ME451: Control Systems

Lecture 13 Steady-state error

Course roadmap
Modeling
Laplace transform Transfer function Models for systems electrical mechanical electromechanical Block diagrams Linearization

Analysis
Time response Transient Steady state Frequency response Bode plot Stability RouthRouth-Hurwitz Nyquist

Design
Design specs Root locus Frequency domain PID & LeadLead-lag Design examples

Dr. Jongeun Choi Department of Mechanical Engineering Michigan State University

(Matlab simulations &) laboratories

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Performance measures (review)

Transient response
Peak value Peak time Percent overshoot Delay time Rise time Settling time
(From next lecture)

Steady-state error: unity feedback

We assume that the CL system is stable! Unity feedback!

Next, we will connect these measures with ss-domain.

Steady state response

Steady state error
(Today (Todays lecture)

Suppose that we want output y(t) to track r(t). Error Steady-state error

Final value theorem

(Suppose CL system is stable!!!)
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Error constants
Step-error (position-error) constant

Steady-state error for step r(t)

Ramp-error (velocity-error) constant

Parabolic-error (acceleration-error) constant

Kp

Kp, Kv, Ka : ability to reduce steady-state error

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Steady-state error for ramp r(t)

Steady-state error for parabolic r(t)

Kv
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Ka
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System type
System type of G is defined as the order (number) of poles of G(s) at s=0. Examples

Zero steady-state error

If error constant is infinite, we can achieve zero steady-state error. (Accurate tracking)
For step r(t)

type 1
For ramp r(t)

type 2
For parabolic r(t)

type 3
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Example 1
G(s) of type 2 G(s) G(s) of type 1

Example 2
G(s)

Characteristic equation

By Routh-Hurwitz criterion, CL is stable iff Step r(t)

CL system is NOT stable for any K. e(t) goes to infinity. (Dont use todays results if CL system is not stable!!!)
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Ramp r(t) Parabolic r(t)

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Example 3
G(s) of type 2 G(s)

A control example

By Routh-Hurwitz criterion, we can show that CL system is stable. Step r(t) Ramp r(t) Parabolic r(t)
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Closed-loop stable? Compute error constants Compute steady state errors

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Summary and Exercises

Steady-state error
For unity feedback (STABLE!) systems, the system

type of the forwardforward-path system determines if the steadysteady-state error is zero. The key tool is the final value theorem! theorem!

Next, time response of 1st-order systems Exercises

Go over the examples in this lecture.

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