بسم هللا الرحمن الرحيم
Steady-State Errors In Unity-
Feedback Control Systems
Introduction
• Errors in a control system can be attributed to many
factors. Changes in the reference input will cause
unavoidable errors during transient periods and may also
cause steady state errors. we shall investigate a type of
steady-state error that is caused by the incapability of a
system to follow particular types of inputs.
• A system may have no steady-state error to a step input,
but the same system may exhibit nonzero steady-state
error to a ramp input. (The only way we may be able to
eliminate this error is to modify the system structure.)
Classification of Control Systems:
• Control systems may be classified according to their
ability to follow step inputs, ramp inputs, parabolic
inputs, and so on.
• Consider the unity-feedback control system with the
following open-loop transfer function G(s):
• A system is called type 0, type 1, type 2,… , if N=0,
N=1, N=2, p , respectively. Note that this
classification is different from that of the order of a
system. As the type number is increased, accuracy is
improved; however, increasing the type number
Steady-State Errors:
• Consider the system shown in Figure (6.1).The
closed-loop transfer function is
• The transfer function between the error signal e(t)
and the input signal r(t) is
Cont....
• The final-value theorem provides a convenient way
to find the steady-state performance of a stable
system. Since E(s) is
• the steady-state error is
Static Position Error Constant Kp:
• The steady-state error of the system for a unit-step
input is
• The static position error constant Kp is defined by
• Thus, the steady-state error in terms of the static
position error constant Kp is given by
Cont..
• For a unit-step input, the steady-state error ess may
be summarized as follows:
Static Velocity Error Constant Kv
• The steady-state error of the system with a unit-ramp
input is given by
• The static velocity error constant Kv is defined by
• Thus, the steady-state error in terms of the static
velocity error constant Kv is given by
Cont...
• The term velocity error is used here to express the
steady-state error for a ramp input.
• For a type 0 system,
• For a type 1 system,
Cont...
• For a type 2 or higher system,
• The steady-state error ess for the unit-ramp input can
be summarized as follows:
Static Acceleration Error Constant Ka:
• The steady-state error of the system with a unit-
parabolic input (acceleration input), which is defined
by
• is given by
Cont...
• The static acceleration error constant Ka is defined by
the equation
• The steady-state error is then
Cont..
• For a type 0 system,
• For a type 1 system,
• For a type 2 system,
Cont...
• For a type 3 or higher system,
• Thus, the steady-state error for the unit parabolic
input is
Summary:
• Table (6.1) summarizes the steady-state errors for
type 0, type 1, and type 2 systems when they are
subjected to various inputs.
Step input Ramp input Acceleration input
r(t)=1 r(t)=t r(t)=
Type 0 system ∞ ∞
Type 1 system 0 ∞
Type 2 system 0 0
Example 6-1:
• When the system shown in Figure (6.4 (a)) is
subjected to a unit-step input, the system output
responds as shown in Figure (6.4 (b)). Determine the
values of K and T from the response curve.
Example 6-2:
• Determine the values of K and k of the closed-loop
system shown in Figure (6.5) so that the maximum
overshoot in unit-step response is 25% and the peak
time is 2 sec. Assume that J=1 kg-m2.
Example 6-3:
• Figure 5–54(a) shows a mechanical vibratory
system .When 2 lb of force (step input) is applied to
the system, the mass oscillates, as shown in Figure 5–
54(b). Determine m, b, and k of the system from this
response curve. The displacement x is measured
from the equilibrium position.
