1

Unity Feedback System

C(s)
+
-
E(s)
G(s)
R(s)
Desired input
System output
Error, E(s)=R(s)-C(s)
Open Loop Transfer Function
Unity Feedback System
?
) (
) (
=
s R
s C
) ( 1
) (
) (
) (
s G
s G
s R
s C
+
=
?
) (
) (
=
s R
s E
) ( 1
1
) (
) (
) (
) (
) (
) (
) (
) (
s G s R
s E
s R
s C
s R
s R
s R
s E
+
=
=
Final value theorem
if the real parts of all poles of E(s) are <0
except for possibly one pole at s=0
sE(s) e e(t)
ss
0
lim lim

= =
s t
i.e., if the system is stable!
Example #1a
C(s)
+
-
E(s) R(s)
) 5 )( 4 (
) 3 ( 6
+ +
+
s s
s
Find steady-state error for
unit step input
unit ramp input
FVT does not apply!
Example #1b
) 5 )( 4 (
) 3 ( 6
1
1
) ( 1
1
) (
) (
+ +
+
+
=
+
=
s s
s
s G s R
s E
) 3 ( 6 ) 5 )( 4 (
) 5 )( 4 (
) ( ) (
+ + + +
+ +
=
s s s
s s
s R s E

+ + + +
+ +

=
) 3 ( 6 ) 5 )( 4 (
) 5 )( 4 ( 1
) (
2
s s s
s s
s
s E
For a unit ramp,
Can have at most one
pole of E(s) at
s=0
Example #1c
C(s)
+
-
E(s) R(s)
) 5 )( 4 (
) 3 ( 6
+ +
+
s s
s
Use Simulink to plot response to
unit step input
unit ramp input
2
Example #2a
C(s)
+
-
E(s) R(s)
) 7 )( 3 (
) 2 ( 4
+ +
+
s s s
s
Find steady-state error for
unit step input
unit ramp input
Example #2b
) 2 ( 4 ) 7 )( 3 (
) 7 )( 3 (
) (
) (
+ + + +
+ +
=
s s s s
s s s
s R
s E

+ + + +
+ +

=
) 2 ( 4 ) 7 )( 3 (
) 7 )( 3 ( 1
) (
s s s s
s s s
s
s E
For a unit step,
8 ) 21 ( 0
) 21 ( 0
) 2 ( 4 ) 7 )( 3 (
) 7 )( 3 (
) ( lim
0 +
=

+ + + +
+ +
=
s s s s
s s
s s sE
s
0
Example #2c
C(s)
+
-
E(s) R(s)
Use Simulink to plot response to
unit step input
unit ramp input
) 7 )( 3 (
) 2 ( 4
+ +
+
s s s
s
Why different answers?
C(s)
+
-
E(s) R(s)
) 7 )( 3 (
) 2 ( 4
+ +
+
s s s
s
C(s)
+
-
E(s) R(s)
) 5 )( 4 (
) 3 ( 6
+ +
+
s s
s
Why different answers?
C(s)
+
-
E(s)
R(s)
) 7 )( 3 (
) 2 ( 4
+ +
+
s s
s
C(s)
+
-
E(s) R(s)
) 5 )( 4 (
) 3 ( 6
+ +
+
s s
s
s
1
pure integrator
Type 0
C(s)
+
-
E(s) R(s)
) 5 )( 4 (
) 3 ( 6
+ +
+
s s
s
No pure integrators in the open-loop TF
3
Type 1
C(s)
+
-
E(s)
R(s)
) 7 )( 3 (
) 2 ( 4
+ +
+
s s
s
s
1
pure integrator
One pure integrator in the open-loop TF
Type 2
C(s)
+
-
E(s)
R(s)
) 9 )( 1 (
8
+ + s s
2
1
s
2 pure integrators
Two pure integrators in the open-loop TF
Static Error Constants
C(s)
+
-
E(s)
G(s)
R(s)
With unity feedback control systems of this form,
) ( lim
) ( lim
) ( lim
2
0
0
0
s G s K
s sG K
s G K
s
a
s
v
s
p

