Chapter 7: Steady-State Errors 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems...

Nise/Control Systems Engineering, 3/e

Chapter 7: Steady-State Errors1

Chapter 7

Steady-State Errors

Table 7.1Test waveforms for evaluating steady-state errors of position control systems

Figure 7.1Test inputs for steady-state error analysis and design vary with target type

Figure 7.2Steady-state error:a. step input;b. ramp input

Figure 7.3Closed-loop controlsystem error:a. general representation;b. representation forunity feedback systems

Figure 7.4System with:a. finite steady-stateerror for a step input;b. zero steady-stateerror for step input

Figure 7.5Feedbackcontrol system forExample 7.2

Figure 7.6Feedbackcontrol system forExample 7.3

Figure 7.7Feedbackcontrol systems forExample 7.4

Figure 7.8Feedback controlsystem for definingsystem type

Table 7.2Relationships between input, system type, static error constants, and steady-state errors

Figure 7.9A robot used inthe manufacturingof semiconductorrandom-accessmemories (RAMs)similar to those inpersonal computers.Steady-state error is an important design consideration for assembly-line robots.

Figure 7.10Feedbackcontrol systemfor Example 7.6

Figure 7.11Feedback controlsystem showingdisturbance

Figure 7.12Figure 7.11 systemrearranged to showdisturbance as input and error as output,with R(s) = 0

Figure 7.13Feedback control system for Example 7.7

Figure 7.14System forSkill-AssessmentExercise 7.4

Figure 7.15Forming an equivalentunity feedbacksystem from ageneral nonunity feedback system

Figure 7.16Nonunity feedbackcontrol system forExample 7.8

Figure 7.17Nonunity feedbackcontrol system withdisturbance

Figure 7.18Nonunity feedbacksystem forSkill-AssessmentExercise 7.5

Figure 7.19Feedback controlsystem for Examples7.10 and 7.11

Figure 7.20Feedbackcontrol systemfor Example 7.12

Figure 7.21System forSkill-AssessmentExercise 7.6

Figure 7.22Video laser discrecording:control system forfocusing write beam

Figure 7.23Video disc laserrecording:a. focus detectoroptics;b. linearized transfer function for focus detector

Figure 7.24Video laser discrecording focusingsystem

Figure P7.1

Figure P7.2

Figure P7.3

Figure P7.4

Table P7.1

Figure P7.5

Figure P7.6

Figure P7.7

Figure P7.8

Figure P7.9

Figure P7.10

Figure P7.11

Figure P7.12

Figure P7.13Closed-loop systems withnonunityfeedback

Figure P7.14

Figure P7.15

Figure P7.16

Figure P7.17

Figure P7.18System with input anddisturbance

Figure P7.19

Figure P7.20System with input anddisturbance

Figure P7.21Automobile guidance systema. displacementcontrol system;b. velocity control loop

Figure P7.22Block diagram of aparamagnetic oxygenanalyzer

Figure P7.23Space station Freedom:a. configuration(figure continues)

Figure P7.23(continued)b. simplified blockdiagramc. alpha joint drivetrain and controlsystem

Figure P7.24Position controlsystem

Figure P7.25Boat trackedby ship’s radar:a. physicalarrangement;b. block diagram of tracking system

Figure P7.26Simplified blockdiagram of a pilot ina loop

Table 7.1Test waveforms for evaluating steady-state errors of position control systems

Table 7.2Relationships between input, system type, static error constants, and steady-state errors

Table P7.1

Chapter 7: Steady-State Errors 1 ©2000, John Wiley & Sons, Inc. Nise/Control Systems...

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