SYSTEMS THEORY

VII

TRANSIENT RESPONSE ANALYSIS AND STEADY-STATE ERROR ANALYSIS

1. Classification of Control Systems

Definition: consider a closed-loop system with the following open-loop transfer function:

K ⋅ (Ta ⋅ s + 1) ⋅ (Tb ⋅ s + 1)K ⋅ (Tm ⋅ s + 1)

G (s ) ⋅ H (s ) =
s N ⋅ (T1 ⋅ s + 1) ⋅ (T2 ⋅ s + 1)K ⋅ (Tp ⋅ s + 1)
. (1.)

If N = 0 , N = 1 ... then the given system is called of type 0, type 1, ... respectively.

2. The Steady-State Errors

2.1. The Definitions of the Steady-State Errors

Statement: for the closed-loop system, the steady-state error ess , i.e. the difference between the
command and the response when t → ∞ is given by the following expression:

s ⋅ U (s )
ess = lim
1 + G (s ) ⋅ H (s )
(2.)
s →0

Proof.

E (s ) = U (s ) − H (s ) ⋅ Y (s ) =

= U (s ) − H (s ) ⋅ G (s ) ⋅ E (s ) ⇒ E (s ) ⋅ [1 + H (s ) ⋅ G (s )] = U (s ) ⇒

E (s ) = ⋅ U (s )
1
1 + H (s ) ⋅ G (s )

With the final value theorem applied to the expression above, follows:

ess = lim e(t ) = lim s ⋅ E (s ) = lim ⋅ U (s )

s


t →∞ s →0 s →0 1 + G (s ) ⋅ H (s )

Statement: the steady-state actuating error of a closed-loop system to unit-step input is given by the
expression:

1
ess =
1 + G (0 ) ⋅ H (0 )
(3.)

Proof.

s 1 1
ess = lim ⋅ =

s →0 1 + G (s ) ⋅ H (s ) s 1 + G (0 ) ⋅ H (0 )

Definition: consider a closed-loop system given in the expression (1.), the static position error constant,
K p is the quantity:

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 Course No. 5

K p = lim G (s ) ⋅ H (s ) = G (0 ) ⋅ H (0 ) (4.)
s →0

Statement: the steady-state actuating error of a closed-loop system to unit-ramp input is given by the
expression:

1
ess = lim
s →0 s ⋅ G (s ) ⋅ H (s )
(5.)

Proof.

s 1 1
ess = lim ⋅ 2 = lim
s →0 1 + G (s ) ⋅ H (s ) s s →0 s ⋅ G (s ) ⋅ H (s )

Definition: consider a closed-loop system given in the expression (1.), the static velocity error constant,
K v is the quantity:

K v = lim s ⋅ G (s ) ⋅ H (s ) (6.)
s →0

Statement: the steady-state actuating error of a closed-loop system to unit-parabolic input is given by the
expression:

1
ess = lim
s ⋅ G (s ) ⋅ H (s )
2 (7.)
s →0

Proof.

s 1 1
ess = lim ⋅ 3 = lim 2
1 + G (s ) ⋅ H (s ) s s ⋅ G (s ) ⋅ H (s )


s →0 s →0

Definition: consider a closed-loop system given in the expression (1.), the static acceleration error
constant, K a is the quantity:

K a = lim s 2 ⋅ G (s ) ⋅ H (s ) (8.)
s →0

2.2. The Static Position Error Constant

Statement: consider a closed-loop system given in the expression (1.) with the open-loop gain K, then
the static position error constant is:

a. K p = K for type 0 systems, and

(9.)
b. K p → ∞ for type 1 or higher systems

Proof.

For type 0 systems:

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 Steady-State Error Analysis

K p = lim G (s ) ⋅ H (s ) =
s →0

K ⋅ (Ta ⋅ s + 1) ⋅ (Tb ⋅ s + 1) ⋅K .
= lim =K
s →0 (T1 ⋅ s + 1) ⋅ (T2 ⋅ s + 1) ⋅K
For type 1 or higher systems:

K p = lim G (s ) ⋅ H (s ) =
s →0

K ⋅ (Ta ⋅ s + 1) ⋅ (Tb ⋅ s + 1) ⋅ K .

