Minggu ke – 4

Steady-State Errors
 In this lecture, you will learn:

• Find the steady-state error for a unity feedback system

• Specify a system’s steady-state error performance

• Find the steady-state error for disturbance inputs

• Find the steady-state error for non-unity feedback systems

• Design system parameters to meet steady-state error

performance specifications
 Steady State Error

Difference between the input and output

for prescribed test inputs as t  

There are 3 steady state error:

1. steady state error position (ess)p
2. steady state error velocity (ess)v
3. steady state error acceleration (ess)a

Test inputs:
1. Step (constant position)
2. Ramp (constant velocity)
3. Parabola (constant acceleration)
Steady State Error
 Steady State Error Position
System must be stable before
checking the steady-state error.

STEP RESPONSE
• Output 1: SS error, e1() is zero
• Output 2: SS error, e2() is finite
 Steady State Error Velocity
System must be stable before
checking the steady-state error.

RAMP INPUT
• Output 1: SS error, e1() is zero
• Output 2: SS error, e2() is finite
• Output 3: SS error, e3() is infinite
 Steady State Error Acceleration
System must be stable before
checking the steady-state error.

RAMP INPUT
• Output 1: SS error, e2() is finite
• Output 3: SS error, e3() is infinite
Representation : Steady State Error

General Representation
R(s) and C(s) : Input and Output Respectively
E(s) : Steady State Error T(s) : Closed loop transfer function
Definition:
Error is the difference between output and command input .

E (s)  R(s)  C (s)

E (s)  R(s)  T (s) R(s)
E ( s )  [1  T ( s )] R ( s )
General Representation

E (s)  R(s)  C (s)

E (s)  R(s)  T (s) R(s)

E ( s )  [1  T ( s )]R ( s )

e ( )  lim e (t )  lim s E ( s )
t  s0

e ( )  lim sR ( s ) [1  T ( s )]
s0
 Standard Response

e ( )  lim sR ( s ) [1  T ( s )]
s 0

Step Input
1
R(s)  e( )  estep ( )  lim[1  T ( s )]
s s0
Ramp Input

R(s) 
1 [1  T ( s )]
e( )  eramp ( )  lim
s2 s0 s
Parabolic Input
1 [1  T ( s )]
R(s)  3 e( )  e para ( )  lim
s s0 s2
Example 1: SS Error for System with no integrations

Find SS errors for the 3 inputs; u(t) is unit step

r (t )  u (t )
r (t )  tu (t )
r (t )  t 2 u (t )
5
T (s) 
s 2  7 s  10
e ( )  lim sR ( s ) [1  T ( s )]
s 0

1 1 5 s 2  7 s  10  5 1
R(s)  e ( )  e step ( )  lim s [1  2 )]  lim [ 2 ]
s s0 s s  7 s  10 s  0 s  7 s  10 2
1 1 s 2  7s  5 1
R(s)  2 e ( )  e ramp ( )  lim s 2 [ 2 ] 
s s0 s s  7 s  10 0

2 2 s 2  7s  5 10
R(s)  3 e ( )  e parabola ( )  lim s 3 [ 2 ] 
s s0 s s  7 s  10 0
Representation : Steady State Error

Unity Feedback Systems

R(s) and C(s) : Input and Output Respectively
E(s) : Steady State Error G(s) : Open loop transfer function
Unity Feedback:
Error is the difference between feedback signal and command input.
E (s)  R(s)  C (s)
E (s)  R(s)  G (s) E (s)
1
E (s)  R(s)
1  G (s)
Steady-state Error for Unity Feedback Systems

E (s)  R(s)  C (s)

E (s)  R(s)  G (s) E (s)
1
E (s)  R(s)
1  G (s)

Final Value Theorem:

e (  )  lim e (t )  lim sE ( s )
t  s0

sR ( s )
e( )  lim
s0 1  G ( s)
 Standard Response (for Unity Feedback Systems)

sR ( s )
e( )  lim
s0 1  G ( s)

Step Input
1 s (1 / s ) 1
R(s)  e( )  estep ( )  lim 
s s0 1  G ( s) 1  lim G ( s )
Ramp Input s0

1 s (1 / s 2 ) 1
R(s)  2 e( )  eramp ( )  lim 
s s0 1  G ( s) lim sG ( s )
s0
Parabolic Input
1 s (1 / s 3 ) 1
R(s)  3 e( )  e para ( )  lim 
s0 1  G ( s) lim s 2 G ( s )
s s0
Example 2: SS Error for System with no integrations

Find SS errors for the 3 inputs; u(t) is unit step

r (t )  5u (t )
r (t )  5tu (t )
r (t )  5t 2 u (t )

