# l5 - 16.06 Lecture 5 Steady-State Errors Karen Willcox...

This preview shows pages 1–9. Sign up to view the full content.

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: 16.06 Lecture 5 Steady-State Errors Karen Willcox September 11, 2003 Today’s Topics 1. Steady-state errors 2. The importance of integrators 3. PI control Reading : 4.3, l.n. 1 1 Introduction Recall from the last lecture that high loop gains reduce the sensitivity to parameter variations and disturbance inputs. Today, we will see that they also reduce steady-state errors in feedback systems. 2 Steady-State Errors Consider the unity feedback system: How do we determine the steady-state error, e ss ? 2 Use the final value theorem: e ss = = (1) For G ( s ) the following general form is assumed: G ( s ) = (2) 3 Definitions (a) Gain (b) Type number 3 (c) Position error constant , K p (d) Velocity error constant , K v (e) Acceleration error constant , K a Equation (2) shows that So, equation (1) can be written: e ss = (3) 4 4 Table of steady-state errors Using equation (3), we can construct a handy table: e.g. type 2 system, unit ramp input 5 5 A physical explanation of the table 5.1 Consider a type system Type 0, step input: If c is constant, then e ss must be This means: 6 Type 0, ramp input: 7 5.25....
View Full Document

{[ snackBarMessage ]}

### Page1 / 10

l5 - 16.06 Lecture 5 Steady-State Errors Karen Willcox...

This preview shows document pages 1 - 9. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online