EE-379

LINEAR CONTROL SYSTEMS

Lecture No 19

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 7 (nn 6th Ed)
7.5 Steady-State Error for Disturbances Page 356
7.6 Steady-State Error for Nonunity Feedback
Systems Page 358
7.7 Sensitivity Page 362

Instructor: Dr. Farid Gul

Class: BEE 4A/B
Electrical Engineering Department

1
7.5 Steady-State Error for
Disturbances

2
Figure 7.11
Feedback control system
showing disturbance

R( s ) - E ( s) = E ( s )G1 ( s )G2 ( s ) + D( s )G2 ( s )

R( s ) - D ( s )G2 ( s) = [ 1 + G1 ( s )G2 ( s ) ] E ( s )

1 G2 ( s )
E (s) = R( s ) - D( s )
1 + G1 ( s )G2 ( s ) 1 + G1 ( s )G2 ( s )

transfer function
transfer function
relating E(s) to D(s)
relating E(s) to R(s)
3
 1 G2 ( s )
E (s) = R( s ) - D( s )
1 + G1 ( s )G2 ( s ) 1 + G1 ( s )G2 ( s )
Applying the final value theorem
s sG2 ( s )
e() = lim sE ( s ) = lim R ( s ) - lim D( s)
s 0 s  0 1 + G ( s )G ( s ) s  0 1 + G ( s )G ( s )
1 2 1 2

s Assume a step disturbance,

eR () = lim R( s)
s  0 1 + G ( s )G ( s )
1 2
D(s) = 1/s.
G2 ( s )
eD () = - lim
sG2 ( s) s  0 1 + G ( s )G ( s )
eD () = - lim D( s) 1 2
s  0 1 + G ( s )G ( s )
1 2

1
eD () = -
Let us explore the conditions on eD () 1
that must exist to reduce the error due to + lim G1 ( s )
lim G2 ( s) s  0
the disturbance s 0

4
 1
eD () = -
1
+ lim G1 ( s )
lim G2 ( s ) s  0
s 0

The ss error produced by a step

disturbance can be reduced by:
a. increasing the dc gain of
G1(s)

or
b. decreasing the dc gain of
G2(s)

System rearranged to show disturbance as

input and error as output, with R(s) = 0
5
Example 7.7 Steady-State Error Due to Step Disturbance

PROBLEM: Find the steady-state error component due to a step

disturbance for the system shown in the Figure.

SOLUTION: The system is stable

1 1 1
eD () = - =- =
1 0 + 1000 1000
+ lim G1 ( s )
lim G2 ( s ) s  0
s 0

the steady-state error produced by the step disturbance

is inversely proportional to the dc gain of G 1 (s) 6
 7.6 Steady-State Error for
Nonunity Feedback Systems

7
Nonunity Feedback System
The feedback path of a control system may be a
pure gain other than unity or may have some controller
dynamic representation and plant

input
transducer Control systems may not
have unity feedback
A general feedback system
because of the
feedback compensation used to
improve performance
or
E(s) = R(s) — C(s) because of the physical
model for the system
??? 8
Forming an equivalent unity
feedback system from a nonunity
feedback system through block
diagram manipulation
G(s) = G1(s)G2(s)
H(s) = H1(s)/G1(s)

The error Ea(s) is not the

difference between the
input and the output
(b)
Actuation signal

Unity Feedback
System
E(s) = R(s) — C(s)
9
Example 7.8 Steady-State Error for Nonunity Feedback Systems

PROBLEM: For the system shown in

the Figure, find the system type, the
appropriate error constant associated
with the system type, and the steady-
state error for a unit step input. Assume
input and output units are the same.

SOLUTION: System Type ???

Convert the system into an equivalent static error constant
unity feedback system

The steady-state error

System Type ??? 10

Deriving a general equation for the steady-state error of a
system with disturbance and nonunity feedback

For zero error,

Assuming step inputs and step disturbances

The two equations can be satisfied if
(1) the system is stable,
(2) G1(s) is a Type 1 system,
(3) G2(s) is Type 0 system
(4) H(s) is Type 0 system with
unity dc gain 11
Steady-State value of
the actuating signal,
Ea1
no restriction that the input
and output units be the same

Ea1 ( s ) = G1 ( s ) R ( s ) - G2 ( s ) H1 ( s ) Ea1 ( s ) Applying final value

theorem:

[ 1 + G2 ( s) H1 ( s) ] Ea1 ( s) = G1 ( s) R( s) ea1 (�) = lim sEa1 ( s )

s �0

s G1 ( s ) R( s )
G1 ( s ) R ( s) ea1 (�) = lim
Ea1 ( s ) = s �0 1 + G ( s ) H ( s )
1 + G2 ( s ) H1 ( s) 2 1

12
 Steady-State Actuating Signal
Example 7.9 for Nonunity Feedback Systems

PROBLEM: Find the steady-state actuating signal

for the system shown in the Figure for a unit step s G1 ( s ) R ( s )
input. Repeat for a unit ramp input. ea1 (�) = lim
s �0 1 + G ( s ) H ( s )
2 1

sR ( s )
ea () = lim
s 0 1 + G ( s) H ( s)

For step input R(s)=1/s

For ramp input R(s)=1/s2

13
7.7 Sensitivity

14
Definition
The extent to which changes in system parameters affect system
transfer functions is called sensitivity.
OR
Sensitivity is ratio of the fractional change in the
function to the fractional change in the parameter
as
the fractional change of the parameter approaches zero

Fractional change in the function, F

S F :P = lim
DP �0 Fractional change in the parameter, P

DF F
S F :P = lim
DP �0 DP P

P DF Pd F
S F :P = lim S F :P =
DP �0 F DP
FdP
15
Example 7.10 Sensitivity of a Closed-Loop Transfer Function

PROBLEM: Given the system in the Figure, calculate the sensitivity of the
closed-loop transfer function to changes in the parameter a. How would you
reduce the sensitivity?

SOLUTION:
The closed-loop transfer function is

For any value of s, an increase in K reduces the sensitivity of the

closed-loop transfer function to changes in the parameter a
16
Example 7.11 Sensitivity of Steady-State Error with Ramp Input
PROBLEM: For the system shown in the Figure, find the sensitivity of the
steady-state error to changes in parameter K and parameter a with ramp inputs.

SOLUTION:
The steady-state error for the system is

1 a a de a �1 �
e(�) = = Se:a = = � �=1
KV K e da a K �K �

Pd F K de K �- a �
S F :P = Se:K = = � 2�
= -1
FdP e dK a K �K �

The negative sign indicates a

decrease in e(∞) for an increase in K
17
???
19
20