Analog Control System Performance 151

verify these errors, lets close the loop and apply the FVT for the dierent inputs.
The closed loop transfer function becomes
Cs 12
3 2
Rs s 5s 4s 12
For a unit step input Rs 1=s:
12 1 12
Csteady state lim ct lim s Cs lim s 3 2
1
t!1 s!0 s!0 s 5s 4s 12 s 12

12
Steady-state error ess rss  css 1  0
12
For a unit ramp input Rs 1=s2 , we take a slightly dierent approach since the
steady-state output of Cs, using the FVT, will go to innity.
12 1 12
Csteady state lim ct lim s Cs lim s 1
t!1 s!0 s!0 s3 5s2 4s 12 s2 0
This is not a surprise since the ramp input also goes to innity. What we are inter-
ested in is the steady-state dierence between the input and output as the both go to
innity. The easiest way to handle this is to actually write the transfer function for
the error in the system and then apply the FVT. The error can be expressed as the
output of the summing junction where
Es Rs  Cs or Cs Rs  Es
Then if our open loop forward path transfer function is dened as
Cs GOL sEs, we can solve for Es=Rs:

Cs GOL sEs Rs  Es
or
Es 1 ss 1s 4 s 1s 4
s
Rs 1 GOL s ss 1s 4 12 ss 1s 4 12
To nd the error as a function of our input, we apply the FVT to
Es 1 GOL s Rs, except that as compared to before, an extra s term is in
the numerator:
s 1s 4 1 4 1
esteady state lim et lim s Es lim s2 2
t!1 s!0 s!0 ss 1s 4 12 s 12 3
The error 0:333 is the same as that which was calculated earlier using the table. If
we used the same application of the FVT for the acceleration input, the input func-
tion would add one more s term in the denominator (1=s3 ) and as s approaches zero
in the limit, the output approaches innity.
So we see that the application of the table results in the correct determination
of steady-state error for all three inputs. Once again, closing the loop and applying
the FVT verified each table entry.
If controllers you are designing do not fit a standard mold, either reduce the
block diagram and calculate the steady-state errors or perform a computer simula-
tion long enough to let all transients decay. Using the FVT is generally the easiest