5 s (5 / s ) 5 5 5
R(s)  e( )  estep ( )  lim   
s0 1  G ( s) 1  lim G ( s ) 1  20 21
s s0

5 5 5
R(s)  2 e( )  eramp ( )   
s lim sG ( s ) 0
s0

10 10
10 e( )  e parabola ( )   
R(s)  3 lim s 2 G ( s ) 0
s s0
Example 3: SS Error for System with one integration

Find SS errors for the 3 inputs; u(t) is unit step

r (t )  5u (t )
r (t )  5tu (t )
r (t )  5t 2u (t )

5 5 5 5
R(s)  e( )  estep ( )    0
s 1  lim G ( s ) 1   
s0

5 5 5 1
R(s)  e( )  eramp ( )   
s2 lim sG ( s ) 100 20
s0

10 10 10
R(s)  e( )  e parabola ( )   
s3 lim s 2 G ( s ) 0
s0
 Defining : Static Error Constants for Unity Feedback

Position Constant K p  lim G ( s )

s0

Velocity Constant K v  lim sG ( s )

s0

Acceleration Constant K a  lim s 2 G ( s )

s0
Static Error Constant : SS Error Performance Specification

Position Constant, Kp
1
K p  lim G ( s ) estep ( ) 
s 0 1 K p
Velocity Constant, Kv
1
K v  lim sG ( s ) eramp ( ) 
s 0 Kv
Acceleration Constant, Ka
1
e para ( ) 
K a  lim s 2G ( s ) Ka
s 0

Value of SS error decreases as the static error constant increases

Example 4: Error Constant – system with no integrator
Evaluate the error constants and find the expected error for
step, ramp and parabolic input.

1
500  2  5 estep ( )   0.161
K p  lim G ( s )   5.208 1 K p
s0 8  10  12
1
K v  lim sG ( s )  0 eramp ( )  
s0 Kv
K a  lim s 2G ( s )  0 1
s0 e parabola ( )  
Ka
Example 5: Error Constant – system with one integrator

1
estep ( )  0
K p  lim G ( s )   1 K p
s0

500  2  5  6 eramp ( ) 
1

1
 0.032
K v  lim sG ( s )   31 .25 K v 31 .25
s0 8  10  12
K a  lim s 2 G ( s )  0 1
s0
e parabola ( )  
Ka
Example 6: Error Constant – system with two integrators

K p  lim G ( s )   estep ( ) 
1
0
s0 1 K p
K v  lim sG ( s )   1
s0 eramp ( )  0
500  2  4  5  6  7 Kv
K a  lim s G ( s ) 
2
 875 1 1
s0 8  10  12 e parabola ( )  
K a 875
 Minggu ke – 5

Steady-State Errors
 System Types for Unity Feedback
SS errors are dependent upon no. of integrations in the forward path

n type System Type = value of “n” in the denominator

or
0 0 System Type = The number pole at origin of the
open loop system / no. of pure integration in
the forward path
1 1

2 2
 System Type 0
N (s)
T (s) 
( s n  a n 1 s n 1    a1 s  a0 )

input formula constant error

1
K p  const
1
K p  lim G ( s )
step input estep ( )  1 K p s 0
1 K p

eramp ( ) 
1
Kv  0  K v  lim sG ( s )
ramp input Kv s 0

1
Parabola e para ( )  Ka  0  K a  lim s 2G ( s )
Ka s 0
 System Type 1
N (s)
T (s) 
s ( s n  a n 1 s n 1    a1 s  a0 )

input formula constant error

1
step input estep ( )  Kp   0
1 K p

1 1
ramp input eramp ( )  K v  const
Kv Kv

1
Parabola e para ( ) 
Ka
Ka  0 
 System Type 2
N (s)
T (s) 
s 2 ( s n  a n 1 s n 1    a1 s  a0 )

input formula constant error

1
step input estep ( )  Kp   0
1 K p

1
ramp input eramp ( )  Kv   0
Kv

1 1
Parabola e para ( )  K a  const Ka
Ka
System Type 0, 1, and 2
Specifications : Steady state Error

“Static error constants can be used to specificy the

steady state error characteristic of a control system”

Knowing Kp = 1000 what can be learned of the system:

1. System is stable
2. System is Type 0
3. Input Test signal is step.
4. Error per unit step :
1 1 1
e ( )   
1  Kp 1  1000 1001
 Steady-State Error Specifications
Example 7: Gain Design to Meet SS Error Specification
Find K so that there is 10% error in the steady-state.