= lim = ∞, N ≥ 1
s →0 s ⋅ (T1 ⋅ s + 1) ⋅ (T2 ⋅ s + 1) ⋅ K
N

2.3. The Static Velocity Error Constant

Statement: consider a closed-loop system given in the expression (1.) with the open-loop gain K, then
the static velocity error constant is:

a. K v = 0 for type 0 systems,

b. K v = K for type 1 systems, (10.)

c. K v → ∞ for type 2 or higher systems

Proof.

For type 0 systems:

K v = lim s ⋅ G (s ) ⋅ H (s ) =
s →0

s ⋅ K ⋅ (Ta ⋅ s + 1) ⋅ (Tb ⋅ s + 1) ⋅K .
= lim =0
s →0 (T1 ⋅ s + 1) ⋅ (T2 ⋅ s + 1) ⋅ K
For type 1 systems:

K v = lim s ⋅ G (s ) ⋅ H (s ) =
s →0

s ⋅ K ⋅ (Ta ⋅ s + 1) ⋅ (Tb ⋅ s + 1) ⋅ K .
= lim =K
s →0 s ⋅ (T1 ⋅ s + 1) ⋅ (T2 ⋅ s + 1) ⋅K

For type 2 or higher systems:

K v = lim s ⋅ G (s ) ⋅ H (s ) =
s →0

s ⋅ K ⋅ (Ta ⋅ s + 1) ⋅ (Tb ⋅ s + 1) ⋅ K .

= lim →∞ N ≥2
s →0 s N ⋅ (T ⋅ s + 1) ⋅ (T ⋅ s + 1) ⋅ K
1 2

2.3. The Static Acceleration Error Constant

Statement: consider a closed-loop system given in the expression (1.) with the open-loop gain K, then
the static acceleration error constant is:

a. K a = 0 for type 0 and type 1systems, (11.)

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 Course No. 5

b. K a = K for type 2 systems,

c. K a → ∞ for type 3 or higher systems

Proof.

For type 0 systems:

K a = lim s 2 ⋅ G (s ) ⋅ H (s ) =
s →0
s 2 ⋅ K ⋅ (Ta ⋅ s + 1) ⋅ (Tb ⋅ s + 1) ⋅ K .
= lim =0
s →0 (T1 ⋅ s + 1) ⋅ (T2 ⋅ s + 1) ⋅K
For type 1 systems:

K a = lim s 2 ⋅ G (s ) ⋅ H (s ) =
s →0
s 2 ⋅ K ⋅ (Ta ⋅ s + 1) ⋅ (Tb ⋅ s + 1) ⋅ K .
= lim =0
s →0 s ⋅ (T1 ⋅ s + 1) ⋅ (T2 ⋅ s + 1) ⋅ K

For type 2 systems:

K a = lim s 2 ⋅ G (s ) ⋅ H (s ) =
s →0
s 2 ⋅ K ⋅ (Ta ⋅ s + 1) ⋅ (Tb ⋅ s + 1) ⋅ K .
= lim =K
s →0 s 2 ⋅ (T1 ⋅ s + 1) ⋅ (T2 ⋅ s + 1) ⋅ K

For type 3 or higher systems:

K a = lim s 2 ⋅ G (s ) ⋅ H (s ) =
s →0
s 2 ⋅ K ⋅ (Ta ⋅ s + 1) ⋅ (Tb ⋅ s + 1) ⋅ K .

= lim →∞
s →0 s ⋅ (T1 ⋅ s + 1) ⋅ (T2 ⋅ s + 1) ⋅ K
N

Remark :

1. The steady-state error constants describe the ability of a system to reduce or eliminate steady-state
errors, therefore they are indicative of the steady-state performance of the given system.

2. The higher the error constants, the smaller the steady-state error.

3. A summary of the steady-state error in terms of the gain K is given in table above.
Table1: summary of the steady-state error

System: Input (command) signal:

u (t ) = 1+ (t ) u (t ) = t u (t ) = t 2

Type 0 system 1 ess → ∞ ess → ∞

ess =
1+ K

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 Steady-State Error Analysis

Type 1 system ess = 0 1 ess → ∞

ess =
K

Type 2 system ess = 0 ess = 0 1

ess =
K