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    Automatic Control - Lecture 4

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    MO 2004
    This document discusses steady state error (SSE) in feedback control systems. It defines SSE as the difference between the input and output of a system as time approaches infinity for a prescribed input. The document analyzes SSE for different types of test inputs (step, ramp, parabola) and system types (type 0, 1, 2). It also provides examples of calculating SSE for various controller configurations and plant models.

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    Automatic Control - Lecture 4

    Uploaded by

    MO 2004
    14 views15 pages
    This document discusses steady state error (SSE) in feedback control systems. It defines SSE as the difference between the input and output of a system as time approaches infinity for a prescribed input. The document analyzes SSE for different types of test inputs (step, ramp, parabola) and system types (type 0, 1, 2). It also provides examples of calculating SSE for various controller configurations and plant models.

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    Automatic control- lecture 4

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    This document discusses steady state error (SSE) in feedback control systems. It defines SSE as the difference between the input and output of a system as time approaches infinity for a prescribed input. The document analyzes SSE for different types of test inputs (step, ramp, parabola) and system types (type 0, 1, 2). It also provides examples of calculating SSE for various controller configurations and plant models.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    14 views15 pages

    Automatic Control - Lecture 4

    Uploaded by

    MO 2004
    This document discusses steady state error (SSE) in feedback control systems. It defines SSE as the difference between the input and output of a system as time approaches infinity for a prescribed input. The document analyzes SSE for different types of test inputs (step, ramp, parabola) and system types (type 0, 1, 2). It also provides examples of calculating SSE for various controller configurations and plant models.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 15

    Automatic Control (Control 1)

    1
    Lecture 4
    Steady State Error

    Assoc. Prof. Ahmed Lasheen


    Electric Power Engineering Dept.
    Cairo University
    [email protected]
    Feedback Control System
    Steady State Error

    Steady State Error (SSE) is the difference


    between the input and the output for a prescribed
    input as t tends to ∞

    C
    O.S.
    1.0 S.S.E.

    Tp Ts t
    Steady State Error

    Test inputs

    r(t)

    Step (constant position) r(t) = 1 R(S) = 1/S


    t
    r(t)

    Ramp (constant velocity) r(t) = t R(S) = 1/S2


    t
    r(t)

    Parabola (constant acceleration) r(t) = 1/2t2 R(S) = 1/S3


    t
    Steady State Error for Unity Feedback System

    R(S) + E(S) C(S)


    G(S)
    -

    E(S) = R(S) – C(S)


    C(S) = E(S)G(S)
    E(S) = R(S) – E(S)G(S)
    E(S)(1 + G(S)) = R(S)
    R(S)
    E(S) =
    1 + G(S)
    𝑆 R(S)
    e (∞) = lim
    𝑠→0 1 + G(S)
    Steady State Error for Unity Feedback System

    Step Input Position Constant


    R(S) = 1/S
    1 1
    e (∞) = lim = Kp = lim G(S)
    𝑠→0 1 + G(S) 1 +limG(S) 𝑠→0
    𝑠→0

    1
    =
    1 +Kp

    Ramp Input Velocity Constant


    R(S) = 1/S2
    1 1
    e (∞) = lim = Kv = lim SG(S)
    𝑠→0 S +SG(S) limSG(S)
    𝑠→0 𝑠→0

    1
    =
    Kv
    Steady State Error for Unity Feedback System

    Parabolic Input Acceleration Constant


    R(S) = 1/S3
    1 1 Ka = lim S2G(S)
    e (∞) = lim 2 2 = 𝑠→0
    𝑠→0 S +S G(S) limS2G(S)
    𝑠→0

    1
    =
    Ka
    Steady State Error and system type

    R(S) + E(S) K(S+z1)(S+z2)…. C(S)

    Sn(S+p1)(S+p2)….
    -

    n = system type (which is different from system order)

    Input Type 0 Type 1 Type 2


    Step 1/(1+Kp) 0 0
    Ramp ∞ 1/Kv 0
    Parabola ∞ ∞ 1/Ka
    Example

    R(S) + E(S) 120(S+2) C(S)

    (S+3)(S+4)
    -

    Find SSE for inputs 5u(t), 5tu(t) and 5t2u(t). Where u(t) is the unit step
    Kp= (120x2)/(3x4) = 20
    ESS for step = 5/(1+20) =5/21
    Kv= 0
    ESS for ramp = 5/0 = ∞
    Ka=0
    ESS for parabola = 10/0 = ∞
    Example

    R(S) + E(S) K(S+5) C(S)

    - S(S+6)(S+7)(S+8)

    Find K so that the SSE for ramp input is 10%


    SSE = 1/Kv =0.1
    Kv = 10 = 5K/(6x7x8)
    K = 672
    Example

    R(S) + E(S) Gc(s) C(S)

    - (S+3)(S+5)

    Find the SSE for unit step input and the %O.S. when Gc(S)=1,
    Gc(S)=10, Gc(S)=85, Gc(S)=56/S, Gc(S)=10(S+0.1)/(S+0.01)

    Gc(S)=1 Gc(S)=10
    Kp= 1/15 Kp= 10/15
    SSE= 1/(1+1/15) =0.94 SSE= 1/(1+10/15) =0.6
    C(S)/R(S)= 1/(S2+8S+16) C(S)/R(S)= 1/(S2+8S+25)
    ω𝑛= 4 , ξ = 1 , No O.S. ω𝑛= 5 , ξ = 0.8 , %O.S.=1.5%
    Example

    Gc(S)=85
    Kp= 85/15
    SSE= 1/(1+85/15) =0.15
    C(S)/R(S)= 1/(S2+8S+100)
    ω𝑛= 10 , ξ = 0.4 , %O.S.=25%

    Gc(S)=56/S
    Kp= ∞
    SSE= 0
    C(S)/R(S)= 1/(S+7)(S2+S+8)
    The third pole is 14 times the two dominant poles, thus the second
    order is valid
    ω𝑛= 2.83 , ξ = 0.177 , %O.S.=57%
    Example

    Gc(S)=10(S+0.1)/(S+0.01)
    The pole and zero are very close thus pole-zero cancelation is valid
    Kp= 100/15
    SSE= 1/(1+100/15) =0.13
    C(S)/R(S)= 1/(S2+8S+25)
    ω𝑛= 5 , ξ = 0.8 , %O.S.=1.5%
    Steady State Error for Non-Unity Feedback System

    + + G(s) + G(s)
    G(s)
    - - -
    H(s) H(s) H(s)-1

    -1

    +1

    R(S) + E(S) G(s) C(S)

    - 1+G(s)H(s)-G(s)
    Steady State Error for Non-Unity Feedback System

    E(S) C(S)
    R(S) + 100
    S(S+10)
    -
    1
    (S+5)
    G(S)= 100 / S(S+10)
    H(S)= 1 / (S+5)
    Geq(S) = G(S) / (1+G(S)H(S)-G(S))
    = 100(S+5) / (S3+15S2-50S-400)

    Kp= (100x5) / -400 = -5/4


    SSE = 1 / (1-5/4) = - 4

    The negative value implies that the output is larger than the input step

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