Steady State

Error
 What have you learned
so far in this chapter?

In steady state response, we are trying to

investigate a system’s behavior as t approaches
infinity
 Are there any
difference exists
between the input
Given a and the output
step input response?
Yields a
critically Does the response
damped reach steady state?
response

Does the response

follow the input?
E(s) = R(s) - C(s)]
Disturbance Disturbance
Error Output
E(s)
Input + C(s)
Controller Plant
R(s)
-

Feedback
Sensor

4
 Are there any
difference exists
between the input
and the output
response?
Steady-
state
Error

What are the

difference between
input R(s) and
output C(s) at
steady state?
 In steady state response, we are trying to
investigate a system’s behavior as t is
approaching infinity

 The quantity: the steady-state error, ess, of

a system

difference between input and

output for a prescribed test
input as time goes to infinity
Definition
E(s) = input –output
= R(s) – C(s)
Common test inputs for
steady-state error
analysis
 Step
function

Ramp
function

Parabolic
function
 Applicable to
Stable systems
Step Input

How do you know

that these systems
are stable?
Step Input

What is the
steady state
error??
Step Input

What is the
steady state
error of
output 2?
Ramp Input
What is the
steady state
error of
output 1?
Ramp Input
What is the
steady state
error of
output 2?
Ramp Input

What is the
steady state
error of
output 3?
Block diagram general representation
of steady-state error

Recap : what
block diagram
form is this?
 Steady state error
for Unity Feedback

What is the
steady state
error?
 Steady state error
for Unity Feedback

What is the feedback transfer function

C (s) G (s)
G fback ( s ) = =
R( s) 1 + G ( s)
To find E(s), the error between input C(s) and R(s)
output, we can write

E ( s ) = input − output
= R( s) − C ( s)
 G (s)
E (s) = R(s) − .R ( s )
1 + G (s)
 G (s) 
= R ( s ) 1 − 
 1 + G (s) 
C (s) G (s)
G fback ( s ) = = = R(s)
1 + G ( s ) − G ( s ) 

R( s) 1 + G ( s)  1 + G ( s ) 
E ( s ) = input − output =
1
.R ( s )
1 + G (s)
= R( s) − C ( s)
 1
E (s) = .R ( s )
1 + G (s)

Using the final

value theorem

ess = lim e(t ) = lim sE ( s )

t →∞ s →0

sR ( s )
ess = lim
s →0 1 + G ( s )

(for proof of theorem, check your nise book)

to simplify steady-state error analysis
Systems are classified into System Type.

K ( s + z1 )(s + z 2 )...(s + z m )
G (s) = N , m≤n
s ( s + p1 )(s + p2 )...(s + pn )
In the system poles.
System Type : value of N
 For example,
 If N = 0, the system is of Type 0.
 If N = 1, the system is of Type 1.
 If N = 2, the system is of Type 2.
…etc
 Example:
Steady state error for Unity Feedback
Determined by
identifying the system
type and input signal
 Steady state error for Unity Feedback
unit step input:
s
ess = lim R( s)
s →0 1 + G ( s )
position error constant

K p = lim G( s )
s 1
ess = lim .
s →0 1 + G ( s ) s

=
1 s →0
1 + lim G ( s )
s →0

1
ess =
1+ K p
Type 0 K ( s + z1 )( s + z 2 )...( s + z m )
G ( s) =
( s + p1 )( s + p2 )...( s + pn )
K p = lim G ( s)
s →0

K ( s + z1 )( s + z 2 )...( s + z m )
K p = lim
s →0 ( s + p )( s + p )...( s + p )
1 2 n
K .z1.z 2 .....z m
= Finite
p1. p2 ..... pn value

1
∴ ess =
1+ Kp
Type 1 for N ≥1
K ( s + z1 )( s + z 2 )...( s + z m )
G ( s) = N
s ( s + p1 )( s + p2 )...( s + pn )

K ( s + z1 )( s + z 2 )...( s + z m )
K p = lim N
s →0 s ( s + p )( s + p )...( s + p )
1 2 n
=∞

1 ∴ ess = 0
∴ ess =
1+ K p
 Steady state error for Unity Feedback
Ramp input:
s
ess = lim R( s)
s →0 1 + G ( s )
velocity error constant
s 1
ess = lim
K v = lim sG ( s)
. 2
s →0 1 + G ( s ) s

