Outlines

Control Systems (EEE325) Lecture 16

Dr. Jamshed Iqbal
Assistant Professor Department of Electrical Engineering

Steady State Error

Institute of Information Technology, Islamabad

System Responses
Transient response Steady-state response

Steady State Error

A distinct advantage of f/back control system is the ability to adjust transient and steady-state response

Steady State Error (ess): The difference b/w the steady state output value and the reference input value at steady state Reflects the accuracy of the system

Expression of Steady State Error

Final Value Theorem (FVT)

The FVT allows the evaluation of the steadystate value of a time function from its Laplace transform. FVT is only valid for stable systems (all poles are in the Left Hand Plane (LHP))

E(s) is Error Signal

Putting the value of C(s) in the first Eq. and re-arranging This is general expression of Error But Steady state error means Final value of error. This can be evaluated using Final Value Theorem (FVT)

The FVT allows the time domain behavior to be directly calculated by taking a limit of a frequency domain expression

Final Value Theorem (FVT)

Example: For the following function, find g() using i) Inverse Laplace method ii) FVT

Expression of Steady State Error

Applying FVT on the E(s), we get

For a unity F/back system, H(s) = 1

2nd Method (FVT)

Steady State Error is a function of i) Input R(s) ii) Open loop transfer function G(s)

SSE Subjected to Test Inputs

The actual input in a physical system is often a random signal, thus SSE are obtained from the standard test signals tabulated below:

SSE For Various Inputs

Unit Step (Positional Input)

Kp
(Position Error Constant)

SSE For Various Inputs

SSE For Various Inputs

Unit Ramp (Velocity Input)

Unit Parabolic (Acceleration Input)

Kv
(Velocity Error Constant)

Ka
(Acceleration Error Constant)

SSE For Various Inputs

Summary
For unity F/back,

Dependence on G(s)
For a unity F/back system, H(s) = 1

Type of I/p Unit Step Unit Ramp Unit Parabolic

Concept of Type of a system. This is DIFFERENT than the order of the system. Highest power in denominator determine = Order No. of poles present at origin determines = Type Examples (W/Board)

Now is the time to see the effect of G(s) on ess. General form of G(s)

Dependence on G(s)

Dependence on G(s): Type 0 System

As s0, the term Sr becomes more dominant. i.e. the poles are the origin dominate the expression for G(s). What are poles at origin? Is basically the type of system The SSE depends on the type of system

r=0 in this case of type 0 systems

Dependence on G(s): Type 1 System

Dependence on G(s): Type 2 System

r=1 in this case of type 1 systems

r=2 in this case of type 2 systems

Summary

Assignment 4
Find the steady state error for unit step, unit ramp and unit parabolic inputs for the following systems:
Deadline: 10th April 2012 BEFORE the lecture

LT Table

Thanks
jamshed.iqbal@comsats.edu.pk Room 424 - EE Deptt.