Available information:
System Type: Type 1
Input Type: Ramp Input
Type of Static Error Constant: Velocity Constant, Kv
1
eramp ( )   0 .1
Kv
Design: 1 K 5
Kv   10  lim sG ( s ) 
eramp ( ) s0 678
K  672
 Steady-State Error for Disturbances

C ( s )  E ( s )G1 ( s )G2 ( s )  D ( s )G2 ( s ) (1)

C (s)  R(s)  E (s) ( 2)
Substituting eqtn. (1) into (2), and solving for E(s) :
1 G2 ( s )
E (s)  R(s)  D(s)
1  G1 ( s )G2 ( s ) 1  G1 ( s )G2 ( s )
s sG 2 ( s )
e( )  lim sE ( s )  lim R ( s )  lim D(s)
s0 s  0 1  G ( s )G ( s ) s  0 1  G ( s )G ( s )
1 2 1 2

s sG 2 ( s )
e R ( )  lim R(s) eD ( )   lim D(s)
s  0 1  G ( s )G ( s ) s  0 1  G ( s )G ( s )
1 2 1 2
 Steady-State Error for Disturbances

s sG2 ( s )
e( )  lim sE ( s )  lim R ( s )  lim D(s)
s 0 s  0 1  G ( s )G ( s ) s  0 1  G ( s )G ( s )
1 2 1 2

e( )  eR ( )  eD ( )
s
eR ( )  lim R(s)
s  0 1  G ( s )G ( s )
1 2

sG 2 ( s )
eD ( )   lim D(s)
s  0 1  G ( s )G ( s )
1 2
 Steady-State Error for Disturbances
Assume step disturbance, D(s) = 1/s
e( )  eR ( )  eD ( )
s
eR ( )  lim R(s)
s  0 1  G ( s )G ( s )
1 2

sG 2 ( s )
eD ( )   lim D(s)
s  0 1  G ( s )G ( s )
1 2

1
eD ( step ) ( )  
1
lim  lim G1 ( s )
s0 G ( s) s0
2

Error due to disturbance can be reduced by:

-> increasing gain of G1 (controller)
-> reducing gain of G2 (plant)
Example 8: SS Error Due to Step Disturbance

Find SS Error due to disturbance

1
eD ( )  
1
lim  lim G1 ( s )
s0 G2 ( s ) s  0

1 1
eD ( )   
0  1000 1000
 Non-unity Feedback

G ( s )  G1 ( s )G2 ( s )
H ( s )  H 1 ( s ) / G1 ( s )
G (s)
T (s) 
1  G (s) H (s)
 Non-unity Feedback

G (s)
Ge ( s ) 
1  G (s) H (s)  G (s)
 Example 9: SS Error for Nonunity Feedback
Find: 1) System type
2) Error constant
3) SS Error for a unit step input

G (s)
GE ( s) 
Step 1: Simplify the unity feedback system 1  G (s) H (s)  G (s)
100 ( s  5)

s 3  15 s 2  50 s  400
1) System is type 0 since there is no pure integrations
100  5 5
2) Error Constant, Kp K p  lim G E ( s )  
3) SS Error, e()
s0  400 4
1 1
e( )    4
1 K p 1 5
4
Definition : Steady State Error for Nonunity Feedback
w/ Disturbances

Steady state value of the actuating signal Ea1( s ) :

sR ( s )G1 ( s )
e a1 ( s )  lim
s0 1  G ( s) H ( s)
2 1
 Example : Steady State Error for Nonunity Feedback
w/ Disturbances

Find the steady state actuating signal for unity step input. Repeat for
unit ramp input
Step Ramp
sR ( s )G1 ( s ) 1
ea ( s )  lim s( )
s0 1  G ( s) H ( s) 1
2
e a ( )  lim s 
2 1
s0 100 1 2
1 1 ( )( )
s( ) s ( s  10 ) s  5
ea ( s )  lim s 0
s0 100 1
1 ( )( )
s ( s  10 ) s  5
 Non-unity Feedback with disturbance

𝐸𝑎

𝐸 𝑠 = 𝑅 𝑠 − 𝐶(𝑠)

𝐸𝑎 𝑠 = 𝑅 𝑠 − 𝐶 𝑠 𝐻(𝑠)

𝐶 = 𝐸𝑎 𝐺1 𝐺2 + 𝐷𝐺2

𝐺1 𝐺2 𝐺2
𝐸 = 1− 𝑅− 𝐷
1 + 𝐺1 𝐺2 𝐻 1 + 𝐺1 𝐺2 𝐻
Steady-State Error for Non-unity Feedback
with disturbance
𝐺1 𝐺2 𝐺2
𝐸 = 1− 𝑅− 𝐷
1 + 𝐺1 𝐺2 𝐻 1 + 𝐺1 𝐺2 𝐻

