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

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

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

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�Closed-loop control�system error:�a. general representation;�b. representation for�unity feedback systems

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�System with:�a. finite steady-state�error for a step input;�b. zero steady-state�error for step input

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�Feedback�control system

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�Feedback�control system

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�Feedback�control �systems

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�Feedback control�system for defining�system type

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

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�A robot used in�the manufacturing�of semiconductor�random-access�memories (RAMs)�similar to those in�personal computers.�Steady-state error �is an important design consideration for assembly-line robots.

© Westlight/ Charles O’Rear.

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�Feedback�control system

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�Feedback control�system showing�disturbance

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�Figure system�rearranged to show�disturbance as input and error as output,�with R(s) = 0

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�Feedback control system

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Figure 7.14�System for�Skill-Assessment�Exercise 7.4

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Figure 7.15�Forming an �equivalent�unity feedback�system from a�general nonunity �feedback system

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Figure 7.16�Nonunity feedback�control system for�Example 7.8

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Figure 7.17�Nonunity feedback�control system with�disturbance

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Figure 7.18�Nonunity feedback�system for�Skill-Assessment�Exercise 7.5

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.19�Feedback control�system for Examples�7.10 and 7.11

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.20�Feedback�control system�for Example 7.12

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.21�System for�Skill-Assessment�Exercise 7.6

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.22�Video laser disc�recording:�control system for�focusing write beam

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.23�Video disc laser�recording:�a. focus detector�optics;�b. linearized transfer function for focus detector

Control Systems Engineering, Fourth Edition by Norman S. Nise

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© 1985, Prentice Hall, Inc.

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Figure 7.24�Video laser disc�recording focusing�system

Control Systems Engineering, Fourth Edition by Norman S. Nise

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

Control Systems Engineering, Fourth Edition by Norman S. Nise

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

Control Systems Engineering, Fourth Edition by Norman S. Nise

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

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.3�Closed-loop control�system error:�a. general representation;�b. representation for�unity feedback systems

Control Systems Engineering, Fourth Edition by Norman S. Nise

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

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.5�Feedback�control system for�Example 7.2

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.6�Feedback�control system for�Example 7.3

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.7�Feedback�control �systems for�Example 7.4

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.8�Feedback control�system for defining�system type

Control Systems Engineering, Fourth Edition by Norman S. Nise

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

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.9�A robot used in�the manufacturing�of semiconductor�random-access�memories (RAMs)�similar to those in�personal computers.�Steady-state error �is an important design consideration for assembly-line robots.

Control Systems Engineering, Fourth Edition by Norman S. Nise

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© Westlight/ Charles O’Rear.

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Figure 7.10�Feedback�control system�for Example 7.6

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.11�Feedback control�system showing�disturbance

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.12�Figure 7.11 system�rearranged to show�disturbance as input and error as output,�with R(s) = 0

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.13�Feedback control system for Example 7.7

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.14�System for�Skill-Assessment�Exercise 7.4

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.15�Forming an �equivalent�unity feedback�system from a�general nonunity �feedback system

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.16�Nonunity feedback�control system for�Example 7.8

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.17�Nonunity feedback�control system with�disturbance

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.18�Nonunity feedback�system for�Skill-Assessment�Exercise 7.5

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.19�Feedback control�system for Examples�7.10 and 7.11

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.20�Feedback�control system�for Example 7.12

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.21�System for�Skill-Assessment�Exercise 7.6

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.22�Video laser disc�recording:�control system for�focusing write beam

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 7.23�Video disc laser�recording:�a. focus detector�optics;�b. linearized transfer function for focus detector

Control Systems Engineering, Fourth Edition by Norman S. Nise

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© 1985, Prentice Hall, Inc.

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Figure 7.24�Video laser disc�recording focusing�system

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7-2 (p. 405)

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.3�

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.4�

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Table P7.1

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7-5 (p. 408)

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.6�

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.7�

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.8�

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.9�

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.10�

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.11�

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Figure P7.12�

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Figure P7.13�Closed-loop �systems with�nonunity�feedback

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.14�

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.15�

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.16�

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.17�

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Figure P7.18�System with input and�disturbance

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.19�

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Figure P7.20�System with input and�disturbance

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.21�Automobile �guidance system�a. displacement�control system;�b. velocity �control loop

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Figure P7.22�Block diagram of a�paramagnetic oxygen�analyzer

Control Systems Engineering, Fourth Edition by Norman S. Nise

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

Control Systems Engineering, Fourth Edition by Norman S. Nise

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© 1992 AIAA.

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Figure P7.23�(continued)�b. simplified block�diagram�c. alpha joint drive�train and control�system

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© 1992 AIAA.

77 of 80

Figure P7.24�Position control�system

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Figure P7.25�Boat tracked�by ship’s radar:�a. physical�arrangement;�b. block diagram of tracking system

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P7.26�Simplified block�diagram of a pilot in�a loop

Control Systems Engineering, Fourth Edition by Norman S. Nise

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© 1992 AIAA.

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Figure P7.27�a. Force control�mechanical loop�under contact motion�(©1996 IEEE);�b. block diagram�(©1996 IEEE)

Control Systems Engineering, Fourth Edition by Norman S. Nise

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