Case 1: Step Input with Closed-Loop System
1
System Transfer Function: G(s) =
s2 + s
Given a unit feedback system, the closed-loop transfer function T (s) is:
1
G(s) 2 1
T (s) = = s +s1 = 2
1 + G(s) 1 + s2 +s s +s+1
Step Input:
The step input R(s) is represented in the Laplace domain as:
1
R(s) =
s
Output:
The output response Y (s) can be computed as:
1
Y (s) = T (s) · R(s) =
s(s2 + s + 1)
Taking the inverse Laplace transform, we obtain the time-domain response y(t).
Error:
The error E(s) is the difference between the input and output:
1 1
E(s) = R(s) − Y (s) = −
s s(s2 + s + 1)
This error signal represents the difference between the desired input and the actual output.
Plot Interpretation:
• The step input is a constant value of 1.
• The output gradually approaches the input value, indicating the transient response of the system.
• The error decreases over time as the output approaches the input value, eventually settling near zero.
Case 2: Ramp Input with Closed-Loop System
1
System Transfer Function: G(s) =
s2 +s
The closed-loop transfer function with unit feedback remains:
1
T (s) =
s2 +s+1
Ramp Input:
The ramp input R(s) is represented in the Laplace domain as:
1
R(s) =
s2
Output:
The output response Y (s) for a ramp input is:
1
Y (s) = T (s) · R(s) =
s2 (s2 + s + 1)
Taking the inverse Laplace transform gives us the time-domain output y(t).
Error:
The error E(s) is calculated as:
1 1
E(s) = R(s) − Y (s) = 2
− 2 2
s s (s + s + 1)
This error signal indicates the difference between the desired ramp input and the actual output.
Plot Interpretation:
• The ramp input increases linearly over time.
• The output attempts to follow the ramp but lags behind, leading to an increasing error.
• The error grows over time, reflecting the system’s inability to perfectly track the ramp input.
Figure 1: step
Figure 2: ramp
Discussion of the Figures with Values
1. Step Input with Closed-Loop Feedback
Input: The step input is a constant value of 1 after time t = 0.
Output:
• Initially, the output is 0 because the system has not yet responded to the step input.
• The output gradually increases as the system responds to the input, aiming to reach the input value of 1.
• The output approaches a steady-state value close to 1 over time. From the plot, the output reaches approximately
0.95 after a significant amount of time, indicating that the system is close to tracking the step input, but with a
slight steady-state error.
Error:
• The error is the difference between the input and output.
• Initially, the error is 1 (since the output starts at 0).
• As the output increases, the error decreases over time.
• The error eventually reduces to a small value (approximately 0.05) as the output nears the input value, indicating
a small steady-state error.
2. Ramp Input with Closed-Loop Feedback
Input: The ramp input increases linearly with time, R(t) = t. For example, at t = 10 seconds, the input value is 10.
Output:
• The output starts at 0 and increases over time, attempting to follow the ramp input.
• However, the output lags behind the ramp input due to the system’s dynamics.
• The rate at which the output increases is slower than the input, indicating that the system cannot perfectly track
the ramp. For example, at t = 10 seconds, the output value is approximately 5, while the input is 10.
Error:
• The error in this case increases over time because the output cannot keep up with the increasing ramp input.
• Initially, the error is 0, but as time progresses, the error grows linearly. For example, at t = 10 seconds, the error is
approximately 5, reflecting the difference between the ramp input and the output.
• This growing error indicates that the closed-loop system is not capable of perfectly tracking the ramp input, resulting
in an increasing discrepancy between the desired and actual output.
Summary
In the step input case, the system has a small steady-state error, which means it can track the step input relatively well
but with a slight offset.
In the ramp input case, the system cannot perfectly follow the ramp, resulting in a linearly increasing error over
time. This behavior is typical of systems with certain types of dynamics, such as those with integrator poles, where
tracking a continuously increasing input is challenging.
These results highlight the differences in system performance based on the type of input and the limitations of the
closed-loop system in accurately following varying inputs.