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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 ) - 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
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
or
b. decreasing the dc gain of
G2(s)
1 1 1
eD () = - =- =
1 0 + 1000 1000
+ lim G1 ( s )
lim G2 ( s ) s 0
s 0
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Nonunity Feedback System
The feedback path of a control system may be a
pure gain other than unity or may have some controller
dynamic representation and plant
input
transducer Control systems may not
have unity feedback
A general feedback system
because of the
feedback compensation used to
improve performance
or
E(s) = R(s) — C(s) because of the physical
model for the system
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Forming an equivalent unity
feedback system from a nonunity
feedback system through block
diagram manipulation
G(s) = G1(s)G2(s)
H(s) = H1(s)/G1(s)
Unity Feedback
System
E(s) = R(s) — C(s)
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Example 7.8 Steady-State Error for Nonunity Feedback Systems
s G1 ( s ) R( s )
G1 ( s ) R ( s) ea1 (�) = lim
Ea1 ( s ) = s �0 1 + G ( s ) H ( s )
1 + G2 ( s ) H1 ( s) 2 1
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Steady-State Actuating Signal
Example 7.9 for Nonunity Feedback Systems
sR ( s )
ea () = lim
s 0 1 + G ( s) H ( s)
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7.7 Sensitivity
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Definition
The extent to which changes in system parameters affect system
transfer functions is called sensitivity.
OR
Sensitivity is ratio of the fractional change in the
function to the fractional change in the parameter
as
the fractional change of the parameter approaches zero
DF F
S F :P = lim
DP �0 DP P
P DF Pd F
S F :P = lim S F :P =
DP �0 F DP
FdP
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Example 7.10 Sensitivity of a Closed-Loop Transfer Function
PROBLEM: Given the system in the Figure, calculate the sensitivity of the
closed-loop transfer function to changes in the parameter a. How would you
reduce the sensitivity?
SOLUTION:
The closed-loop transfer function is
SOLUTION:
The steady-state error for the system is
1 a a de a �1 �
e(�) = = Se:a = = � �=1
KV K e da a K �K �
Pd F K de K �- a �
S F :P = Se:K = = � 2�
= -1
FdP e dK a K �K �