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Computation of the steady state error values for control systems with; 1. Parabolic input 2. Ramp input
1. PARABOLIC INPUT At 2 x(t ) = 2 Considering the Parabolic input Its Laplace transform is Thus the steady state error is A s( 3) s = lim ess = lim s 0 1 + G s H( s 0 s ( ) ) s +
R( ) = s A s3
A 2 2 s G( s) H( s)
ess =
A lim s 2G( s) H( s)
s 0
G ( s ) H ( s) =
Where the zeros are a, b, and the poles are c, d, The steady state error becomes generally;
ess =
1. For a Type zero system with a parabolic input, the steady state error is;
ess =
Leading to
A ess = = 0
2. For a Type 1 system with a parabolic input, the steady state error is;
ess =
Giving
A ess = = 0
3. For a Type 2 system with a parabolic input, the steady state error is;
ess =
Giving
ess = A ab ... K cd ...
Ka = ab ... K cd ...
ess =
A Ka
4. For a Type 3 system with a parabolic input, the steady state error is;
ess =
Giving
2. RAMP INPUT
G ( s ) H ( s) =
The steady state error becomes;
ess =
1. For a Type 0 system with a ramp input, the steady state error is;
ess = A A = Ks ( s + a )( s + b)... Ks( s + a)( s + b)... lim 0 lim s 0 s ( s + c )( s + d )... s 0 ( s + c )( s + d )...
Giving
ess =
A = 0
2. For a Type 1 system with a ramp input, the steady state error is;
ess =
ess =
ess =
Kv =
ab... K cd ...
ess =
A Kv
3. For a Type 2 system with a ramp input, the steady state error is;
ess =
Giving
A A = Ks( s + a)( s + b)... K ( s +a)( s +b)... lim 2 lim s 0 s ( s + c)( s + d )... s s( s +c)( s + )... 0 d
A ess = =
4. For a Type 3 system with a ramp input, the steady state error is;
ess =
A ess = =