ME2142 Feedback Control Systems

Steady-State Characteristics

ME2142 Feedback Control Systems

System Type
Consider the unity-feedback system

With

K (Ta s 1)(Tb s 1) (Tm s 1) (2-1)

G ( s) N
s (T1 s 1)(T2 s 1) (T p s 1)

The parameter N associated with the term SN 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.
ME2142 Feedback Control Systems

Examples of System Types

Type 0 systems:

K
K ;
;
G( s)
G ( s)
( s p1 )( s p 2 )
(s 1)

G(s)

K
s 2 2 n s n2

Type 1 systems:

G( s)

K
;
;
K
G( s)
s (s 1)
s ( s 2 2 n s n2 )

Type 2 systems:

K
;
G ( s) 2
s (s 1)

ME2142 Feedback Control Systems

K
G(s) 2
s ( s p1 )( s p 2 )

;
3

Steady-state Errors Static Error Constants

The unity-feedback system

Error Transfer function

E R C
C

1
R
R
R
G
(1 G ) G
1

1 G
1 G

E
1

R 1 G
Thus

E ( s)

1
R( s)
1 G ( s)

and the steady-state error is

ess lim e(t )

t

lim sE ( s )
s 0

sR ( s)
s 0 1 G ( s )

ess lim
ME2142 Feedback Control Systems

Steady-state Errors Static Error Constants

sR ( s)
s 0 1 G ( s )

ess lim

For
Foraaunit-step
unit-stepinput
input

R( s)

1
s

Static Position Error Constant,

and

s
1
1

s0 1 G ( s ) s
1 G ( 0)

ess lim

Kp is defined as

K p lim G ( s ) G (0)

and

s 0

ess

1
1 K p

with G ( s ) K (Ta s 1)(Tb s 1) (Tm s 1) ,

N

s (T1 s 1)(T2 s 1) (T p s 1)

Kp K

for Type 0 systems

Kp

for Type 1 or higher systems

ME2142 Feedback Control Systems

1
1 K
ess 0
ess

Steady-state Errors Static Error Constants

sR ( s)
s 0 1 G ( s )

ess lim
For
Foraaunit-ramp
unit-rampinput
input

R( s)

Static Velocity Error Constant,

1
s2

and

Kv is defined as

K v lim sG ( s)

and

s 0

s
1
1

lim
s 0 1 G ( s ) s 2
s0 sG ( s )

ess lim

ess

1
Kv

with G ( s ) K (Ta s 1)(Tb s 1) (Tm s 1) ,

N

s (T1 s 1)(T2 s 1) (T p s 1)

Kv 0

for Type 0 systems

ess
1
K

K v K for Type 1 systems

ess

K v for Type 2 or higher systems

ess 0

ME2142 Feedback Control Systems

Steady-state Errors Static Error Constants

sR ( s)
s 0 1 G ( s )

ess lim
For
Foraaunit-acceleration
unit-accelerationinput
input

t2
r (t )
2

1
s3
Static Acceleration Error Constant,

for t 0,

and

R( s)

s
1
1

lim
s 0 1 G ( s ) s 3
s0 s 2 G ( s )

ess lim

Ka is defined as

K a lim s 2 G ( s)

and

s 0

e ss

1
Ka

with G ( s ) K (Ta s 1)(Tb s 1) (Tm s 1) ,

N

s (T1 s 1)(T2 s 1) (T p s 1)

Ka 0

for Type 0 and Type 1 systems

K a K for Type 2 systems

Ka

for Type 3 or higher systems

ME2142 Feedback Control Systems

ess
ess

1
K

ess 0
7

Steady-state Errors
Summary
Summary
of
ofsteadysteadystate
stateerrors
errors

Step Input

Ramp Input

Accel. Input

r t

r t2 /2

Type 0 system

r 1
1
1 K

Type 1 system

Type 2 system

1
K

1
K

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

End

ME2142 Feedback Control Systems