=
=
=
Position error constant
Velocity error constant
Acceleration error constant
p. 344
Table 7.2: Type 0 Systems
p
ss
K
e
+
=
1
1
Input
Steady-state
error formula
Static
error constant
Error
Step, u(t) K
p
=constant
p
ss
K
e
+
=
1
1
v
ss
K
e
1
= Ramp, t K
v
=0
=
ss
e
a
ss
K
e
1
= Parabola, K
a
=0
=
ss
e
2
2
1
t
Table 7.2: Type 1 Systems
p
ss
K
e
+
=
1
1
Input
Steady-state
error formula
Static
error constant
Error
Step, u(t) K
p
=
v
ss
K
e
1
=
v
ss
K
e
1
= Ramp, t K
v
=constant
0 =
ss
e
a
ss
K
e
1
= Parabola, K
a
=0
=
ss
e
2
2
1
t
Table 7.2: Type 2 Systems
p
ss
K
e
+
=
1
1
Input
Steady-state
error formula
Static
error constant
Error
Step, u(t) K
p
=
a
ss
K
e
1
=
v
ss
K
e
1
= Ramp, t
K
a
=constant
0 =
ss
e
a
ss
K
e
1
= Parabola,
2
2
1
t
K
v
=
0 =
ss
e
4
7.4: SS Error Specs
What does a desired K
v
=1000 tell you?
System is stable (otherwise no K
v
)
System is Type 1 (constant K
v
)
Input to system is a ramp (see Table 7.2)
Steady-state error is e
ss
=A/K
v
where input is At
Problem #12, p. 365
C(s)
+
-
R(s)
) 1 (
10
+ s s
1 + s
-
a) find K
p
, K
v
, and K
a
b) find ess for inputs of 50U(t), 50t, and 50t
2
c) state the system type
not E(s)!
pure integrator
not necessarily Type 1!
Redraw Problem #12
C(s)
+
-
R(s)
) 1 (
10
+ s s
1 + s
-
E(s)
+
What is G(s) in the unity feedback form?
C(s)
+
-
E(s) R(s)
) 1 )( 10 (
10
+ + s s
Type 0!
Problem #12, Part (a)
C(s)
+
-
E(s) R(s)
) 1 )( 10 (
10
+ + s s
0
10
0
) ( lim
0
10
0
) ( lim
1
10
10
) ( lim
2
0
0
0
= = =
= = =
= = =

s G s K
s sG K
s G K
s
a
s
v
s
p
Problem #12, Part (b)
C(s)
+
-
E(s) R(s)
) 1 )( 10 (
10
+ + s s
= =
= =
=

+
= =
ss
ss
ss
e t input
e t input
e t U input
2
50
50
25
1 1
1
50 ) ( 50
Type 0
from
Table 7.2
Problem #38, p. 371
C(s)
+
R(s)
) 2 (
1
2
+
+
s s
s
K
-
a) the system type
b) the value of K to yield 0.1% error in the steady-state
not E(s)!
Unless told otherwise, assume E(s) =R(s)-C(s)
5
Redraw Problem #38
C(s)
+
-
R(s)
) 2 (
1
2
+
+
s s
s
-
E(s)
+
?
What goes in here?
Must have unity feedback to
use Table 7.2!
Problem #38 in Unity Gain Form
C(s)
+
-
R(s)
) 2 (
1
2
+
+
s s
s
-
E(s)
+
K-1
What is G(s) in the unity feedback form?
C(s)
+
-
E(s)
R(s)
) 1 )( 1 ( 2
1
2 3
+ + +
+
s K s s
s
Type 0!
Solve Problem #38
Since we have a Type 0 system,
1
1
) ( lim
0
= =
K
s G K
s
p
1 1
1
1
1
1
1
1
1
100
1 . 0
% 1 . 0
+

+
=
+
= = =
K
K
K
K
e
p
ss
1 . 100
100
100 100 1 . 0 = = K K K
SimulinkSimulation
System to be simulated
Plot: error = input -output