :P + = + =1
F ( s ) 1 + L( s ) 1 + L( s )

Copyright © 2011 by John Wiley & Sons, Inc.

7-32 Chapter 7: Steady-State Errors

52.
P δT s 2 + 5s 1 14
a. S T :P = = 2 = so GP ( s ) = and
T δP s + 5s + 14 1 + GP( s ) s ( s + 5)
14 14 14
s ( s + 5) s ( s + 5) 7 GP ( s ) s ( s + 5) 14
G ( s) = = = . Also = = 2 , so
P( s) 2 s+5 1 + GP( s ) 14 s + 5s + 14
1+
s s ( s + 5)
14 K
T (s) ( s + 1)( s + 2)( s 2 + 5s + 14) 14 K
F (s) = = =
GP( s ) 14 ( s + 1)( s + 2)
1 + GP( s ) s + 5s + 14
2

1
b. The system is type 1, so for ess = 0 it is required that Lim F ( s ) = 7 K = 1 . So K = .
s →0 7

53.
From Eq. (7.70),
⎛ K1 K 2 ⎞ ⎛ K2 ⎞
⎜ (s + 2) ⎟ ⎜ (s + 2) ⎟ 2-K 2
e(∞) = 1 − lim ⎜ ⎟ − lim = ⎜ ⎟ =
K K (s + 1) K K (s + 1)
⎟ 2 + K 1K 2
s→0 s→0
⎜ 1+ 1 2 ⎟ ⎜ 1+ 1 2
⎝ (s + 2) ⎠ ⎝ (s + 2) ⎠
Sensitivity to K1:
K1 δe K1K2 (100)(0.1)
Se:K1 = e δK = - 2+K K = - 2+(100)(0.1) = - 0.833
1 1 2
Sensitivity to K2:
K2 δe 2K2(1+K1) 2(0.1)(1+100)
Se:K2 = e δK = (K -2)(2+K K ) = (0.1-2)(2+(100)(0.1)) = - 0.89
2 2 1 2

54.
a. Using Mason’s rule:
Kt 1 ε ω 02 ε εmr
T1 = 1 ; Loops L1 = m = + mr and L2 = − , no
s + ω 0 M US s + ε s + ω0 s + ε s+ε
2 2 r 2 2

εmr
non-touching loops. Δ 1 = 1 +
s+ε
εmr
1+
E T1 Δ1 s+ε
= =
R Δ ε ω2 ε
1 + mr − 2 0 2 mr
s + ε s + ω0 s + ε
b. For a unit step input,

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-33

εmr
1+
s +ε 1 1 + mr
ess = Lim s = = 1 + mr
s →0 ε ω02
ε s 1 + mr − m r
1 + mr − mr
s + ε s 2 + ω 02 s + ε
c. For a unit ramp input,
εmr
1+
ess = Lim s s +ε 1
=∞
s →0 ε ω02
ε s2
1 + mr − mr
s + ε s 2 + ω 02 s + ε
d. The system is type 0.

55.
a. Using Eq. (7.89) with

s 2 + 1 5 s+ 5 0 - (4s+ 22 ) - (2 s+ 2 0)
-1 1
(sI - A ) = 3 2 - (3s+ 15 ) s 2 + 10 s+ 2 3 6
s + 20 s + 1 11 s+ 1 6 4
- (s+ 13 ) s+ 9 s 2 + 15 s+ 3 8

yields e(∞) = 1.09756 for a step input and e(∞) = ∞ for a ramp input. The same results are obtained

using

and Eq. (7.96) for a step input and Eq. (7.103) for a ramp input.

b. Using Eq. (7.89) with

s2 + 9s s 7
-1 1
(s I - A ) = 3 2 - (5 s + 7 ) s2 7s
s + 9s + 5s+ 7
2
- (s + 9 ) -1 s + 9s+ 5

5
yields e(∞) = 0 for a step input and e(∞) = 7 for a ramp input. The same results are obtained using

and Eq. (12.123) for a step input and Eq. (12.130) for a ramp input.

c. Using Eq. (7.89) with

Copyright © 2011 by John Wiley & Sons, Inc.

