A Report on "Steady-State Error Analysis in Different
Types of Control Systems for Various Input Signals"
By
NAME: Raza Shaud
REG NO.: 223550110027
ROLL NO.: 355016220218
5th SEM, 3rd YEAR
ELECTRICAL ENGINEERING (B. TECH)
Under the guidance of
DR. Raja Ram Kumar
(Department Of Electrical Engineering)
Ghani Khan Choudhury Institute of Engineering & Technology
(A CFTI under Ministry of Education Govt of India)
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CONTENTS
1. Acknowledgment
2. Certificate
3. Abstract
4. Steady State Error
5. Static error coefficients
6. Type of transfer functions and steady state error
7. Conclusion
8. References
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ACKNOWLEDGEMENT
I would like to express my gratitude towards all the people who have contributed their precious
time and effort to help me. Without whom it would not have been possible for me to understand
and complete the report.
I would like to thank Dr Raja Ram Kumar, Department of Electrical Engineering, my subject
teacher for his guidance, support, motivation and encouragement throughout the period this
work was carried out. His readiness for consultation at all times, his educative comments, his
concern and assistance even with practical things have been invaluable.
Date: 13/09/2024 RAZA SHAUD
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CERTIFICATE
This is to certify that Raza Shaud, a student of 3rd Year BTech Electrical Engineering, has
successfully completed the report on the topic " Steady-State Error Analysis in Different Types
of Control Systems for Various Input Signals " as part of the curriculum for the subject Control
Systems. This report has been prepared under the guidance of Dr. Raja Ram Kumar and has been
submitted in partial fulfillment of the requirements for the course.
Raza Shaud has demonstrated dedication and effort in researching the topic, and this report reflects
his understanding of the concept and its application in control systems.
Place: GKCIET MALDA (Dr. Raja Ram Kumar)
Date: 13.09.2024 Department of Electrical Engineering
GKCIET MALDA
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ABSTRACT
This report delves into the analysis of steady-state error in various types of control systems when
subjected to different input signals. Steady-state error is a critical performance metric, representing
the difference between the desired and actual output as time approaches infinity. By understanding
steady-state error, engineers can assess how accurately a system performs under constant or slowly
varying inputs. The report covers the concept of steady-state error in proportional, integral, and
derivative control systems, along with a discussion of static error coefficients and the relationship
between the type of transfer function and the resulting error for various standard input signals, such
as step, ramp, and parabolic inputs. The goal is to provide a comprehensive overview of how
different system types respond to these inputs and the implications for system design and
optimization.
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Introduction
In control systems, the objective is often to ensure that the output of a system follows a desired
reference input as closely as possible. One key measure of a system's performance is the steady-
state error (SSE), which is the difference between the input and the output once the transient effects
have settled and the system reaches equilibrium. Steady-state error analysis is crucial in evaluating
how well a control system performs in tracking input signals, especially after the transient phase
has passed.
A well-designed control system aims to minimize SSE, as a lower error indicates better system
accuracy and performance. The ability to reduce or eliminate SSE is particularly important in
systems that demand high precision, such as those in aerospace, robotics, and industrial
automation. Engineers analyze steady-state error to ensure systems can meet performance
requirements for different input signals, such as step, ramp, and parabolic inputs.
Steady-state error (SSE) is an essential performance metric in control systems that measures the
difference between the desired output and the actual output of a system when it reaches a steady
state. The goal in control systems is often to minimize the SSE. In this report, we will analyze SSE
for different types of control systems (Type 0, Type 1, and Type 2) subjected to various input
signals, such as step, ramp, and parabolic inputs.
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Steady State Error
A desirable feature of a control system is the faithful following of its input by the output. However,
if the actual output of a control system during steady state deviates from the reference input (i.e.
desired output), the system is said to possess a steady state error.
As the steady state error is an index of accuracy of a control system, therefore, the steady state
error should be minimum as far as possible. The steady state performance of a control system is
assessed by the magnitude of the steady state error possessed by the system and the system input
specified as either step or ramp or parabolic.
The magnitude of the steady state error in a closed-loop control system depends on its open-loop
transfer function, i.e. G(s) H(s) of the system. The classification of open-loop transfer function is
explained below:
Classification of open-loop transfer function: The product of the forward path transfer function
and the feedback path transfer function of a control system is known as open-loop transfer function.
In general, the open-loop transfer function of a system is given by
where K is the forward path gain
and N is the number of poles at the origin.
The number of poles at the origin possessed by an open-loop transfer function is the basis for
classification of a control system
N = 0 for type ‘0’ system
N = 1 for type ‘1’ system
N = 2 for type ‘2’ system
:
:
N = N for type ‘N’ system.
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Static error coefficients
As the steady state error for a control system is considered during the steady state period, the error
is also called static error. For evaluating steady state error, the input function is specified as either
unit step (displacement) or unit ramp (velocity) or unit parabolic (acceleration).
