System Type

Consider the unity-feedback system

R

With

(6-1)

The parameter associated with the term

in the denominator
represents the Type of the system. Example: Type 0 if
0, Type
1 if
1 and so on.
A free s term in the denominator represents an integration. The
higher the type number, the better the steady-state accuracy of the
closed-loop control system.
However, the higher the system type, the greater the problem with
system stability.
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ME2142 Feedback Control Systems

C5.33

Examples of System Types

R

Type 0 systems: G ( s )

G ( s)
Type 1 systems: G ( s )

Type 2 systems: G ( s )
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K
K ;
;
G (s)
( s p1 )( s p 2 )
(s 1)

K
s 2 2 n s n2
K
K
; G ( s)
;
s (s 1)
s ( s 2 2 n s n2 )
K
K
; G (s)
s 2 ( s p1 )( s p 2 )
s 2 (s 1)

ME2142 Feedback Control Systems

;
C5.34

Steady-State Errors Static Error Constants

The same unity-feedback system

Error Transfer function

E R C
C

1
R
R
R
G
(1 G ) G
1

1 G
1 G

E
1

R 1 G
Thus

E ( s)

1
R( s)
1 G ( s)

and the steady-state error is

ess lim e(t )

t

lim sE ( s )
s 0

sR ( s )
s 0 1 G ( s )

ess lim
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ME2142 Feedback Control Systems

C5.35

Steady-State Errors Static Error Constants

sR ( s )
s 0 1 G ( s )

ess lim

For a unit-step input

R( s)

1
s

Static Position Error Constant,

and

Kp is defined as

K p lim G ( s ) G (0)
s 0

with G ( s )

1
s
1

s0 1 G (s ) s
1 G ( 0)

ess lim

and

ess

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

,
N
s (T1 s 1)(T2 s 1) (T p s 1)

Kp K

for Type 0 systems

Kp

for Type 1 or higher systems

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ME2142 Feedback Control Systems

1
1 K p

1
1 K
ess 0
ess

C5.36

Steady-State Errors Static Error Constants

sR ( s )
s 0 1 G ( s )

ess lim
For a unit-ramp input

R( s)

Static Velocity Error Constant,

1
s2

ess lim

Kv is defined as

K v lim sG ( s )
s 0

with G ( s )

s
1
1
lim

s 0 1 G ( s ) s 2
s 0 sG ( s )

and

and

ess

1
Kv

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

,
N
s (T1 s 1)(T2 s 1) (T p s 1)

Kv 0

for Type 0 systems

ess
1
K

K v K for Type 1 systems

ess

K v for Type 2 or higher systems

ess 0

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ME2142 Feedback Control Systems

C5.37

Steady-State Errors Static Error Constants

sR ( s )
s 0 1 G ( s )

ess lim
For a unit-acceleration input

t2
r (t )
2

for t 0,

R( s)

1
s3

Static Acceleration Error Constant,

and

Ka is defined as

K a lim s 2 G ( s )
s 0

with G ( s )

s
1
1

lim
s 0 1 G ( s ) s 3
s0 s 2 G ( s )

ess lim

and

ess

1
Ka

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

,
N
s (T1 s 1)(T2 s 1) (T p s 1)

Ka 0

for Type 0 and Type 1 systems

K a K for Type 2 systems

Ka
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for Type 3 or higher systems

ME2142 Feedback Control Systems

ess
ess

1
K

ess 0
C5.38

Steady-State Errors - Summary

System
Type
Type 0

StepInput
1
1

Type1

Type 2

RampInput

Accel.Input
/2

1
0

Type 0 systems have finite steady-state errors for step inputs and cannot
follow ramp inputs.
Type 1 systems have zero steady-state errors for step inputs, finite errors for
ramp inputs, and cannot follow acceleration inputs.
Type 2 systems are needed to follow ramp inputs with zero steady-state
errors.
In general, the higher the static gain of the open-loop transfer function, G(s),
the smaller the steady-state errors. However, higher gains normally lead to
stability problems.
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ME2142 Feedback Control Systems

C5.39

The End

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ME2142 Feedback Control Systems

C5.40