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STEADY‐STATE ERROR
MAE 4421 – Control of Aerospace
& Mechanical Systems
2 Introduction
K. Webb MAE 4421
Steady‐State Error – Introduction
3
Consider a simple unity‐feedback system
The error is the difference between the reference and the output
The input to the controller,
Consider a case where:
Reference input is a step
Plant has no poles at the origin – finite DC gain
Controller is a simple gain block
In steady state, the forward path reduces to a constant gain:
K. Webb MAE 4421
Steady‐State Error – Introduction
4
In steady state, we’d like:
Output to be equal to the input:
Zero steady‐state error: 0
Is that the case here?
1
1
No, if 0, then 0
Non‐zero steady‐state error to a step input for finite
steady‐state forward‐path gain
Finite DC gain implies no poles at the origin in or
K. Webb MAE 4421
Steady‐State Error – Introduction
5
Now, allow a single pole at the origin
An integrator in the forward path
Now the error is
⋅
For a step input
1 1
Applying the final value theorem gives the steady‐state error
lim lim 0
→ →
Zero steady‐state error to a step input when there is an integrator
in the forward path
K. Webb MAE 4421
Steady‐State Error – Introduction
6
Next, consider a ramp input to the same system
⋅1 and
Now the error is
1 1
The steady‐state error is
1
lim lim
→ →
Non‐zero, but finite, steady‐state error to a ramp input
when there is an integrator in the forward path
K. Webb MAE 4421
Steady‐State Error – Introduction
7
Two key observations from the preceding example
involving unity‐feedback systems:
Steady‐state error is related to the number of
integrators in the open‐loop transfer function
Steady‐state error is related to the type of input
We’ll now explore both of these observations more
thoroughly
First, we’ll introduce the concept of system type
K. Webb MAE 4421
8 System Type and Steady‐State Error
K. Webb MAE 4421
System Type
9
System Type
The degree of the input polynomial for which the steady‐
state error is a finite, non‐zero constant
Type 0: finite, non‐zero error to a step input
Type 1: finite, non‐zero error to a ramp input
Type 2: finite, non‐zero error to a parabolic input
For the remainder of this sub‐section, and the one
that follows, we’ll consider only the special case of
unity‐feedback systems
K. Webb MAE 4421
System Type – Unity‐Feedback Systems
10
For unity‐feedback systems, system type is determined by
the number of integrators in the forward path
Type 0: no integrators in the open‐loop TF, e.g.:
4
6 4 8
Type 1: one integrator in the open‐loop TF, e.g.:
15
3 12
Type 2: two integrators in the open‐loop TF, e.g.:
5
3 7
K. Webb MAE 4421
Types of Inputs
11
When characterizing a control system’s error performance we focus
on three main inputs:
Step
Ramp
Parabola
We will derive expressions for the steady‐state error due to each
Step:
1 ⟷
For a positioning system, this
represents a constant position
K. Webb MAE 4421
Types of Inputs
12
Ramp:
⋅1 ⟷
For a positioning system, this
represents a constant
velocity
Parabola:
⋅1 ⟷
For a positioning system, this
represents a constant
acceleration
K. Webb MAE 4421
Steady‐State Error – Unity‐Feedback
13
For unity‐feedback systems steady‐state error can be expressed in
terms of the open‐loop transfer function,
Steady‐state error is found by applying the final value theorem
lim lim
→ → 1
We’ll now consider this expression for each of the three inputs of
interest
K. Webb MAE 4421
Steady‐State Error – Step Input
14
For a step input
1
1 ⟷
Steady‐state error to a step input is
1
lim lim
→ → 1
1
lim
→ 1
→
K. Webb MAE 4421
Steady‐State Error – Step Input
15
1
1 lim
→
In order to have 0, as we’d like, we must have
lim ∞
→
That is, the DC gain of the open‐loop system must be infinite
If has the following form
⋯
⋯
then
⋯
lim ∞
→ ⋯
and we’ll have non‐zero steady‐state error
K. Webb MAE 4421
Steady‐State Error – Step Input
16
However, consider of the following form
⋯
⋯
where
That is, includes integrators
It is a type system
lim ∞ and 0
→
A type 1 or greater system will exhibit zero steady‐
state error to a step input
K. Webb MAE 4421
Steady‐State Error – Ramp Input
17
For a ramp input
1
⋅1 ⟷
Steady‐state error to a ramp input is
1
lim lim
→ → 1
1
lim
→
1
lim
→
K. Webb MAE 4421
Steady‐State Error – Ramp Input
18
1
lim
→
In order to have 0, the following must be true
lim ∞
→
If there are no integrators in the forward path, then
⋯
lim lim 0
→ → ⋯
and
∞
A type 0 system has infinite steady‐state error to a ramp
input
K. Webb MAE 4421
Steady‐State Error – Ramp Input
19
If there is a single integrator in the forward path, i.e.
