Steady State Error Specifications

- Static error constants can be used to specify the steady state error
CHARACTERISTICS of control systems.
- the information is contained within the specification of a static error
constant
- We can learn a lot about the system from the static error constants

Example:

1. K v =1000

What conclusions can we draw from here?

o The system is stable
o The system is of type 1,
o A ramp output is a test signal
1
o e ( ∞ )=
Kv
2. What information is contained in the specification K p =1000?
3. Given the control system in the figure below, find the value of K so that there
is 10% error in the steady state:

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

K (s +12)
G ( s )=
( s +14 ) ( s+18)
Find the value of K to yield a 10% error in the steady state. K=189
Steady State Error for Disturbances

Recall:

- Feedback control systems are used to compensate for disturbances or

unwanted inputs that enter a system.
- Advantage of using a feedback is that regardless of these disturbances
the system can be designed to follow the input with small or zero error
See figure below, it is a feedback control system with a disturbance D( s)

D(s) Injected between the controller and the plant

Rederiving the expression for the steady state error with the disturbance included
C ( s ) =E ( s ) G 1 ( s ) G2 ( s ) + D( s)G 2 ( s) (eqn 1)

But
C ( s ) =R ( s )−E( s) (eqn 2)

Substituting eqn 2 to eqn 1

1 G2(s )
E ( s )= R ( s )− D(s)
1+G 1 ( s ) G 2 ( s ) 1+G 1 ( s ) G 2 ( s )

We can think of the first term as the transfer function relating E(s) to R( s) and the
second term as a transfer function relating E(s) to D( s)
To find the steady state value error, apply the final value theorem
s sG2 ( s )
e ( ∞ )=lim sE (s)=lim R ( s ) −lim D(s)
s →0 s →0 1+G 1 ( s ) G2 ( s ) s →0 1+G 1 ( s ) G 2 ( s )

¿ e R ( ∞ ) +e D (∞ )

Where
s
e R ( ∞ ) =lim R ( s)
s →0 1+ G 1 ( s ) G 2 ( s )

sG2 ( s )
e D (∞ )=−lim D(s)
s→0 1+G 1 ( s ) G 2 ( s )

- First term is the steady state error e R ( ∞ ) due to R( s), which we obtained dati
- Second term e D (∞ ), is the steady state error due to the disturbance

1
Assuming that it is a step disturbance D ( s )= s ,substituting it to e D (∞ )

The steady state error due to your disturbance D( s) will now be equal to:
−1
eD ( ∞) =
1
lim + lim G ( s)
s→0 G2 ( s) s →0 1

This equation shows that steady state error produced by the step disturbance can
be reduced by increasing the dc gain of G1 ( s) or decreasing the dc gain of G2 (s)

Sensitivity

- ratio of the fractional change in the function to the fractional change in the
parameter as the fractional change of the parameter approaches zero.