Lecture 9

examples of steady-state error

Examples of steady-state error

Example 1
The forward transfer functions of the negative unity feedback system are as
follows:

G( s)

2
s( S 1)(0.5s 1)

Determine the steady-state error for the following inputs, respectively.

Check the stability of the system before applying the final-value theorem.
1
1
1. r(t ) 1(t )
2. r(t ) 3t
3. r(t ) t 2
4. r (t ) 1(t ) 3t t 2
2
2
Answer:
1. Check the stability of the system

( s)

G( s)
2
4

3
3
2
2
1 G( s) 0.5s 1.5s s 2 s 3s 2 s 4

The characteristic equation

s3 3s 2 2s 4 0

s3

s1
s0

2
3
4

The system is stable.

2. Manner 1.

s( s 2 3s 2 2)
Er ( s ) R ( s ) C ( s ) R ( s ) ( s ) R ( s ) 3
R( s )
s 3s 2 2s 4
1 essr1 lim s Er ( s) lim s
s 0

2 essr 2 lim s
s 0

s0

s( s 2 3s 2) 1
0
s 3 3s 2 2s 4 s

s( s 2 3s 2) 3
1.5
s 3 3s 2 2s 4 s 2

s( s 2 3s 2) 1
3 essr 3 lim s 3

s 0
s 3s 2 2s 4 s 3
4Superposition

essr 4 essr1 essr 2 essr 3 0 1.5

Lecture 9

examples of steady-state error

Manner 2
Because the system is a unity feedback system
e(t ) r(t ) c(t ) and e(t ) r(t ) b(t ) are same.

The error definition between

Open loop transfer function G( s)

1 typesystem.

2
s( s 1)(0.5s 1)

K 2

Find error constants K p K v K a

s 0 s

K p lim G( s) lim
s 0

Kv lim sG( s) 2
s0

Ka lim s 2G( s) 0
s0

essr1

R
1

0
1 K p 1

essr 2

V
3
1.5
Kv 2

essr 3

A 1

Ka 0

Superposition

essr 4 essr1 essr 2 essr 3 0 1.5

Example 2
The control system is showed in Fig. example 2.
Find the steady-state error of the system.
n 0.1
r 1 t

e
_

10
s(0.2s 1)

1
s

0.5

Fig. example 2

Lecture 9

examples of steady-state error

Answer:
1. Check the stability of the system

1
10
10(0.5s 1)
G( s) ( 0.5)
2
s
s(0.2s 1) s (0.2s 1)

Open loop transfer function

Close

loop transfer function

( s )

G(s)
5s 10

3
1 G( s) 0.2s s 2 5s 10

0.2s3 s2 5s 10 0

The characteristic equation

s3

0.2

10

10

s
s
s
The system is stable.

2. Find the steady-state error of the system.

Manner 1.
ER ( s )
1
1
0.2s3 s 2

10
R( s) 1 G( s) 1 ( 1 0.5)
0.2s 3 s 2 5s 10
s
s(0.2s 1)

essr lim sER ( s) lim s

s 0

s 0

0.2s3 s 2
s 1
0
3
2
0.2s s 5s 10 s 2

Manner 2.
2 type system
r(t ) 1 t essr 0

10
E ( s)
10s
s(0.2 s 1)
When r(t ) 0 n

3
1
10
N ( s)
0.2 s s 2 5s 10
1 ( 0.5)
s
s(0.2 s 1)

essn lim sEn ( s) lim s

s 0

Superposition

s0

ess essr essn 0 0 0

10s
0.1
0
2
0.2s s 5s 10 s
3