1 1 s →0
= lim =
s → 0 s + sG ( s ) lim sG ( s )
s →0

1
ess =
Kv
Type 0 K ( s + z1 )( s + z 2 )...( s + z m )
G ( s) =
( s + p1 )( s + p2 )...( s + pn )
K v = lim s G ( s)
s →0

K ( s + z1 )( s + z 2 )...( s + z m )
K v = lim s
s →0 ( s + p1 )( s + p2 )...( s + pn )

=0
1
∴ ess = =∞
Kv
Type 1

K ( s + z1 )( s + z2 )...( s + zm )
G ( s) =
s( s + p1 )( s + p2 )...( s + pn )
K ( s + z1 )( s + z 2 )...( s + z m )
K v = lim s
s →0 s ( s + p )( s + p )...( s + p )
1 2 n

Kz1.z 2 ..z m
=
p1. p2 ... pn
1
∴ ess =
Kv
 And
Type 2
above

K ( s + z1 )( s + z2 )...( s + zm )
G ( s) = 2
s ( s + p1 )( s + p2 )...( s + pn )

K ( s + z1 )( s + z 2 )...( s + z m )
K v = lim s 2
s →0 s ( s + p )( s + p )...( s + p )
1 2 n

=∞
1
∴ ess = =0
Kv
Conclusion for ramp input
 Systems of type 0 will have infinity steady-
state error.

 Systems of type 1 will have finite steady-

state error.

 Those systems from type 2 and above will

have zero steady-state error for ramp
input.
 Steady state error for Unity Feedback
Parabolic input:
s
ess = lim R( s)
s →0 1 + G ( s ) Acceleration error
constant
s 1
ess = lim . 3
s →0 1 + G ( s ) s
K a = lim s G ( s)
2
s →0
1 1
= lim 2 =
s →0 s + s G ( s )
2
lim s 2G ( s )
s →0

1
ess =
Ka
Type K ( s + z1 )( s + z2 )...( s + zm )
0&1 G ( s) = N
s ( s + p1 )( s + p2 )...( s + pn )

K ( s + z1 )( s + z 2 )...( s + z m )
K a = lim s N2
s →0 s ( s + p1 )( s + p2 )...( s + pn )

=0
1
∴ ess = =∞
Ka
Type 2

K ( s + z1 )( s + z2 )...( s + zm )
G ( s) =
s( s + p1 )( s + p2 )...( s + pn )
K ( s + z1 )( s + z 2 )...( s + z m )
K a = lim s 2 2
s →0 s ( s + p1 )( s + p2 )...( s + pn )

Kz1.z 2 ..z m
=
p1. p2 ... pn
1
∴ ess =
Ka
 And
Type 3
above

K ( s + z1 )( s + z2 )...( s + zm )
G ( s) = N
s ( s + p1 )( s + p2 )...( s + pn )

K ( s + z1 )( s + z 2 )...( s + zm )
K a = lim s N 2
s →0 s ( s + p1 )( s + p2 )...( s + pn )
=∞
1
∴ ess = =0
Ka
Conclusion for parabolic input
 Systems of type 0 and 1 will have infinity
steady-state error.

 Systems of type 2 will have finite steady-

state error.

 Those systems from type 3 and above will

have zero steady-state error for ramp
input.
The steady-state error for a unity feedback system can be
summarized below:
Find the steady state error of the feedback system in
the figure when the test inputs are 5u(t)

( s + 2)( s + 5)
G (s) =
( s + 10)( s 2 + 2 s + 8)
 ( s + 2)( s + 5) 5
Given G (s) = R( s) =
( s + 10)( s 2 + 2 s + 8) s

s
Known ess = lim sE ( s ) = .R ( s )
s →0 1 + G ( s)

s 5
ess = lim sE ( s ) = lim .
Subs
s →0 s →0 
1+ 
(s + 2 )(s + 5)  s
in  (s + 10 ) (
s 2
+ 2 s + 8)

5
= = 4.4444
1 + (1/8)
Find the steady state error of the feedback system in
the figure when the test inputs are 10t u(t)

( s + 2)( s + 5)
G (s) =
s ( s + 10)( s 2 + 2 s + 8)
Find the steady state error of the feedback system in
the figure when the test inputs are 10t2u(t)

( s + 2)( s + 5)
G(s) = 2
s ( s + 10)( s 2 + 2 s + 8)
Find the steady state error of the feedback system in
the figure when the test inputs are 25u(t), 37t u(t)
and 47t2u(t)

450( s + 8)( s + 12)( s + 15)

G (s) =
s ( s + 38)( s 2 + 2 s + 28)