7-34 Chapter 7: Steady-State Errors

yields e(∞) = 6 for a step input and e(∞) = ∞ for a ramp input. The same results are obtained using

and Eq. (7.96) for a step input and Eq. (7.103) for a ramp input.

56.
Find G4(s): Since 100 mi/hr = 146.67 ft/sec, the velocity response of G4(s) to a step displacement of

the accelerator is v(t) = 146.67(1 - e-αt). Since 60 mi/hr = 88 ft/sec, the velocity equation at 10 seconds
K1
56becomes 88 = 146.67 (1 - e-α10). Solving for α yields α = 0.092. Thus, G4(s) = s+0.092 . But, from

K1 13.49
the velocity equation, the dc value of G4(s) is 0.092 = 146.67. Solving for K1, G4(s) = s+0.092 .

Find error: The forward transfer function of the velocity control loop is
13.49K 13.49K 1
G3 (s)G4 (s) = . Therefore, Kv = 0.092 . e(∞) = K = 6.82 x 10-3K.
s(s + 1)(s + 0.092) v

57.
First, reduce the system to an equivalent unity feedback system. Push K1 to the right past the summing
junction.

K1
Convert to a unity feedback system by adding a unity feedback path and subtracting unity from K .
3
The equivalent forward transfer function is,

K1K2
Js2+Ds K1K2
Ge(s) = K1K2 ⎛K3 ⎞ = Js2 +Ds+K2(K3-K1)
1+ 2 -1
Js +Ds ⎝K1 ⎠

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-35

K1
The system is Type 0 with Kp = . Assuming the input concentration is Ro,
K3 − K1
Ro R o (K3 − K1 )
e(∞) = 1+K = . The error can be reduced if K3 = K1.
p K3

58.
(s+0.01)
K
s2 K (s+0.01) Kc
a. For the inner loop, G1e(s) = = 2
(s+0.01) s +Ks+0.01K , where K = J .
1+K
s2
(s+0.01) (s+0.01)2
Form Ge(s) = G1e(s) = K .
s2 s2(s2+Ks+0.01K)
System is Type 2. Therefore, estep = 0,
b. eramp = 0,
1 1
c. eparabola = K = 0.01 = 100
a
Ge(s) K(s+0.01)2
d. T(s) = 1+G (s) = 4
e s +Ks3+1.01Ks2+0.02Ks+10-4K

s4 1 1.01K 10-4K

s3 K 0.02K 0 0<K

s2 1.01K-0.02 10-4K 0 0.0198 < K

0.0201 K2 − 0.0004 K
s1 1.01 K − 0.02 0 0 0.0199 < K

s0 10-4K 0<K

Kc
Thus, for stability K = J > 0.0199

59.
a. Following Figure P7.29, the transfer function from δ f to e is given by:

e r* − G f
=
δf 1 + KGr

1
For δf = we have that in steady state
s

Copyright © 2011 by John Wiley & Sons, Inc.

7-36 Chapter 7: Steady-State Errors

b2
0.8 −
a2
e(∞ ) =
b
1 + K (0) 4
a2

It can be seen from this expression that if K ( s ) is type 1 or larger e(∞) = 0 .

[Link] Figure P7.29:
r G f + r * KGr
=
δf 1 + KGr

The error is now defined as

r G f + r * KGr 1 + KGr − G f + r * KGr
1− = 1− =
δf 1 + KGr 1 + KGr

In steady state this expression becomes:

b4 b2 b b b
1 + K (0) − − 0.8 K (0) 4 1 + 0.2 K (0) 4 − 2
r a2 a2 a2 a2 a2
1− (0) = =
δf b
1 + K (0) 4
b
1 + K (0) 4
a2 a2
It can be seen in this equation that the steady state error cannot be made zero.

