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Definition
Steady-state error is the difference between
the input and the output for a prescribed test
input as t
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Figure1.5
Elevator input and output
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Laplace Transform Theorems
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Table 7.1
Test waveforms for evaluating steady-state errors of
position control systems
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Figure 7.1
Test inputs for steady-state
error analysis and design vary
with target type
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Steady-state error: (step input)
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Steady-state error: (ramp input)
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Steady State Error of Closed-loop Systems
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E(s) = R(s) - C(s) is the error.
For step input, in the steady state, if c(t)
equals r(t), e(t) will be zero.
a. System with finite With a pure gain, K, the error, e(t),
steady-state error for a cannot be zero if c(t) is to be finite and
step input nonzero
E(s)ss =1/K C(s)ss
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Steady-State Error for Unity
Feedback Systems
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Final and initial value theorem
E ( s) R( s) C ( s)
C ( s ) R( s )T ( s )
E ( s ) R( s )[1 T ( s )]
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Example 7.1
PROBLEM:
Find the steady-state error for the system shown in the Figure if
T(s) = 5/(s2 + 7s + 10) and the input is a unit step.
SOLUTION:
Applying final value theorem
From the problem statement,
R(s) = 1/s and
T(s) = 5/(s2 + 7s +10).
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Steady-State Error in Terms of G(s)
• System may be configured as unity
feedback system with forward
transfer function G(s)
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Effect of various inputs on the
steady-state error
Step Input
R(s) = 1/s For the limit to be infinite, the den
must equl zero as s goes to zero
n 1
The term is dc gain of G(s) At least one pure integration must
be present in the forward path
For zero steady-state error
If no integrator --- n=0
Finite error
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Ramp Input
R(s) = 1/s2
SOLUTION:
• First verify that the closed-loop
system is stable.
• Next, for the input 5u(t), whose For the input 5tu(t), whose
Laplace transform is 5/s, the steady- Laplace transform is 5/s2,
state error will be five times as large
as that given by the Eq for ss error
For the input 5t2u(t), whose
Laplace transform is 10/s3,
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Example 7.3 Steady-State Errors for Systems with One Integration
SOLUTION:
• First verify that the closed-loop
system is stable.
For the input 5tu(t), whose
• Next, for the input 5u(t), whose Laplace transform is 5/s2,
Laplace transform is 5/s, the steady-
state error will be five times as large
as that given by the Eq for ss error
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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
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e() estep ()
lim s 2G(s) Ka lim s 2G(s)
s 0 s 0
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Steady-State Error via Static Error Constants
Example 7.4
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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System Type
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