STEADY-STATE ANALYSIS

Steady-state error, ess: The difference between the input and the output for a prescribed test input as time, t approaches .

Step Input

Steady-state error, ess: The difference between the input and the output for a prescribed test input as time, t approaches .

Ramp Input

Test Inputs: Used for steady-state error analysis and design. Step Input:

Represent a constant position. Useful in determining the ability of the control system to position itself with respect to a stationary target. Represent constant velocity input to a position control system by their linearly increasing amplitude. Represent constant acceleration inputs to position control. Used to represent accelerating targets.

Ramp Input:

Parabolic Input:

To determine the steady-state error, we apply the Final Value Theorem: f () = lim sF ( s )
s

The following system has an open-loop gain, G(s) and a unity feedback since H(s) is 1. Thus to find E(s),
E ( s) = R(s) C (s)
(1) (2)

C ( s ) = E ( s )G ( s )

Substituting the (2) into (1) yields,

R(s) E (s) = G(s) +

By applying the Final Value Theorem, we have:

e() = lim sE ( s )
s 0

sR ( s ) = lim s 0 1 + G ( s )

This allows the steady-state error to be determined for a given test input, R(s) and the transfer function, G(s) of the system.

System Type: The value of n in the denominator.

Therefore,
i. ii. iii.

If n = 0, system is Type 0 If n = 1, system is Type 1 If n = 2, system is Type 2

Example:
i.

G( s ) = G( s ) = G( s ) =

K ( s + 2) ( s + 1)( s + 3)

ii.

K ( 0.5s + 1) s ( s + 1)( 2 s + 1) s 2 + s + 1 K ( 2s + 1) s3

Type 0 Type 1 Type 3

iii.

Problem: Determine the system type.

Static Error Constants: Limits that determine the steady-state errors.

Position error constant:
K p = lim G ( s )
s 0

Velocity error constant:

K v = lim sG ( s )
s 0

Acceleration error constant:

K a = lim s 2G ( s )
s 0

Steady-state error for step function input, R(s):

R( s ) = R s

sR( s ) R ess = lim = s 0 1 + G ( s ) 1 + lim G ( s )

s 0

Position error constant:K p = lim G ( s) s 0

Thus,
R ess = 1+ K p

Steady-state error for ramp function input, R(s):

R( s ) = R s
2

sR( s ) R ess = lim = s 0 1 + G ( s ) lim sG ( s )

s 0

K Position error constant: v = lim sG( s) s 0

Thus,
ess = R Kv

Steady-state error for parabolic function input, R(s):

R( s ) = R s
3

sR( s ) R ess = lim = s 0 1 + G ( s ) lim s 2G ( s )

s 0

Position error constant: a = lim s 2G ( s) K s 0

Thus,
ess = R Ka

Relationships between input, system type, static error constants, and steady-state errors:

Example: Find the steady-state errors for inputs of 5u(t), 5tu(t), and 5t2u(t) by first evaluating the static error constants.

K p = 20, K v = 0, K a = 0 estep () = R 5 = 1 + K p 21 eramp () =

eramp () =
R = Ka

R = Kv