1
Steady-State Characteristics
ME2142 Feedback Control Systems
ME2142 Feedback Control Systems
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Consider the unity-feedback system
System Type
R
G
C
-
+
E
With (2-1)
The parameter N associated with the term S
N
in the
denominator represents the Type of the system.
Example: Type 0 if N=0, Type 1 if N=1 and so on.
A free s term in the denominator represents an
integration. The higher the type number, the better the
steady-state accuracy of the closed-loop control system.
However, the higher the system type, the greater the
problem with system stability.
) 1 ( ) 1 )( 1 (
) 1 ( ) 1 )( 1 (
) (
2 1
+ + +
+ + +
=
s T s T s T s
s T s T s T K
s G
p
N
m b a
Type 1 system 0
K
1
Type 2 system 0 0
K
1
Type 0 systems have finite steady-state errors for step inputs and
cannot follow ramp inputs.
Type 1 systems have zero steady-state errors for step inputs, finite
errors for ramp inputs, and cannot follow acceleration inputs.
Type 2 systems are needed to follow step input and ramp inputs
with zero steady-state errors.
In general, the higher the static gain of the open-loop transfer
function, G(s), the smaller the steady-state errors. However,
higher gains normally lead to stability problems.
ME2142 Feedback Control Systems
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End