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Lec 10

This document contains the schedule and objectives for the ENGR3350U - Control Systems lecture course. The 13-week schedule covers topics like closed and open loop systems, Laplace transforms, state variables, feedback control, stability, root locus analysis, frequency response methods and control system design. The learning objectives include understanding steady state error, stability analysis, and applying concepts from chapters 4-5 of the course textbook. The document provides examples and explanations of steady state error, including how to calculate error for step, ramp and other inputs.

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Karan Chawla
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82 views26 pages

Lec 10

This document contains the schedule and objectives for the ENGR3350U - Control Systems lecture course. The 13-week schedule covers topics like closed and open loop systems, Laplace transforms, state variables, feedback control, stability, root locus analysis, frequency response methods and control system design. The learning objectives include understanding steady state error, stability analysis, and applying concepts from chapters 4-5 of the course textbook. The document provides examples and explanations of steady state error, including how to calculate error for step, ramp and other inputs.

Uploaded by

Karan Chawla
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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ENGR3350U - CONTROL SYSTEMS

LECTURE-10

Lecture Schedule
Week-1 [10-Sep]: Lab Introduction Week-2 [14,17 Sep]: Control System, Closed / Open Loops, Modelling of Dynamic Systems Week-3 [21,24 Sep]: Laplace Transform, Block Diagram, Review Week-4 [28-Sep, 1-Oct]: State Variables, Feedback Control, Review Week-5 [5,8 Oct]: Midterm Exam (1), Invited Lecture / Project Discussions Week-6 [12,15 Oct]: Performance of Feedback Control Week-7 [19,22 Oct]: Steady State Error, Stability
Dr. Hossam A.Gabbar 2
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Lecture Schedule
Week-8 [26,29 Oct]: Stability and Root Locus Method Week-9 [2,5 Nov]: Midterm Exam (2), Review Week-10 [9,12 Nov]: Root Locus Method Week-11 [16,19 Nov]: Frequency Response Methods, and Stability in Frequency Domain Week-12 [23,26 Nov]: Project Presentation Week-13 [30-Nov, 3-Dec]: Nyquist Diagram, Control System Design, Final Review

Dr. Hossam A.Gabbar

LEARNING OBJECTIVES
Review Sensitivity Analysis Understand Steady State Error, and Final Value Theorem Stability

Ch4/5: pages: 234-242, 250-273, 305-330

PERFORMANCE OF FEEDBACK CONTROL

CONTROL SYSTEM RESPONSES

STEADY STATE ERROR

STEADY STATE ERROR


A steady-state error is the difference between the input and the output for a prescribed test input as t approaching to infinite. Open-loop system:

Closed-loop system:

STEADY STATE ERROR

Valid only if limit of e(t) at (infinity) exists

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STEADY STATE ERROR

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EXAMPLE

A magnetic drive requires a motor to position a read/write head over tracks of data on a spinning disk, as shown below. The motor and head may be represented by the transfer function:

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EXAMPLE
The controller takes the difference of the actual and desired positions and generates an error. This error is multiplied by an amplifier K. (a) what is the steady state position error for a step change in the desired input? (b) calculate the required K in order to yield a steady-state error of 0.1 mm for a ramp input of 10 cm/s

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EXAMPLE - STEADY STATE ERROR

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STEADY STATE ERROR

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STEADY STATE ERROR

Kp is called the step error constant. Kv is called the ramp error constant. Ka is called the parabolic error constant. They are defined as follows.

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STEADY STATE ERROR FOR UNIT STEP INPUT

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STEADY-STATE ERROR FOR RAMP RESPONSE

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QUIZ

a. Calculate steady state error for unit step response b. Calculate the overshoot of the speed to a step command
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SOLUTION

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SOLUTION

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