Error Analysis in linear control systems

The typical block diagram of a closed

loop control system is shown in figure. 𝐺𝐶 ∙ 𝐺𝑃
The closed-loop transfer function is
given by
𝑪(𝒔)
𝑹(𝒔)
= 𝟏+𝑮𝑮(𝒔)
𝒔 𝑯(𝒔)
The error of the system is derived as  Steady state error for Step input, (𝑹 𝒔 = 𝑨Τ𝒔),
𝑨
follows: 𝒔 𝑨 𝑨
𝒆𝒔𝒔 = 𝒍𝒊𝒎 𝒔 = =
𝑬 𝒔 =𝑹 𝒔 −𝑪 𝒔 𝑯 𝒔 𝒔→𝟎 𝟏 + 𝑮 𝒔 𝟏 + 𝐥𝐢𝐦 𝑮(𝒔) 𝟏 + 𝒌𝒑
𝑹 𝒔 𝑮(𝒔) 𝒔→𝟎
= 𝑹 𝒔 − 𝐇(𝐬) 𝟏+𝑮 𝒔 𝑯(𝒔) Where 𝒌𝒑 is called Static Position Error Constant.
Therefore, 𝒌𝒑 = 𝐥𝐢𝐦 𝑮 𝒔 (𝒊𝒊)
𝟏 𝒔→𝟎
𝑬 𝒔 = 𝑹(𝒔)  Steady state error for Ramp input, (𝑹 𝒔 = 𝑨Τ𝒔𝟐 ),
𝟏 + 𝑮 𝒔 𝑯(𝒔) 𝑨
The steady-state error is calculated as 𝒔 𝟐 𝑨 𝑨
𝒆𝒔𝒔 = 𝒍𝒊𝒎 𝒔 = =
follows: 𝒔→𝟎 𝟏 + 𝑮 𝒔 𝒍𝒊𝒎 𝒔 𝑮(𝒔) 𝒌𝒗
𝒔→𝟎
𝒔 𝑹(𝒔)
𝒆𝒔𝒔 = 𝐥𝐢𝐦 𝒆 𝒕 = 𝐥𝐢𝐦 𝒔𝑬 𝒔 = 𝐥𝐢𝐦 Where 𝒌𝒗 is called Static Velocity Error Constant.
𝒕→∞ 𝒔→𝟎 𝒔→𝟎 𝟏 + 𝑮 𝒔 𝑯(𝒔)
𝒌𝒗 = 𝒍𝒊𝒎 𝒔 𝑮 𝒔 (𝒊𝒊𝒊)
𝒔→𝟎
In the case of unity feedback, (𝑯 𝒔 = 𝟏) ,  Steady state error for Parabolic input, (𝑹 𝒔 = 𝑨Τ𝒔𝟑 ),
we have 𝑨
𝒔 𝟑 𝑨 𝑨
𝒔 𝑹(𝒔) 𝒆𝒔𝒔 = 𝒍𝒊𝒎 𝒔 = =
𝒆𝒔𝒔 = 𝒍𝒊𝒎 (𝒊) 𝒔→𝟎 𝟏 + 𝑮 𝒔 𝒍𝒊𝒎 𝒔𝟐 𝑮(𝒔) 𝒌𝒂
𝒔→𝟎 𝟏 + 𝑮 𝒔 𝒔→𝟎
Where 𝒌𝒂 is called Static acceleration Error
It is clear from (i) that 𝒆𝒔𝒔 depends on the Constant.
