Steady state Error for Unity Feedback Systems

- Steady state error can be calculated from a system’s closed-loop transfer

function T (s ) or open-loop transfer function G(s) for unity feedback systems

IN TERMS OF T(s)

E ( s )=R ( s ) −C( s) (eqn 1)

But, C ( s ) =R ( s ) T (s ) (eqn 2)
substituting eqn 2 to eqn 1
E ( s )=R ( s ) [1−T ( s ) ] (eqn 3)
 - We apply the final value theorem
o Allows us to get the final value of e (t) without taking the inverse Laplace
transform of E(s), and then letting t approach infinity
o FINAL VALUE THEOREM

o e ( ∞ )=lim e(t )=lim sE (s)

t→∞ s→0

o Substituting eqn 3 to the final value theorem yields

e ( ∞ )=lim sR ( s ) [1−T ( s ) ]
s →0

Example:

Find the steady state error for the system of the figure below if
5
T ( s) = 2 and the input is a unit step.
(s +7 s +10)

IN TERMS OF G(s)

E ( s )=R ( s ) −C( s) (eqn 4)

C ( s ) =E ( s ) G( s) (eqn 5)
 R(s)
Substituting equation 5 to 4: E ( s )= 1+G( s)
sR ( s )
Applying the final value theorem… e ( ∞ )=lim
s →0 1+G( s)

Substitute several inputs for R( s) and then draw conclusions about the
relationships that exist between the open loop system and the nature of the
steady state error.

Step input:
s ( 1/s ) 1
e ( ∞ )=lim =
s →0 1+G(s) 1+ lim G(s )
s→0

Ramp input:
s ( 1/s 2 ) 1 1
e ( ∞ )=e ramp ( ∞ )=lim =lim =
s→0 1+G( s) s → 0 s+ sG(s) lim sG(s )
s→ 0

Parabolic input:
s ( 1 /s3 ) 1 1
e ( ∞ )=e parabola ( ∞ )=lim =lim 2 2 =
s → 0 1+G(s) s →0 s +s G( s) lim s 2 G( s)
s →0

Example:

Find the steady-state errors for inputs of 5 u ( t ) , 5 t ( ut ) , and 5 t2 u(t ) to the system shown

below
More examples:

1. Find the steady state errors for inputs of 5 u ( t ) , 5 tu ( t ) , 5 t2 u(t) to the system
shown below

2. A unity feedback system has the following forward transfer function:

10 ( s+ 20 ) (s +30)
G ( s )=
s ( s +25 ) ( s+35)
Find the steady state error for the following inputs 15 u ( t ) , 15tu ( t ) , 15 t2 u(t)

Repeat for
10 ( s+20 ) (s +30)
G ( s )= 2
s ( s+25 )( s+35 ) ( s+ 50)

Static Error Constants

- Steady state error performance specifications are called static error

constants

Position constant, K p =lim

s →0
G( s)

Velocity constant, K v =lim

s →0
sG( s)

2
Acceleration constant, K a =lim
s →0
s G(s )

Example:
Find the static error constants, and use them to get the steady state errors.

More examples:

Find the static error constants of each system, and use them to get the steady
state errors.
System type

K ∏ (s+ z i )
G ( s )=
s N
i

∏ ( s+ p j )
; z ≠0, p ≠0
i j

∏j (s+ p j)=?
1
, N corresponds to the number of pure integrations in G(s) as s approaches 0
sN

Feedback systems are classified in accordance with the number of pure

integrations in the open loop transfer function as described in the table below:
System type is the value of n in the denominator or the number of pure
integrations in the forward path,

A system with n=0 is a type 0 a system with n=1 is type 1 and a system with a type
2 is equal to 2

Example
1000( s+8)
A unity feedback system has the forward transfer function G ( s )= ( s +7 ) (s+ 9)

- Evaluate the system type and solve for the static error constants
- Use your answers in a to find the steady state errors for the standard step,
ramp, and parabolic inputs