CSE 4:1 AFZAAL 9. Steady. State Errors 2.4 juction control system design is generally a trade off between desired €1) transient yesponse,(2) stability, and ¢3) steady-state evrors. The specifications far the First tos topics were covered in the earlier chapters, The steady-state errors would be considered & now, The system vesponse# after the system is tumed on at the inikial time t=t., has two cemponents: () the transient or the natural response, ye, ¢) ) the steady-state ay the forced Yesponse, Yes Ct) Tass : casted The transient vesponse is present in the short period of time immediately after the system is burned on. If the system is ‘ Jecays Sith Eime autol asymptotically stable, the tvansient response fdisappears as £ approaches infinity, leaving only the steady-state (Seveed; continucus) Component» that is, 2) = cat) The steady-state er forced vesponse ts our design objective whieh, for a stable system, is achieved only after the transient oy natural cempenent has decayed te zere ideally, In practice, there is alrays Some érrer. The = state evroy is the difference betwee the input sand the output cvesponse) for a prescy! bed test input as t-roor If the transient or natural vesponse increases very quickly Kexponent rally) with time, the system is unstable and canbe destroyed during tha unstable transient response, Considering the vesponse of an initially yelazed systeCSE 9:2 AFZAAL to a suddenly applied input, a well-designed system ill provide a vapid but smoot, transition trenaition from the initial state b the fovced vesponse. The sudden change that is vequired at tro excites the natural modes of the system, However, if the input is well behaved, with no abyupt changes oy discontinuities, the output variable typically changes te a behavior pettern of the forced vesponse, and the error becomes relatively small, Considering systems such as machine tools rYohoty, tyacking yadars, missile quidance systems, ete, «> the. behavior that Follows the initial transient can be axpuatty a ie important in terms of desired performance. 4.2 The Test Inputs (te Refevence Inputey Yest inputs used fey steady-state evror analysis and design Ore Summarized in Table 92.4 Table VBitest waveforms for evaluating steady-state erres ma. Waveform Name Physical ai Bitten EEE Eu ce) = Step Constant pesition 4 + t re f Ramp Constant velocity + 4 fe os . a i J Pavobola Copeetientin Ft t In order to explain how these test signals are used, let us assume a position contro! system, where the output position follows the input Commanded position. Step: inputs represent constant position and thus are useful in determining the ability of the control system ts positionCSE 4:3 Afzaal itself wivit. a stationary target such asa see we were orbikin satellite in geostationary orbit (Fig.g.1). at consfenteite ; An antenna position Control is an example of a system that can be tested for accuracy ie using step inputs, ‘ % vet Romp inputs vepresent constant aafatty nd pee inputs ts a position contro! system by their Chredrlhy linearly increasing amplitude. These waveforms con be used te test a systems ability t follow @ linearly increasing inpué, o7 i equivalently, te Erack a constant velocity target, For example, a position contre! system thet tracks a satellite that moves across the sky at a constant angular velocity, as shown in Fig 9.2.1, would be tested with a ramp input t evaluate the steady ship error between the sotellite’s ongular position and that of the control system. Fis. 4.254 Test inputs for steady-state errey @nalysis and destan 0 with target typer Pavabelas, whose second derivatives are constant, represent constant acceleyation inputs to position Control systems and can be used te represent accelerating targets such as the missile in Fig. 92.4 ts determine the steady-state erroy performance, 9.3 Application te Stable Systems Oaly Sinee we are concerned with the difference between the input and output of a feedback control system after the steady-state has been veached, ouy discussion I's limited te stable systems, where the natural Ctvensienty Yesponse approaches