SOLUTIONS TO DESIGN PROBLEMS

60.
3π
Pot gains: K1 = = 3; Amplifier gain: K2 ; Motor transfer function: Since time constant = 0.5, α
π
K 100 C(s)
= 2. Also, = 10 = 10. Hence, K = 20. The motor transfer function is now computed as E (s) =
α a
20
s(s+2) . The following block diagram results after pushing the potentiometers to the right past the

summing junction:

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-37

60K2 1
Finally, since Kv = 10 = 2 , from which K2 = 3 .
61.
First find Kv: Circumference = 2π nautical miles. Therefore, boat makes 1 revolution
2π
in 20 = 0.314 hr.

1 rev 2π rad rad

Angular velocity is thus, 0.314 hr = 3600 x 0.314 sec = 5.56 x 10-3 sec .
1/10o 5.56 x 10-3 K
For 0.1o error, e(∞) = o x 2 π rad = K . Thus Kv = 3.19 = 4 ; from which,
360 v
K = 12.76.

62.
a. Performing block diagram reduction:

R(s) + + s −13 + 100 C(s)

2
K1 −
s + 13 s + 14 s +100
2
(s + 0.5)(s + 9.5s + 78)
2

- - -

3s
s+ 0.2

-s

Copyright © 2011 by John Wiley & Sons, Inc.

7-38 Chapter 7: Steady-State Errors

+ + 100 (s + 0. 2) C(s)
− s − 13
R(s) 2
K1
s + 13 s + 14. 2 s + 402. 8 s + 20
3 2
(s + 0.5)(s + 9. 5 s + 78)
2

-
-

−s

R(s) + + C(s)
K1 Ge(s)
- -

− s

G e(s) = − 200 s 2 − 12.8 s − 2.6

s 7 + 37.2 s 6 + 942.15 s 5 + 13420 s 4 + 1.0249 ×10 5 s 3 + 4.6048 ×10 5 s 2 + 2.2651 ×10 5 s + 10140

System is unity feedback with a forward transfer function, Gt(s), where

s 2 − 12.8 s − 2.6
Gt(s) = − 200 K 1
s 7 + 37.2 s 6 + 942.15 s 5 + 13420 s 4 + 1.0269×10 5 s 3 + 4.5792×10 5 s 2 + 2.2599×10 5 s + 10140

Thus, system is Type 0.

520K1
b. From Gt(s), Kp = 10140 = 700. Thus, K1 = 13650.
Gt
c. T s =
1+ G t
For K1 = 13650,

T s = − 2730000 s 2 − 12.8 s − 2.6

s 7 + 37.2 s 6 + 942.15 s 5 + 13420 s 4 + 1.0269×10 5 s 3 − 2.2721×10 6 s 2 + 3.517×10 7 s + 7108140

Because of the negative coefficient in the denominator the system is unstable and the pilot would not
be hired.

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-39

63.
The force error is the actuating signal. The equivalent forward-path transfer function is
K1
Ge (s) = . The feedback is H(s) = De s + Ke . Using Eq. (7.72)
s(s + K1 K2 )
R(s)
Ea (s) = . Applying the final value theorem,
1 + Ge (s)H (s)
⎛1
s 2⎞
⎝s ⎠ K
ea _ ramp (∞) = lim K ( D s + K ) = 2 < 0.1. Thus, K2 < 0.1Ke. Since the closed-loop system
s →0 Ke
1+ 1 e e

s ( s + K1 K2 )
is second-order with positive coefficients, the system is always stable.
64.
a. The minimum steady-state error occurs for a maximum setting of gain, K. The maximum K possible
is determined by the maximum gain for stability. The block diagram for the system is shown below.

ωi _desired ( s) + V i (s) ωo (s)

3 K
(s + 10)(s + 4s + 10)
2

Pushing the input transducer to the right past the summing junction and finding the closed-loop
transfer function, we get

3K
(s + 10)( s2 + 4 s + 10) 3K
T (s ) = = 3
3K s + 14s + 50s + (3 K + 100)
2
1+
(s + 10)(s + 4 s + 10)
2

Forming a Routh table,

s3 1 50
s2 14 3K+100
s 1
− 3K + 600 0
14
s0 3K+100 0

Copyright © 2011 by John Wiley & Sons, Inc.