a type 1 system
⋯
⋯
then
⋯
lim
→ ⋯
and
⋯
⋯
A type 1 system has non‐zero, but finite, steady‐
state error to a ramp input
K. Webb MAE 4421
Steady‐State Error – Ramp Input
20
If there are two or more integrators in the forward
path, i.e. a type 2 or greater system
⋯
, 2
⋯
then
⋯
lim lim ∞
→ → ⋯
and
0
A type 2 or greater system has zero steady‐state
error to a ramp input
K. Webb MAE 4421
Steady‐State Error – Parabolic Input
21
For a Parabolic input
1
⋅1 ⟷
2
Steady‐state error to a parabolic input is
1
lim lim
→ → 1
1
lim
→
1
lim
→
K. Webb MAE 4421
Steady‐State Error – Parabolic Input
22
1
lim
→
In order to have 0, the following must be true
lim ∞
→
If there are no integrators in the forward path, then
⋯
lim lim 0
→ → ⋯
and
∞
A type 0 system has infinite steady‐state error to a
parabolic input
K. Webb MAE 4421
Steady‐State Error – Parabolic Input
23
If there is a single integrator in the forward path, i.e.
a type 1 system
⋯
⋯
then
⋯
lim 0
→ ⋯
and
∞
A type 1 system has infinite steady‐state error to a
parabolic input
K. Webb MAE 4421
Steady‐State Error – Parabolic Input
24
If there are two integrators in the forward path, i.e. a
type 2 system
⋯
⋯
then
⋯ ⋯
lim lim
→ → ⋯ ⋯
and
⋯
⋯
A type 2 system has non‐zero, but finite, steady‐state
error to a parabolic input
K. Webb MAE 4421
Steady‐State Error – Parabolic Input
25
If there are three or more integrators in the forward
path, i.e. a type 3 or greater system
⋯
, 3
⋯
then
⋯
lim lim ∞
→ → ⋯
and
0
A type 3 or greater system has zero steady‐state
error to a parabolic input
K. Webb MAE 4421
26 Static Error Constants
K. Webb MAE 4421
Static Error Constants – Unity‐Feedback
27
We’ve seen that the steady‐state error to each of the inputs
considered is
Step:
→
Ramp:
→
Parabola:
→
The limit term in each expression is the static error constant
associated with that particular input:
Position constant: lim
→
Velocity constant: lim
→
Acceleration constant: lim
→
K. Webb MAE 4421
Steady‐State Error vs. System Type
28
Steady‐state error vs. input and system type
System Input
Type Step Ramp Parabola
0 1
∞ ∞
1
1 1
0 ∞
2 1
0 0
3 0 0 0
Note that the given steady‐state error is for inputs of
unit magnitude
Actual error is scaled by the magnitude of the reference
input
K. Webb MAE 4421
29 Non‐Unity‐Feedback Systems
K. Webb MAE 4421
Non‐Unity‐Feedback Systems
30
So far, we’ve focused on the special case of unity‐
feedback systems
System type determined by # of integrators in the forward
path – i.e., # of open‐loop poles at the origin
Steady‐state error determined using static error constants
Static error constants determined from the open‐loop
transfer function
K. Webb MAE 4421
Non‐Unity‐Feedback Systems
31
More general approach to determining steady‐state
error is to use the closed‐loop transfer function
Applicable to non‐unity‐feedback systems, e.g.:
The error is
K. Webb MAE 4421
Non‐Unity‐Feedback Systems
32
Apply the final value theorem to determine the
steady‐state error:
→ →
Here, system type is determined by using the more
general definition:
System type is the degree of the input polynomial for
which the steady‐state error is a finite, non‐zero constant
K. Webb MAE 4421
Non‐Unity‐Feedback Systems
33
Alternatively, find steady‐state error by converting to a
unity‐feedback configuration, e.g.:
Add and subtract unity‐feedback paths:
K. Webb MAE 4421
Non‐Unity‐Feedback Systems
34
Combine the two upper parallel feedback paths:
Collapsing the inner feedback form leaves a unity‐
feedback system
Can now apply unity‐
feedback error analysis
techniques
K. Webb MAE 4421
35 Steady‐State Error – Examples
K. Webb MAE 4421
Steady‐State Error – Example 1
36
What is the steady‐state error to a constant reference input,
3 ⋅ 1 , for the following feedback positioning system?
