EE-379
LINEAR CONTROL SYSTEMS
Lecture No 18
“CONTROL SYSTEMS ENGINEERING”
Text Book: Chapter 7 (nn 6th Ed)
7.3 Static Error Constants and System Type, Page 349
7.4 Steady-State Error Specifications, Page 353
7.5 Steady-State Error for Disturbances, Page 356
Instructor: Dr. Farid Gul
Class: BEE 4A/B
Electrical Engineering Department
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7.3 Static Error Constants and
System Type
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Performance specifications for the
transient response
• damping ratio,
• natural frequency,
• settling time,
• percent overshoot,
• Peak time
• Rise time
Parameters that can be used as steady-state error
performance specifications, are called
static error constants
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• The three terms in the denominator that
are taken to the limit determine the steady-
Static Error Constants state error.
• These limits are the static error constants.
For a step input, u(t),
Position Constant, Kp
1
e() estep ()
1 lim G( s) K p lim G ( s)
s 0 s 0
For a ramp input, tu(t), Velocity Constant, Kv
1
e() estep ()
lim sG ( s) K v lim sG ( s )
s 0 s 0
For a parabolic input, ½ t2u(t). Acceleration Constant, Ka
1
e() estep ()
lim s 2G(s) Ka lim s 2G(s)
s 0 s 0
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Example 7.4 Steady-State Error via Static Error Constants
PROBLEM:
For each system in
the Figure, evaluate
the static error
constants and find the
expected error for the
standard step, ramp,
and parabolic inputs.
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6
7
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System Type
Since steady-state errors are dependent upon the number of integrations in
the forward path, a name is given to this system attribute
system type is defined to be the value ofnin the denominator.
Thus:
a system with n = 0 is a Type 0 system
n=1 is a Type 1 system
n=2 is a Type 2 system
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Table 7.2
Relationships between input, system type, static error
constants, and steady-state errors
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7.4 Steady-State Error
Specifications
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Just as
damping ratio, ζ
settling time, Ts
peak time, Tp
percent overshoot, % OS
are used as specifications for a control system's
transient response
Position constant, Kp
Velocity constant, Kv
Acceleration constant, Ka
are used as specifications for a control system's
steady-state errors
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Wealth of information contained within the
specification of a static error constant
For example, if a control system has the specification Kv = 1000,
we can draw several conclusions:
1. The system is stable.
2. The system is of Type 1, since only Type 1 systems have Kv's that are finite
constants.
Recall that Kv = 0 for Type 0 systems
Kv = for Type 2 systems
3. A ramp input is the test signal.
Since Kv is specified as a finite constant, and the steady-state error for a
ramp input is inversely proportional to Kv, we know the test input is a ramp.
4. The steady-state error between the input ramp and the output ramp is 1/Kv per unit
of input.
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Example 7.5 Interpreting the Steady-State Error Specification
PROBLEM:
What information is contained in the specification Kp = 1000?
SOLUTION:
• The system is stable.
• The system is Type 0, since only a Type 0 system has a
finite Kp. Type 1 and Type 2 systems have Kp =
• The input test signal is a step, since Kp is specified.
• The error per unit step is
1 1 1
e( )
1 K p 1 1000 1001
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Example 7.6 Gain Design to Meet a Steady-State Error Specification
PROBLEM: Given the control
system in the Figure, find the
value of K so that there is 10%
error in the steady state.
SOLUTION: Since the system is Type 1, the error stated in
the problem must apply to a ramp input; only a ramp yields
a finite error in a Type 1 system. Thus,
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7.5 Steady-State Error for
Disturbances
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Figure 7.11
Feedback control system
showing disturbance
R( s) E ( s) E ( s)G1 ( s)G2 ( s) D( s)G2 ( s)
R( s) D( s)G2 ( s) 1 G1 ( s)G2 ( s) E ( s)
1 G2 ( s )
E (s) R( s) D( s)
1 G1 ( s )G2 ( s ) 1 G1 ( s )G2 ( s )
transfer function
transfer function
relating E(s) to D(s)
relating E(s) to R(s)
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1 G2 ( s )
E (s) R( s) D( s)
1 G1 ( s )G2 ( s ) 1 G1 ( s )G2 ( s )
Applying the final value theorem
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
s Assume a step disturbance,
eR () lim R( s)
s 0 1 G ( s )G ( s ) D(s) = 1/s.
1 2
G2 ( s)
eD () lim
sG2 ( s) s 0 1 G ( s )G ( s )
eD () lim D( s) 1 2
s 0 1 G ( s )G ( s )
1 2
1
eD ()
Let us explore the conditions on eD () 1
that must exist to reduce the error due to lim G1 ( s)
lim G2 ( s) s 0
the disturbance s 0
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1
eD ()
1
lim G1 ( s)
lim G2 ( s) s 0
s 0
The ss error produced by a step
disturbance can be reduced by:
a. increasing the dc gain of
G1(s)
or
a. decreasing the dc gain of
G2(s)
System rearranged to show disturbance as
input and error as output, with R(s) = 0
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Example 7.7 Steady-State Error Due to Step Disturbance
PROBLEM: Find the steady-state error component due to a step
disturbance for the system shown in the Figure.
SOLUTION: The system is stable
1 1 1
eD ()
1
lim G1 ( s) 0 1000 1000
lim G2 ( s) s 0
s 0
the steady-state error produced by the step disturbance
is inversely proportional to the dc gain of G1 (s)
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