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Lect10 - System type, PID - Lecture Note 10 System Type and...

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3/2/2010 1 Lecture Note 10 : System Type and PID Control AE353, Spring 2010 Prof. Soon Jo Chung ([email protected]) Steady State Error: System Type A system type: defined to be the degree of the polynomial for which the steady state system error is a nonzero finite for which the steady state system error is a nonzero finite constant. The error will be zero for input polynomials below a certain degree, and will be unbounded for inputs of higher degrees. System Types are defined differently for Reference tracking And Disturbance Rejection
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3/2/2010 2 Summary: Errors as a Function of System Type Type\Input Step Ramp Parabola Type 0 1/(1+Kp) Type 1 0 1/Kv Type 2 0 0 1/Ka Example No steady state errors
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3/2/2010 3 System Type for General Case Let’s assume that the feedback has a non it i unity gain System Type w.r.t. Disturbance W The system type w.r.t. disturbance inputs might be different from the system type w.r.t
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