7-40 Chapter 7: Steady-State Errors

100
The s1 row says -∞ < K < 200. The s0 row says − < K. Thus for stability,
3
100
− < K < 200. Hence, the maximum value of K is 200.
3
3K 1 1
b. K p = = 6 . Hence, estep (∞) = = .
100 1 + Kp 7
c. Step input.

65.
140625e −0.1s 0.005L
Substituting values we have P ( s ) = , G( s) =
( s + 2.67)( s + 10) s + 0.005

The proportional error constant

0.005 L 140625e −0.1s
K P = Lim G ( s ) P( s ) = Lim = 5273.44 L
s →0 s →0 s + 0.005 ( s + 2.67)( s + 10)
1 1
e ss = = = 0.1 which gives L = 1.71 × 10 −3 .
1 + K P 1 + 5273.44 L

66.
K P s + K I 48500
a. The open loop transmission is GP ( s ) = . The system is type 2.
s2 s + 2.89
b. The Transfer function from disturbance to error signal is
48500
E (s)
=− s + 2.89 s
2
=− 3
48500 s
D(s) 48500 K P s + K I s + 2.89 s + 48500( K P s + K I )
2
1+ 2
s + 2.89 s s

Using the Final value theorem

⎛ 48500 s ⎞1
e ss = Lim sE ( s ) = Lim s⎜⎜ − 3 ⎟⎟ = 0
⎝ s + 2.89 s + 48500( K P s + K I ) ⎠ s
s →0 s →0 2

48500 K I 1 2.89
c. We calculate K a = Lim s G ( s ) P ( s ) = so eSS = = = 0.05 . So
2
s →0 2.89 K a 48500K I
we get K I = 0.0120
48500 K P s + 0.012
d. The system’s characteristic equation is 1 + 2 = 0 or
s + 2.89s s
s 3 + 2.89s 2 + 48500K P s + 584.021 = 0 . The Routh array is:

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-41

s3 1 48500 K P

s2 2.89 584.021
140165 K P − 584.21
s
2.89

1 48500 K P

The dominant requirement is given by the third row K P > 0.00417

67.
a.
Yh-Ycat
Spring
displacement
Desired Input
1 voltage+ F up
force 1 0.7883( s + 53.85) F out
K 82300
100 1000 ( s2 + 15.47 s + 9283 )( s 2 + 8.119 s + 376 .3)
-
Input Controller Actuator Pantograph Spring
transducer dynamics

1
100

Sensor

Y h-Ycat
Spring
displacement
Desired
+ Fup
force K 1 0.7883( s + 53.85) Fout
82300
100 1000 (s 2 + 15.47s + 9283 )(s 2 + 8.119 s + 376 .3)
-
Controller Actuator Pantograph Spring
dynamics

b.
Yh (s) − Ycat (s) 0.7883(s + 53.85)
G(s) = = 2
(s + 15.47s + 9283)(s + 8.119s + 376.3)
2
Fup (s)

Ge(s) = (K/100)*(1/1000)*G(s)*82.3e3

0.6488K (s+53.85)
Ge(s) =
(s2 + 8.119s + 376.3) (s2 + 15.47s + 9283)

Kp = 0.6488K*53.85/[(376.3)(9283)] = K*1.0002E-5

Copyright © 2011 by John Wiley & Sons, Inc.

7-42 Chapter 7: Steady-State Errors

Maximum K minimizes the steady-state error. Maximum K possible is that which yields stability.
From Chapter 6 maximum K for stability is K = 1.88444 x 105. Therefore, Kp = 1.8848.
c. ess = 1/(1+Kp) = 0.348.

