Steady-State Error

EMT360 – Control Engineering

Steady-State Error
 Steady-state error: difference between input and output for a
prescribed test input as 𝑡 → ∞.
 Step input represent constant position  useful in determining
the ability of control system to position itself with respect to
stationary target.
 Ramp input represent constant velocity inputs to a position
control system by linearly increasing amplitude.
 Parabola input represent constant acceleration inputs to
position control system  accelerating target (e.g. missile).
Name Time Laplace
function transform
Step 1 1ൗ
𝑠
Ramp 𝑡 1ൗ
𝑠2
Parabola 1ൗ 𝑡 2 1ൗ
2 𝑠3
Steady-State Error
 Consider a steady-state error for feedback system:
R(s) + E(s) C(s)
-
G (s )
B(s)
H (s)
 Error between input and output: 𝐸 𝑠 = 𝑅 𝑠 − 𝐵(𝑠)
 Feedback: 𝐵 𝑠 = 𝐶 𝑠 𝐻(𝑠)
 Output: 𝐶 𝑠 = 𝐸 𝑠 𝐺(𝑠)
𝐸 𝑠 =𝑅 𝑠 −𝐶 𝑠 𝐻 𝑠
𝐸 𝑠 =𝑅 𝑠 −𝐸 𝑠 𝐺 𝑠 𝐻 𝑠
𝐸 𝑠 1 + 𝐺 𝑠 𝐻 𝑠 = 𝑅(𝑠)
𝑅(𝑠)
∴𝐸 𝑠 =
1 + 𝐺 𝑠 𝐻(𝑠)
Steady-State Error
R(s) + E(s) C(s)
-
G (s ) 𝐸 𝑠 =
𝑅(𝑠)
1 + 𝐺 𝑠 𝐻(𝑠)
B(s)
H (s)
 Steady-state error, 𝑒(∞) by using inverse Laplace transform of
E(s)
𝑒 ∞ = lim 𝑒(𝑡) = lim 𝑠𝐸(𝑠)
𝑡→∞ 𝑠→0
𝑠𝑅(𝑠)
𝑒 ∞ = lim
𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠)

 Consider system with

Ta1s  1Ta 2 s  1...Tai s  1 H ( s)  Tx1 s  1Tx 2 s  1...Txk s  1

G( s)  K n
s Tb1s  1Tb 2 s  1...Tbj s  1 Ty1s  1Ty 2 s  1...Tyl s  1
Unit Step [𝑅 𝑠 = 1Τ𝑠]
 Steady-state error: 𝐸 𝑠 =
𝑅(𝑠)
𝑠 1ൗ𝑠 1 + 𝐺 𝑠 𝐻(𝑠)
𝑒𝑠 ∞ = lim
𝑠→0 1 + 𝐺 𝑠 𝐻(𝑠)

 Step error coefficient, 𝐾𝑠 = lim 𝐺 𝑠 𝐻(𝑠)

𝑠→0
Ta1s  1Ta 2 s  1...Tai s  1 Tx1s  1Tx 2 s  1...Txk s  1
K s  lim G(s) H (s)  lim
s n Tb1s  1Tb 2 s  1...Tbj s  1 Ty1s  1Ty 2 s  1...Tyl s  1
K
s0 s0

1
∴ 𝑒𝑠 ∞ =
1 + 𝐾𝑠
1
 For open-loop transfer function of type 0: K s  K , es () 
1 K
1
 For open-loop transfer function of type 1: K s  , es ()  0
1 
1
 For open-loop transfer function of type 2: K s  , es ()  0
1 
Example 6
A first order plant with time constant of 9 sec and dc gain of 5 is
negatively feedback with unity gain, determine the steady state
error for a unit step input and the final value of the output.
 Block diagram of the family:

 As we are looking for a steady state error for a step input, we

need to know, Ks

K s  lim G s H s   lim
5
5
s 0 s 0 9 s  1

1 1 1
 Steady-state error: es ()   
1 KS 1 5 6
Unit Ramp [𝑅 𝑠 = 1Τ𝑠 2 ]
 Steady-state error: 𝐸 𝑠 =
𝑅(𝑠)
1 1 1 + 𝐺 𝑠 𝐻(𝑠)
er ()  lim s
s 0 1  G (s) H (s) s 2
 Ramp error coefficient:
K r  lim sG(s) H (s)
s0
1
 er () 
Kr
 For open-loop transfer function of type 0: K r  0

 For open-loop transfer function of type 1: Kr  K

 For open-loop transfer function of type 2: Kr  

Example 7
A missile positioning system is shown:

 m (s)
1. Find its closed-loop transfer function,  ( s )
i
2. Determine its undamped natural frequency and its damping
ratio if K  10 3
3. Determine the steady state error, if the input is a unit ramp.
Example 7: Solution
1. Closed-loop transfer function:
0.01
K.
 m ( s) s(0.4 s  1) 0.01K 0.025K
  
 i ( s ) 1  K . 0.01 0.4 s 2  s  0.01K s 2  2.5s  0.025K
s(0.4 s  1)
0.01K

0.4 s 2  s  0.01K
0.025K
 2
s  2.5s  0.025K
Example 7: Solution
2. Determine its undamped natural frequency and its damping
ratio if K=103
 m ( s) 25
 2
 i ( s ) s  2.5s  25

Compare with general 2nd-order tf:

 m ( s) K n2
 2
 i ( s ) s  2 n s   n2
 n2  25
2 n  2.5
 n  5rad.s-1
  0.25
Example 7: Solution
3. Determine the steady state error, if the input is a unit ramp.
 Obtain open-loop transfer function:
0.01
Go ( s )  K .
s (0.4 s  1)
 As it is a type 1, the system will have a finite ramp error
coefficient, putting K=103
10
Go ( s ) 
s(0.4 s  1)
10
K r  lim sGo ( s )  lim s.  10
s0 s0 s(0.4s  1)

1
 Steady-state error: er ()   0.1
Kr
Unit Parabola [𝑅 𝑠 = 1Τ𝑠 3 ]
 Parabola time function, 𝑟 𝑡 = 1Τ2 𝑡 2 → 𝑅 𝑠 = 1Τ𝑠3
𝑟 𝑡 = 𝑡 2 → 𝑅 𝑠 = 2ൗ 3
𝑠 𝑅(𝑠)
 Steady-state error: 𝐸 𝑠 =
1 + 𝐺 𝑠 𝐻(𝑠)
s 2
e p ()  lim
s 0 1  G ( s ) H ( s ) s 3

 Parabola coefficient error:

K p  lim s 2G ( s ) H ( s )
s 0
1
 e p ( ) 
Kp
 For open-loop transfer function of type 0: K p  0
 For open-loop transfer function of type 1: K p  0
 For open-loop transfer function of type 2: K  K
p
Summary

Unit step Unit ramp Unit parabolic

Type 0 1  
1 Ks
Type 1 0 1 
Kr
Type 2 0 0
2
K pa
Conclusion
FE 2015/2016

System above is expected to have static error

constant for ramp input, 𝐾𝑟 = 10 and damping ratio,
𝜁 = 0.5.
 Formulate its closed-loop transfer function.
 Evaluate the required values for 𝐾1 and 𝐾𝑓 to meet
the above specification.