Zero, as t-»oo. Unstable systems Yepresent loss of contyol in the steady state and are not acceptable for use at all. Ss ma i Foye perferming Steady—state error malysis and design.CSE 94 APEAAL 9.4 The Concept for Evaluating Steady-state evrers <= Output 4 eck) Fig. 9-4-4 Steady-state ery a, step input, 3. Yamp input (a) Time, cct) «b> Time Figuye 9.4.4 illustyates the concept of steady state evvors with specrfied test inputs. In Fig. M41@), a step input and tie possible outputs ave shown, The outputs has weve steady-state error, and output2 has a finite steady-state error, e200). A similar example is sheen in Fig. 9-4.beby, where @ vamp input is Compared with output 1, which has zere steady-state error, Gnd output 2, which has a finite steady-state error, €2¢20), 25 measured vertically between the input and output 2 after the transients have died down. For the ramp input, another possibility exists, L¢ the outputs slope is different from thet of the input, output 3, shown in Fig. 9.4( cb), vesulés. Here the steady-state error is infinite as measured vertically between the input and output 3 after the transients hace died dean and £ approaches infinity,CsE 9:5 AFZAAL 4:5 Steady. state Evrar for Unity Feedback Systems Steady-state evrors can be calculated From a systems closed-loop transfer funetien, Tes), or the open—loep transfer function, Gis), for unity feedback systems. We begin by deriving the systems steady-state error in terms of the closed-loop transfer function, Teso, in order t introduce the subject and the definitions. Next, we obtain insight inte the factors affecting steady-state errer by using the open—leep transfer function, Gisy, in unity feedback systems fey our calculations. Later, we generalize this discussion te nonunity feedback systems, Steady— state Evrer in Terms of Ts rt Ee) Consider Fig.95-1 Loy a geneva! oir closed —lacp contre! system. Ts fine | Fis. 254 A general clesed -leep Ets), the Error beteseen the input, Res, cantrol system. and the output, Ccsd, we write - Ecs)= Res) -— Cts) CU SAD Be Cusp = Ree Tesd qq-eay => Eesya Res) Li-Tesd] (45.3) Although, £7.(9-5.3) cllows us & selue for et) at any time, t, we are interested inthe final value of the error, 20>. Now the Final value theorem states that §eroy = lim sFeso Ge. 4) Applying the final value theorem, which allows us te use the Linal value of S(t) Without taking the inverse Laplace tyansform of Ets), and then letting t approach infinity, we obtain Rrepyerion = limech = we Coie HeE=Iig Hep Substituting £e.¢q:5.3) inte Eg. 09.5.5) Yields Eceoy = Nim SRes [1-Tes)] (Chars)CSE 9:6 APEAAL Example 4-5-1: Steady-state errov in terms of Ts) Find the steady-state error for the system shown in Fig. VS! if Ves = S/( S47S410)9 and the input is a unit step- Solution: Given: Resi= ft/s and Wes)= S/(s*4+ 75 +e). Substituting infi Eq. 5-3), that's, Ecso= Reso [1-TesoJ, > Ete StS 5 SOS*47S +10) ponseguently Since Tes) is stable ancl, swbsequently, £3 does not have yight—half plane peles oy jw-peles amt at the orr'gin, we can apply the Finel value +heeren, Thus, substituting £¢.(E d+ St-t d inty Be. CU5-5), mat fs, E(odda lim eCte dim SECs> £00 Sine = ecco = 4/2] steady-state error. Steady state Evroy_interms of Gis) Pa Many a time, we have the system ne Pty configured as a unity feedback clased-leop feedback Closed-looe intro! system system as shawn in Fig. 6:2. Alhough we can find the clesed-loep transfer function, Tcs2, in this case, and then proceed a: in the previous subsection, we find move insighh fer analysis and design by expressing the steady-state evvor in Feyms of Ges) rathey than Tes), For the unity feedback system shewn in Fig. 95525 Hes)=4d. The implication is thal Ecs) js actually the error between the input, R¢sx, and the output, Crs), Thus, if we selue Loy Ecsr, we will have an expression for the error. We cll then apply Prenloppihy he final value theorem te evaluate the stescolg—state error. From Fig, 9:52, we have CE St-t) Ecsr= RCS) — Cts) (45.7) Bue Cl(si= Ets Ges (458) Res? = Ees= + Tee7 C49) Assuming the clased—leop system is stable, we substitute