type of input and the characteristics of
𝒌𝒂 = 𝒍𝒊𝒎 𝒔𝟐 𝑮 𝒔 (𝒊𝒊𝒊)
𝑮 𝒔 . 𝒔→𝟎
  General structure of 𝑮(𝒔)
Type−0 systems: 𝑵=𝟎
𝑲 𝟏 + 𝑻𝟏 𝒔 𝟏 + 𝑻𝟏 𝒔 ⋯ Type−1 systems: 𝑵=𝟏
𝑮 𝒔 = ⟹
𝒔 𝑵 𝟏 + 𝑻𝒂 𝒔 𝟏 + 𝑻𝒃 𝒔 ⋯ Type−2 systems: 𝑵=𝟐
Type−3 systems: 𝑵=𝟑
Error Analysis in linear control systems
 Type-2 system  Type-3 system
 Type-0 system  Type-1 system
 Step input  Step input
 Step input  Step input
𝑲 𝑲
𝒌𝒑 = 𝐥𝐢𝐦 𝑮 𝒔 = 𝑲 𝑲 𝒌𝒑 = 𝐥𝐢𝐦 𝑮 𝒔 = 𝟐 = ∞ 𝒌𝒑 = 𝐥𝐢𝐦 𝑮 𝒔 = 𝟑 = ∞
𝒔→𝟎 𝒌𝒑 = 𝐥𝐢𝐦 𝑮 𝒔 = 𝟏 = ∞ 𝒔→𝟎 𝟎 𝒔→𝟎 𝟎
𝑨 𝑨
𝒔→𝟎 𝟎 𝑨 𝑨 𝑨 𝑨
𝒆𝒔𝒔 = = 𝑨 𝑨 𝒆𝒔𝒔 = = =𝟎 𝒆𝒔𝒔 = = =𝟎
𝟏 + 𝒌𝒑 𝟏 + 𝑲 𝒆𝒔𝒔 = = =𝟎 𝟏 + 𝒌𝒑 𝟏 + ∞ 𝟏 + 𝒌𝒑 𝟏 + ∞
𝟏 + 𝒌𝒑 𝟏 + ∞
 Ramp input  Ramp input  Ramp input
 Ramp input
𝒌𝒗 = 𝒍𝒊𝒎 𝒔 𝑮 𝒔 = 𝟎 𝑲 𝑲
𝒔→𝟎 𝒌𝒗 = 𝒍𝒊𝒎 𝒔 𝑮 𝒔 = 𝑲 𝒌𝒗 = 𝒍𝒊𝒎 𝒔 𝑮 𝒔 = 𝟏 = ∞ 𝒌𝒗 = 𝒍𝒊𝒎 𝒔 𝑮 𝒔 = 𝟐 = ∞
𝑨 𝑨 𝒔→𝟎 𝒔→𝟎 𝟎 𝒔→𝟎 𝟎
𝒆𝒔𝒔 = = =∞ 𝑨 𝑨 𝑨 𝑨 𝑨 𝑨
𝒌𝒗 𝟎 𝒆𝒔𝒔 = = 𝒆𝒔𝒔 = = =𝟎 𝒆𝒔𝒔 = = =𝟎
𝒌𝒗 𝑲 𝒌𝒗 ∞ 𝒌𝒗 ∞
 Parabolic input  Parabolic input  Parabolic input
 Parabolic input
𝒌𝒂 = 𝒍𝒊𝒎 𝒔𝟐 𝑮 𝒔 = 𝟎 𝒌𝒂 = 𝒍𝒊𝒎 𝒔𝟐 𝑮 𝒔 = 𝟎 𝑲
𝒔→𝟎 𝒔→𝟎 𝒌𝒂 = 𝒍𝒊𝒎 𝒔𝟐 𝑮 𝒔 = 𝑲 𝒌𝒂 = 𝒍𝒊𝒎 𝒔𝟐 𝑮 𝒔 = 𝟏 = ∞
𝑨 𝑨 𝒔→𝟎 𝒔→𝟎 𝟎
𝒆𝒔𝒔 = =∞ 𝒆𝒔𝒔 = =∞ 𝑨 𝑨 𝑨 𝑨
𝒌𝒂 𝒌𝒂 𝒆𝒔𝒔 = = 𝒆𝒔𝒔 = = =𝟎
𝒌𝒂 𝑲 𝒌𝒂 ∞
• Error Analysis in linear control systems
 The error constants 𝒌𝒑 , 𝒌𝒗 and 𝒌𝒂
describe the ability of a unity-
feedback to reduce or eliminate
steady-state error. Therefore, they
are indicative of the steady-state
performance.
 It is generally desirable to
increase the error constants, while
maintaining the transient response
within an acceptable range.
 It is noted that to improve the
steady-state performance we can
increase the type of the system by
adding an integrator or integrators
to the feedforward path. This,
however, introduces an additional
stability problem.
 The design of a satisfactory system
with more than two integrators in
series in the feedforward path is
generally not easy.
.