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12.8 Steady-State Error Design via Integral Control 685

Substituting Eq. (12.114) into (12.113a) and simplifying, we obtain

" # " #" # " #

x_ A BK† BK e x 0
ˆ ‡ r (12.115a)
x_ N C 0 xN 1

" #
  x
yˆ C 0 (12.115b)
xN

Thus, the system type has been increased, and we can use the characteristic equation
associated with Eq. (12.115a) to design K and Ke to yield the desired transient response.
Realize, we now have an additional pole to place. The effect on the transient response of any
closed-loop zeros in the final design must also be taken into consideration. One possible
assumption is that the closed-loop zeros will be the same as those of the open-loop plant.
This assumption, which of course must be checked, suggests placing higher-order poles at
the closed-loop zero locations. Let us demonstrate with an example.

Example 12.10

Design of Integral Control

PROBLEM: Consider the plant of Eqs. (12.116):
   
0 1 0
_x ˆ x‡ u (12.116a)
3 5 1

y ˆ ‰1 0Šx (12.116b)

a. Design a controller without integral control to yield a 10% overshoot and a settling time
of 0.5 second. Evaluate the steady-state error for a unit step input.
b. Repeat the design of Part a using integral control. Evaluate the steady-state error for a
unit step input.

SOLUTION:
a. Using the requirements for settling time and percent overshoot, we find that the
desired characteristic polynomial is

s2 ‡ 16s ‡ 183:1 12.117†

Since the plant is represented in phase-variable form, the characteristic polynomial for the
controlled plant with state-variable feedback is

s2 ‡ 5 ‡ k2 †s ‡ 3 ‡ k 1 † 12.118†

Equating the coefficients of Eqs. (12.117) and (12.118), we have

K ˆ ‰ k1 k2 Š ˆ ‰ 180:1 11 Š 12.119†
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686 Chapter 12 Design via State Space

From Eqs. (12.3), the controlled plant with state-variable feedback represented in phase-
variable form is
   
0 1 0
x_ ˆ A BK†x ‡ Br ˆ x‡ r (12.120a)
183:1 16 1

y ˆ Cx ˆ ‰ 1 0Šx (12.120b)

Using Eq. (7.96), we find that the steady-state error for a step input is

e ∞† ˆ1‡C A BK† 1 B
" # 1" #
  0 1 0
ˆ1‡ 1 0
183:1 16 1
ˆ 0:995 12.121†

b. We now use Eqs. (12.115) to represent the integral-controlled plant as follows:

2 3 2 " # " # ! " # 32 3 2 3
x_ 1 0 1 0   0 x1 0
6 7 6 k1 k2 K e 76 7 6 7
6 x_ 2 7 ˆ 6 3 5 1 1 76 x2 7 ‡ 6 0 7r
4 5 4 54 5 4 5
 
x_ N 1 0 0 xN 1
2 32 3 2 3
0 1 0 x1 0
6 76 7 6 7
ˆ64 3 ‡ k1 † 5 ‡ k2 † K e 76 7 6 7
54 x2 5 ‡ 4 0 5r
1 0 0 xN 1 (12.122a)
2 3
x
  1
yˆ 1 0 0 4 x2 5 (12.122b)
xN

Using Eq. (3.73) and the plant of Eqs. (12.116), we find that the transfer function of
the plant is G s† ˆ 1= s2 ‡ 5s ‡ 3†. The desired characteristic polynomial for the closed-
loop integral-controlled system is shown in Eq. (12.117). Since the plant has no zeros, we
assume no zeros for the closed-loop system and augment Eq. (12.117) with a third pole,
s ‡ 100†, which has a real part greater than five times that of the desired dominant second-
order poles. The desired third-order closed-loop system characteristic polynomial is

s ‡ 100† s2 ‡ 16s ‡ 183:1† ˆ s3 ‡ 116s2 ‡ 1783:1s ‡ 18;310 12.123†

The characteristic polynomial for the system of Eqs. (12.112) is

s3 ‡ 5 ‡ k 2 †s2 ‡ 3 ‡ k1 †s ‡ K e 12.124†

Matching coefficients from Eqs. (12.123) and (12.124), we obtain

k 1 ˆ 1780:1 (12.125a)

k2 ˆ 111 (12.125b)

k e ˆ 18;310 (12.125c)
 12.8 Steady-State Error Design via Integral Control 687

Substituting these values into Eqs. (12.122) yields this closed-loop integral-controlled
system:

2 3 2 32 3 2 3
x_ 1 0 1 0 x1 0
6 7 4 5 4
4 x_ 2 5 ˆ 1783:1 116 18;310 x2 ‡ 0 5 r
5 4 (12.126a)
x_ N 1 0 0 xN 1
2 3
x
  1
yˆ 1 0 0 x2 5
4 (12.126b)
xN

In order to check our assumption for the zero, we now apply Eq. (3.73) to
Eqs. (12.126) and find the closed-loop transfer function to be

18;310
T s† ˆ 12.127†
s3 ‡ 116s2 ‡ 1783:1s ‡ 18;310

Since the transfer function matches our design, we have the desired transient response.
Now let us find the steady-state error for a unit step input. Applying Eq. (7.96) to
Eqs. (12.126), we obtain
2 3 12 3
0 1 0 0
 6 7 6 7
e ∞† ˆ 1 ‡ 1 0 0 4 1783:1 116 18;310 5 4 0 5 ˆ 0 12.128†
1 0 0 1

Thus, the system behaves like a Type 1 system.

Skill-Assessment Exercise 12.7

PROBLEM: Design an integral controller for the plant
" # " #
0 1 0
x_ ˆ x‡ u
7 9 1
 
y ˆ 4 1 x

to yield a step response with 10% overshoot, a peak time of 2 seconds, and zero
steady-state error.

ANSWER: K ˆ ‰ 2:21 2:7 Š; K e ˆ 3:79

The complete solution is located at www.wiley.com/college/nise.

Now that we have designed controllers and observers for transient response and
steady-state error, we summarize the chapter with a case study demonstrating the design
process.