68.
a. The system is Type 0 since there are no open-loop poles at the origin.
b. The open loop transfer function is:
−520s − 10.3844
KG ( s ) P ( s ) = K
s + 2.6817 s 2 + 0.11s + 0.012b
3

So that K p = Lim KG ( s ) P ( s ) = −824.16 K

s→0

1 1
ess = = = 0.1 which results in K = −0.1092 .
1+ K p 1 − 824.16 K

s 4 + 2.6817 s 3 + 0.11s 2 + (0.0126 − 520 K ) s + 10.3844 K = 0

The Routh array is

69.
a. When the speed controller is configured as a proportional controller, the forward-path transfer
function of this system is:

0.11 ( s + 0.6) × K P
G(s) = SC
(1)
s ( s + 0.5173) + 5 (s + 0.6) × (s + 0.01908)

For the steady-state error for a unit-step input, r(t) = u(t), to be equal to 1%:

1 1
estep (∞) = = = 0.01 (2)
1 + lim G ( s ) ⎛ 0.11 ( s + 0.6) × K P ⎞
s →0 1 + lim ⎜ SC ⎟
⎜
s → 0 s ( s + 0.5173) + 5 (s + 0.6) × (s + 0.01908) ⎟
⎝ ⎠

1
From equation (2), we get: = 0.01 , which yields: KPSC = 85.9.
0.11× 0.6 × K P
1+ SC
0 + 5 × 0.6 × 0.01908
b. When the speed controller is configured as a proportional plus integral controller, the forward-path
transfer function of the system becomes:

Copyright © 2011 by John Wiley & Sons, Inc.

 Solutions to Problems 7-43

0.11 ( s + 0.6) × (100s + K I )

G ( s) = SC

s [s ( s + 0.5173) + 5 (s + 0.6) × (s + 0.01908) ]

(3)

For the steady-state error for a unit-ramp input, r(t) = t u(t), to be equal to 2.5%:

1 1
eramp (∞) = = = 0.025 (4)
lim s G ( s) ⎛ 0.11 ( s + 0.6) × (100s + K I
) ⎞
s →0 lim s ⎜ SC ⎟
s → 0 ⎜ s[s ( s + 0.5173) + 5 (s + 0.6) × (s + 0.01908)] ⎟
⎝ ⎠

1
From equation (4), we get: = 0.025 , which yields: KISC = 34.7.
0.11× 0.6 × K I
SC
0 + 5 × 0.6 × 0.01908

c. We’ll start by finding G1(s), the equivalent transfer function of the parallel combination,
representing the torque and speed controllers, shown in Figure P7.35:

13.53 s 3 ( s + 0.6) ⎛ 100 s + 40 ⎞ 313.53 s 2 + 300 s + 72

G1 ( s ) = + ⎜ ⎟= (5)
( s + 0.5) ( s + 0.5) ⎝ s ⎠ s ( s + 0.5)
6.13 × 10 −3
Given that the equivalent transfer function of the car is: G2 ( s ) = , we apply equation
s + 0.01908

7.62* of the text taking into consideration that the disturbance here is a step with a magnitude equal to

83.7:
83.7 83.7
e( ∞ ) = − =− =0
lim
1
+ lim G1 ( s ) 3.11 + ∞
s →0 G2 ( s ) s→0

Copyright © 2011 by John Wiley & Sons, Inc.

 E I G H T

Root Locus Techniques

SOLUTIONS TO CASE STUDIES CHALLENGES
Antenna Control: Transient Design via Gain

a. From the Chapter 5 Case Study Challenge:

76.39K
G(s) =
s(s+150)(s+1.32)
1
Since Ts = 8 seconds, we search along - , the real part of poles with this settling time, for 180o.
2

We find the point to be - 0.5+j6.9 with 76.39K = 7194.23, or K = 94.18. Second-order

approximation is OK since third pole is much more than 5 times further from the imaginary axis

than the dominant second-order pair.

b.
Program:
numg= 1;
deng=poly([0 -150 -1.32]);
'G(s)'
G=tf(numg,deng)
rlocus(G)
axis([-2,0,-10,10]);
title(['Root Locus'])
grid on
[K1,p]=rlocfind(G)
K=K1/76.39

Computer response:
ans =

G(s)

Transfer function:
1
-----------------------
s^3 + 151.3 s^2 + 198 s

Select a point in the graphics window

selected_point =

-0.5034 + 6.3325i

Copyright © 2011 by John Wiley & Sons, Inc.