ENGR3350U - CONTROL SYSTEMS

LECTURE-10

Lecture Schedule
Week-1 [10-Sep]: Lab Introduction Week-2 [14,17 Sep]: Control System, Closed / Open Loops, Modelling of Dynamic Systems Week-3 [21,24 Sep]: Laplace Transform, Block Diagram, Review Week-4 [28-Sep, 1-Oct]: State Variables, Feedback Control, Review Week-5 [5,8 Oct]: Midterm Exam (1), Invited Lecture / Project Discussions Week-6 [12,15 Oct]: Performance of Feedback Control Week-7 [19,22 Oct]: Steady State Error, Stability
Dr. Hossam A.Gabbar 2
2

Lecture Schedule
Week-8 [26,29 Oct]: Stability and Root Locus Method Week-9 [2,5 Nov]: Midterm Exam (2), Review Week-10 [9,12 Nov]: Root Locus Method Week-11 [16,19 Nov]: Frequency Response Methods, and Stability in Frequency Domain Week-12 [23,26 Nov]: Project Presentation Week-13 [30-Nov, 3-Dec]: Nyquist Diagram, Control System Design, Final Review

Dr. Hossam A.Gabbar

LEARNING OBJECTIVES
Review Sensitivity Analysis Understand Steady State Error, and Final Value Theorem Stability

Ch4/5: pages: 234-242, 250-273, 305-330

PERFORMANCE OF FEEDBACK CONTROL

CONTROL SYSTEM RESPONSES

STEADY STATE ERROR

STEADY STATE ERROR

A steady-state error is the difference between the input and the output for a prescribed test input as t approaching to infinite. Open-loop system:

Closed-loop system:

STEADY STATE ERROR

Valid only if limit of e(t) at (infinity) exists

10

STEADY STATE ERROR

11

EXAMPLE

A magnetic drive requires a motor to position a read/write head over tracks of data on a spinning disk, as shown below. The motor and head may be represented by the transfer function:

12

EXAMPLE
The controller takes the difference of the actual and desired positions and generates an error. This error is multiplied by an amplifier K. (a) what is the steady state position error for a step change in the desired input? (b) calculate the required K in order to yield a steady-state error of 0.1 mm for a ramp input of 10 cm/s

13

EXAMPLE - STEADY STATE ERROR

14

STEADY STATE ERROR

15

16

17

18

STEADY STATE ERROR

Kp is called the step error constant. Kv is called the ramp error constant. Ka is called the parabolic error constant. They are defined as follows.

19

STEADY STATE ERROR FOR UNIT STEP INPUT

20

STEADY-STATE ERROR FOR RAMP RESPONSE

21

22

23

QUIZ

a. Calculate steady state error for unit step response b. Calculate the overshoot of the speed to a step command
24

SOLUTION

25

SOLUTION

26