Static error coefficients associated with aforesaid inputs are determined below:
(i) Static positional error coefficient:
Static positional error coefficient Kp is associated with unit step input applied to a closed-loop
control system and is determined below:
As the input is 𝑅(𝑠) = 1/𝑠
put 𝐾𝑝 = lim 𝐺(𝑠)𝐻(𝑠), 𝐾𝑝 is called static positional error coefficient, therefore
𝑠→0
(ii) Static velocity error coefficient:
Static velocity error coefficient is associated with unit ramp input applied to a closed loop control
system and is determined below:
As the input is 𝑅(𝑠) = 1/𝑠2
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put lim 𝑠𝐺(𝑠)𝐻(𝑠) = 𝐾𝑣, 𝐾𝑣 is called static velocity error coefficient, therefore,
𝑠→0
(iii) Static acceleration error coefficient:
Static acceleration coefficient is associated with unit parabolic input applied to a closed-loop
control system and is determined below:
As the input is 𝑅(𝑠) = 1/𝑠3
put Ka is called static acceleration error coefficient,
therefore,
Type of transfer functions and steady state error
The steady state error depends on the type of open-loop transfer function of a closed-loop control
system. An estimation of steady state error for a specified input in terms of forward path gain of an
open-loop transfer function is given below:
1 (a). Type ‘0’ system with unit step input
For a type ‘0’ system the open-loop transfer function is given by
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(b) Type ‘0’ system with unit ramp input
For a type ‘0’ system the open-loop transfer function is given by
(c) Type ‘0’ system with unit parabolic input
For a type ‘0’ system the open-loop transfer function is given by
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2 (a). Type ‘1’ system with unit step input
For a type ‘1’ system the open-loop transfer function is given by
(b) Type ‘1’ system with unit ramp input
For a type ‘1’ system the open-loop transfer function is given by
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(c) Type ‘1’ system with unit parabolic input
For a type ‘1’ system the open-loop transfer function is given by
3 (a). Type ‘2’ system with unit step input
For a type ‘2’ system the open-loop transfer function is given by
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(b) Type ‘2’ system with unit ramp input
For a type ‘2’ system the open-loop transfer function is given by
(c) Type ‘2’ system with unit parabolic input
For a type ‘2’ system the open-loop transfer function is given by
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The steady state error of an open-loop transfer function with the specified input is shown in
the table below:
Input Laplace Type ‘0’ Type ‘1’ Type ‘2’
of input
Static ess Static ess Static ess
error error error
coeff. coeff. coeff.
Unit step 1/s Kp=K 1/1+K Kp=∞ 0 Kp=∞ 0
Unit ramp 1/s2 Kv=0 ∞ Kv=K 1/K Kv=∞ 0
Unit 1/s3 Ka=0 ∞ Ka=0 ∞ Ka=K 1/K
parabolic
An observation of he above table gives the following information:
a) For type 0 systems, the ramp and parabolic inputs are not acceptable.
b) For type 1 systems the parabolic input is not acceptable.
c) For the type 2 systems all the three inputs the step, ramp and parabolic are acceptable.
d) Finite steady state error varies in inverse proportion to the forward path gain K.
e) All the steady state errors are positional in nature.
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Conclusion
The steady-state error depends on the type of control system and the nature of the input signal.
Type 0 systems handle step inputs with a finite SSE but fail for ramp and parabolic inputs. Type 1
systems eliminate SSE for step inputs and manage ramp inputs with a finite error, though they fail
for parabolic inputs. Type 2 systems excel at tracking both step and ramp inputs with zero SSE and
perform better than the other types for parabolic inputs.
Steady-state error analysis plays a fundamental role in evaluating the performance of control
systems in response to different input signals. The study of static error coefficients and system
types highlights how the nature of a control system’s transfer function determines its ability to
eliminate or minimize steady-state errors for common input types like step, ramp, and parabolic
signals. Proportional systems tend to have non-zero errors for most inputs, while systems
incorporating integral components show improved error correction capabilities, particularly for
higher-order input signals. Understanding these relationships allows engineers to design control
systems that meet the desired performance criteria and ensure accurate and stable output. By
choosing the appropriate system configuration, it is possible to significantly reduce steady-state
errors and improve system precision, making the analysis vital in control system design and
application.
Control engineers often design feedback controllers to reduce or eliminate steady-state error,
depending on the application requirements and the type of input signal.
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References
1. Ogata, K. (2010). Modern Control Engineering (5th ed.). Prentice Hall.
2. Dorf, R. C., & Bishop, R. H. (2011). Modern Control Systems (12th ed.). Pearson.
3. Nise, N. S. (2011). Control Systems Engineering (6th ed.). Wiley.
4. J. J. D’Azzo & C. H. Houpis. Linear Control System Analysis and Design with MATLAB
(4th ed.). Wiley, 2009.
5. M. Gopal. Modern Control System Theory and Design. Wiley, 2006.
6. M. K. Gupta & R. P. Sharma. Control Systems: Theory and Applications. PHI Learning,
2008.
7. C. A. Desoer & M. Vidyasagar. Feedback Systems: Input-Output Properties. SIAM, 2009.
8. J. C. Hou & S. T. Chen. Control Systems Engineering. McGraw-Hill Education, 2008.
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