𝐺1 𝐺2 𝐺2
𝑒 ~ = lim 𝑠𝐸 𝑠 = lim 1 − 𝑠𝑅 − lim 𝑠𝐷
𝑠→0 𝑠→0 1 + 𝐺1 𝐺2 𝐻 𝑠→0 1 + 𝐺1 𝐺2 𝐻

If the system has step input and step disturbance, for zero error:

𝐺1 𝐺2 𝐺2
lim =1 and lim =0
𝑠→0 1 + 𝐺1 𝐺2 𝐻 𝑠→0 1 + 𝐺1 𝐺2 𝐻
 PROBLEM
1. Transfer function of system :
1000 ( s  8)
G (s) 
( s  7 )( s  9)
a. Find : Type System, Kp, KV, Ka
b. Find steady state error for input step, ramp, parabolic

2. Find error steady state to disturbances

3. Find error steady state nonunity Feedback

4. Find the value of K so that there is 10% steady state error in open loop .

5. For unity FB, find the steady state error due to a :

(i). Unit step, (ii). Unit ramp, (iii). Unit parabolic
Steady-State Error for System in State-Space
Analysis via Final Value Theorem

Consider closed loop system:

𝐱ሶ = 𝐀 𝐜𝐥 𝐱 + 𝐁𝒓
𝐲 = 𝐂𝐱

𝐸 𝑠 = 𝑅 𝑠 − 𝑌(𝑠)

𝑌 𝑠 = 𝑅 𝑠 𝑇(𝑠)

𝐸 𝑠 = 𝑅 𝑠 (1 − 𝑇 𝑠 )

𝐸 𝑠 = 𝑅 𝑠 (1 − 𝐂(𝑠𝐈 − 𝐀 𝐜𝐥 )−1 𝐁)
Ramp Inputs 𝑟=t
Steady state solution, 𝐱 𝐬𝐬 , for 𝐱 𝑉1 𝑡 + 𝑊1
𝑉 𝑡 + 𝑊2
𝐱 𝐬𝐬 = 2 = 𝐕𝑡 + 𝐖
⋮
𝑉𝑛 𝑡 + 𝑊𝑛
𝑉𝑖 and 𝑊𝑖 are constant, hence
𝑉1
𝑉
𝐱ሶ 𝐬𝐬 = 2 =𝐕
⋮
𝑉𝑛
𝐱ሶ = 𝐀 𝐜𝐥 𝐱 + 𝐁𝒓
𝐲 = 𝐂𝐱

𝐕 = 𝐀 𝐜𝐥 (𝐕𝑡 + 𝐖) + 𝐁t 𝐀 𝐜𝐥 𝐕𝑡 + 𝐁𝑡 = 𝟎

𝐕 = −𝐀 𝐜𝐥 −𝟏 𝐁 𝐖 = 𝐀 𝐜𝐥 −𝟏 𝐕
𝑦𝑠𝑠 = 𝐂(𝐕𝑡 + 𝐖)

𝑦𝑠𝑠 = 𝐂(−𝐀 𝐜𝐥 −𝟏 𝐁𝑡 + 𝐀 𝐜𝐥 −𝟏 (−𝐀 𝐜𝐥 −𝟏 𝐁))

𝑦𝑠𝑠 = −𝐂[𝐀 𝐜𝐥 −𝟏 𝐁𝑡 + (𝐀 𝐜𝐥 −𝟏 )𝟐 𝐁]

𝑒 ~ = lim (𝑡 − 𝑦𝑠𝑠 )
𝑡→∞

𝑒 ~ = lim (𝑡 + 𝐂[𝐀 𝐜𝐥 −𝟏 𝐁𝑡 + (𝐀 𝐜𝐥 −𝟏 )𝟐 𝐁] )
𝑡→∞
 Sensitivity
Degree to which changes in system parameters affect
system transfer function (performance)
Zero sensitivity is ideal

Fractional change in function, F

S F :P  lim
P  0 Fractional change in parameter, P

F / F P F
 lim  lim
P  0  P / P P  0 F  P

P F
S F :P 
F P
 Example 10: Sensitivity

Calculate sensitivity of the closed loop transfer function

T(s) to variation in parameter a.

K
T (s) 
s 2  as  K
a T a   Ks   as
S T :a    2  
T a  K   ( s  as  K ) 2  s 2  as  K
 2 
 s  as  K 
Thus increased value of K will reduce the sensitivity
of the closed loop transfer function
 Example : Sensitivity

Calculate sensitivity of the closed loop transfer function to changes in parameter K

And a , with ramp inputs.

1 a
e( )  
Kv K
a e a 1 K e K a
S e:a     1 S e:K    2   1
e a  a   K  e K  a   K 
   
K K