Steady State Errors ELEC304-Alper Erdogan

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Lecture 1
Steady State Errors
We define the error as the difference between the
input and output:

For unity feedback systems error is the input of the

feedforward block:

And the steady state error

e() = lim sE(s)
s0

(1)

Steady State Errors ELEC304-Alper Erdogan

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Steady State Error in Terms of T (s)

Error can be written as

E(s) = R(s) C(s)
Here
C(s) = R(s)T (s)
and therefore
E(s) = R(s) R(s)T (s) = R(s)(1 T (s))
As a result, the steady state error
e() = lim sR(s)(1 T (s))
s0

Example: For T (s) =

R(s) = 1s

s2 +7s+10

and unit step input

1
s2 + 7s + 5
E(s) = (1 T (s)) =
s
s(s2 + 7s + 10)

Steady State Errors ELEC304-Alper Erdogan

and the steady state error

s2 + 7s + 5
1
e() = lim sE(s) = lim 2
=
s0
s0 s + 7s + 10
2
How about the steady state error for the ramp
input (R(s) = s12 )?
1
s2 + 7s + 5
E(s) = 2 (1 T (s)) = 2 2
s
s (s + 7s + 10)
and the steady state error
s2 + 7s + 5
e() = lim sE(s) = lim
=
s0
s0 s(s2 + 7s + 10)

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Steady State Errors ELEC304-Alper Erdogan

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Steady State Error in Terms of G(s)

Note that
E(s) = R(s) C(s)
and
C(s) = E(s)G(s)
which yield
E(s) =

R(s)
1 + G(s)

Therefore the steady state error

sR(s)
e() = lim sE(s) = lim
s0
s0 1 + G(s)
For a step input R(s) =

1
s

s 1s
1
e() = lim
=
s0 1 + G(s)
1 + lims0 G(s)

Steady State Errors ELEC304-Alper Erdogan

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To have zero steady state error

lim G(s) =

s0

which implies G(s) must take the form

(s + z1)(s + z2)...
G(s) = n
n1
s (s + p1)(s + p2)...
i.e. at least one pure integrator!
For a ramp input R(s) =

1
s2

1
s s12
=
e() = lim
s0 1 + G(s)
lims0 sG(s)
To have zero steady state error
lim sG(s) =

s0

which implies G(s) must take the form

(s + z1)(s + z2)...
n2
G(s) = n
s (s + p1)(s + p2)...
i.e. at least two pure integrators!
For a parabolic input R(s) =

1
s3

s s13
1
e() = lim
=
s0 1 + G(s)
lims0 s2G(s)
To have zero steady state error
lim s2G(s) =

s0

Steady State Errors ELEC304-Alper Erdogan

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which implies G(s) must take the form

G(s) =

(s + z1)(s + z2)...
sn(s + p1)(s + p2)...

i.e. at least three pure integrators!

n3

Steady State Errors ELEC304-Alper Erdogan

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Examples
Consider the System (with no integrator) in the
following figure

The steady state error for r(t) = 5u(t) (R(s) = 5s )

s 5s
5
5
5
e() = lim
=
=
=
s0 1 + G(s)
1 + lims0 G(s) 1 + 20 21
The steady state error for r(t) = 5tu(t) (R(s) =
s s52
5
e() = lim
=
=
s0 1 + G(s)
lims0 sG(s)

5
)
s2

Steady State Errors ELEC304-Alper Erdogan

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Examples
Consider the System (with one integrator) in the
following figure

The steady state error for r(t) = 5u(t) (R(s) = 5s )

s 5s
5
5
e() = lim
=
=
=0
s0 1 + G(s)
1 + lims0 G(s)
The steady state error for r(t) = 5tu(t) (R(s) =

5
)
s2

5
5
1
s s52
=
=
=
e() = lim
s0 1 + G(s)
lims0 sG(s) 100 20
The steady state error for r(t) = 5t2u(t) (R(s) =

10
)
s3

s 10
10
10
s3
e() = lim
=
=
=
2
s0 1 + G(s)
lims0 s G(s)
0

Steady State Errors ELEC304-Alper Erdogan

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Type of the System

The type of the system (the number of integrators in
the open loop system) determines which type of
signals we can track:

Here n is the type of the system.

If n = 0,
It can track unit step with a nonzero error
1
1
e() =
=
1 + lim G(s) 1 + Kp
s0 {z
Kp

where Kp is the position constant.

It can not track ramp or parabolic inputs.
If n = 1,
It can track unit step with a zero error.
It can track ramp with a nonzero error.
1
1
e() =
=
lim sG(s) Kv
s0
|

{z

Kv

Steady State Errors ELEC304-Alper Erdogan

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where Kv is the velocity constant.

It can not track parabolic inputs.
If n = 2,
It can track unit step and ramp input with zero
errors.
It can track parabolic input with a nonzero error.
1
1
=
e() =
lim s2G(s) Ka
s0

{z

Ka

where Ka is the acceleration constant.

Steady State Errors ELEC304-Alper Erdogan

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Steady State Errors: Static Error

Constants
Position constant
(1)

Kp = lim G(s)
s0

Steady state error for unit step input is e() =

1
1+Kp .

Velocity constant
Kv = lim sG(s)

(2)

s0

Steady state error for a ramp input is e() =

1
KV .

Acceleration constant
Ka = lim s2G(s)
s0

Steady state error for a parabolic input is e() =

(3)
1
Ka .

Steady State Errors ELEC304-Alper Erdogan

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Example
Given the control system

find K such that there is a 10 percent error in steady

state?
Solution: Since system type is 1 the finite steady
state error should be for a ramp input.
e() =
So

1
= 0.1
Kv

5K
Kv = 10 = lim sG(s) =
s0
678
we obtain K = 672

Steady State Errors ELEC304-Alper Erdogan

How About Nonunity Feedback

Systems
Easy! Use the following transformation:

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