Steady-State Errors System & Control Engineering Lab.

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Presentation transcript:

Steady-State Errors System & Control Engineering Lab. School of Mechanical Engineering

CHAPTER OBJECTIVES How to find the steady-state error for a unity feedback system How to specify a system’s steady-state error performance How to find the steady-state error for disturbance inputs How to find the steady-state error for nonunity feedback systems

DEFINITION AND TEST INPUTS

Evaluating Steady-State Errors

Evaluating Steady-State Errors

Sources of Steady-State Error

Sources of Steady-State Error Unity feedback system

Steady-State Error for Unity Feedback Systems Final value theorem

Steady-State Errors The closed-loop transfer function is The transfer function between the error signal and input signal is

Steady-State Error for Unity Feedback Systems The steady-state error is

Steady-State Error for Unity Feedback Systems: Step Input

Steady-State Error for Unity Feedback Systems: Ramp Input

Steady-State Error for Unity Feedback Systems: Parabolic Input

Static Error Constants

Static Error Constants

Classification of Control Systems Open-loop transfer function Type 0,1,2…., if N=0,1,2……

Classification of Control Systems Open-loop transfer function

System Type

Steady-State Error for Unity Feedback Systems: Ex

Steady-State Error for Unity Feedback Systems: Ex

Steady-State Error for Unity Feedback Systems: Ex

Steady-State Error for Unity Feedback Systems: Ex

Steady-State Error for Unity Feedback Systems: Ex

Steady-State Error for Unity Feedback Systems: Ex

Steady-State Error for Unity Feedback Systems: Ex

Steady-State Error for Unity Feedback Systems: Ex

Steady-State Error for Unity Feedback Systems: Ex

Steady-State Error for Disturbances

Steady-State Error for Disturbances

Steady-State Error for Disturbances

Steady-State Error for Disturbances

Steady-State Error for Nonunity Feedback Systems

Steady-State Error for Nonunity Feedback Systems

Steady-State Error for Nonunity Feedback Systems

Steady-State Error for Nonunity Feedback Systems

Sensiivity

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