Lec07 - Steady-State Error - Servotable Controller Plant...

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Unformatted text preview: Steady-State Error - Servotable Controller Plant ensor K v Pre-filter d (s) (s) +- K p G m T D (s) + + Slide 1 ME 475 Session 7: Steady-State Error Galen King Purdue University Sensor K v N(s) + + m m m K G (s) s( s 1) = + For T D = 0: For d = 0: Steady-State Error - Servotable For T D = 0: d E(s) (s) (s) = - Slide 2 ME 475 Session 7: Steady-State Error Galen King Purdue University For d = 0: Steady-State Error For now, focus on unity feedback systems: G R(s) Y(s) + E(s) Slide 3 ME 475 Session 7: Steady-State Error Galen King Purdue University- Steady-State Error steady-state error: (use Final Value Theorem) Slide 4 ME 475 Session 7: Steady-State Error Galen King Purdue University Typical Reference Inputs unit step (constant position) r(t) = u(t) unit ramp (constant velocity) r(t) = t Slide 5 ME 475 Session 7: Steady-State Error Galen King Purdue University unit parabolic (const. acc.) In general, 2 t 2 1 ) t ( r = n t ! n 1 ) t ( r = Steady-State Error...
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Lec07 - Steady-State Error - Servotable Controller Plant...

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