A type 0 system
Non‐zero error to a constant reference
Position constant:
lim 10
→
Steady‐state error:
1 1
3
1 1 10
0.27
K. Webb MAE 4421
Steady‐State Error – Example 1
37
0.27
K. Webb MAE 4421
Steady‐State Error – Example 1
38
What is the same system’s steady‐state error to a unit
ramp input, ⋅1 ?
A type 0 system, so error to a ramp reference will be infinite
Verify using closed‐loop transfer function
10
1 11
Steady‐state error is
1 10
lim 1 lim 1
→ → 11
1 1
lim ∞
→ 11
K. Webb MAE 4421
Steady‐State Error – Example 1
39
K. Webb MAE 4421
Steady‐State Error – Example 2
40
Design the controller, , for error of 0.05 to a unit ramp
input
Plant is type 0
Forward path must be type 1 for finite error to a ramp input
must be type 1, so one very simple option is:
Forward‐path transfer function is
2
1 5
K. Webb MAE 4421
Steady‐State Error – Example 2
41
The velocity constant is
2 2
lim lim
→ → 1 5 5
Steady‐state error is
1 5
2
For error of 0.05:
5
0.05
2
50
K. Webb MAE 4421
Steady‐State Error – Example 2
42
0.05
K. Webb MAE 4421
Steady‐State Error – Example 3
43
Next, consider a non‐unity‐feedback system:
Determine controller gain, , to provide a 2% steady‐state
error to a constant reference input
First, convert to a unity‐
feedback system
Combine forward‐path blocks
Simultaneously add and subtract
unity‐feedback paths
K. Webb MAE 4421
Steady‐State Error – Example 3
44
Combine the top two parallel feedback paths
Simplifying the inner feedback form leaves a unity‐feedback
system
K. Webb MAE 4421
Steady‐State Error – Example 3
45
Steady‐state error for this type 0 system is
1
1
where
20 ⋅
lim 2⋅
→ 10
For 2% steady‐state error
1
0.02
1 2⋅
The controller gain is
24.5
K. Webb MAE 4421
Steady‐State Error – Example 3
46
Note that the
controller gain has
been set to satisfy
a steady‐state
error requirement
only
Closed loop poles
are very lightly‐ 0.02
damped
Dynamic response
is likely
unacceptable
K. Webb MAE 4421
Steady‐State Error – Example 4
47
Now, consider a unity‐feedback system with a disturbance
input
where
and
Determine the controller gain, , such that error due to a
constant disturbance is 1% of
For this value of , what is the steady‐state error to a
constant reference input?
K. Webb MAE 4421
Steady‐State Error – Example 4
48
The total error is given by
1
1
1 1
Substituting in controller and plant transfer functions
gives
5 1
5 5
K. Webb MAE 4421
Steady‐State Error – Example 4
49
Error due to a constant disturbance can be found by applying the
final value theorem
1
, lim
→ 5
1 1 1
, lim
→ 5 5
We can calculate the required gain for 1% error
1
, 0.01 ⟶ 95
5
At this gain value, the error due to a constant reference is
1 5 5
, lim ⟶ 5%
→ 5 100
K. Webb MAE 4421