CONTROL SYSTEM ASSIGNMENT BY MOHAMED SAM SUBMITTED TO Dr MAURICE SESAY ELECTRICAL & ELECTRONIC ENGINEERING DEPT.

FOURAH BAY COLLEGE, U.S.L.

Computation of the steady state error values for control systems with; 1. Parabolic input 2. Ramp input

1. PARABOLIC INPUT At 2 x(t ) = 2 Considering the Parabolic input Its Laplace transform is Thus the steady state error is A s( 3) s = lim ess = lim s 0 1 + G s H( s 0 s ( ) ) s +
R( ) = s A s3

A 2 2 s G( s) H( s)

ess =

A lim s 2G( s) H( s)
s 0

Taking the open loop transfer function to be represented as below;

G ( s ) H ( s) =

K ( s + a)( s + b)... s N ( s + c)( s + d )...

Where the zeros are a, b, and the poles are c, d, The steady state error becomes generally;

ess =

A Ks2 ( s + a)( s + b)... lim N s 0 s ( s + c)( s + d )...

1. For a Type zero system with a parabolic input, the steady state error is;

ess =

A Ks2 ( s+ a)( s + b)... lim 0 s 0 s ( s + c)( s + d )...

A = Ks2 ( s a)( s b)... + + lim s 0 ( s c+ s d + )( )...

Leading to

A ess = = 0
2. For a Type 1 system with a parabolic input, the steady state error is;

ess =

A Ks2 ( s+ a)( s + b)... lim 1 s 0 s ( s + c)( s + d )...

ess =

A = Ks2 ( s a)( s b+ + )... lim s 0 s( s c)( s d+ + )...

A Ks (s + a )(s + b )... lim s 0 ( s + c)( s + d )...

Giving

A ess = = 0
3. For a Type 2 system with a parabolic input, the steady state error is;

ess =

A A = Ks 2 ( s + a)( s + b)... lim K ( s + a)( s + b)... lim 2 s 0 ( s + c )( s + d )... s 0 s ( s + c)( s + d )...

Giving
ess = A ab ... K cd ...
Ka = ab ... K cd ...

Considering that the acceleration error constant Thus

ess =

A Ka

4. For a Type 3 system with a parabolic input, the steady state error is;

ess =
Giving

A A = K s2 ( s+ a)( s + b)... lim K ( s+ a)( s + b)... lim 3 s 0 s ( s+ c)( s + d )... s 0 s ( s + c )( s + d )...

A ess = = 0

This is the same for type 4 and higher.

2. RAMP INPUT

At Considering the Parabolic input x (t ) =

Its Laplace transform is Thus the steady state error is given by;
R (s ) = A s2

A ) 2 A s ess = lim = lim s 0 1 + G (s )H (s ) s s + 0 sG (s )H (s ) s(

ess = A lim sG s H s ( ) ()
s 0

Taking the open loop transfer function to be represented as below;

G ( s ) H ( s) =
The steady state error becomes;

K ( s + a)( s + b)... s N ( s + c)( s + d )...

ess =

A Ks (s + )(s +b )... a lim N s 0 s ( + )( + d )... s c s

1. For a Type 0 system with a ramp input, the steady state error is;
ess = A A = Ks ( s + a )( s + b)... Ks( s + a)( s + b)... lim 0 lim s 0 s ( s + c )( s + d )... s 0 ( s + c )( s + d )...

Giving

ess =

A = 0

2. For a Type 1 system with a ramp input, the steady state error is;

ess =

A Ks( s+ a)( s + b)... lim 1 s 0 s ( s + c)( s + d )...

A = Ks( s a+ s b)... )( + lim s 0 ( s s c+ s d )... )( +

ess =

A K ( s + a )( s + b)... lim s 0 ( s + c )( s + d )...

A a ... b K c ... d

ess =

Considering that the velocity error constant Thus

Kv =

ab... K cd ...

ess =

A Kv

3. For a Type 2 system with a ramp input, the steady state error is;

ess =
Giving

A A = Ks( s + a)( s + b)... K ( s +a)( s +b)... lim 2 lim s 0 s ( s + c)( s + d )... s s( s +c)( s + )... 0 d

A ess = =

4. For a Type 3 system with a ramp input, the steady state error is;

ess =

A Ks( s + a)( s + b)... lim 3 s 0 s ( s + c)( s + d )...

A = K ( s +)( s b)... a + lim 2 s 0 ( s s c)( s d )... + +

This is the same for type 4 and higher.

A ess = =