Steady-state error & PID control worksheet with answers

Free printable Steady-state error & PID control worksheet: 6 problems from easy to exam level, with an answer key. Print it or save it as a PDF.

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1.Easy
R(s)+50s(s + 1)(s + 5)C(s)−

A unity-feedback loop has the open-loop transfer function G(s) = 50/(s(s + 1)(s + 5)). Find the velocity error constant Kv.

G(s) = 50/(s(s + 1)(s + 5))
Kv =
2.Easy
R(s)+2(s + 2)s²(s + 5)C(s)−

A unity-feedback loop has the open-loop transfer function G(s) = 2(s + 2)/(s²(s + 5)). Find the acceleration error constant Ka.

G(s) = 2(s + 2)/(s²(s + 5))
Ka =
3.Medium
r(t) = 1·t²/2+10(s + 4)s²(s + 2)C(s)−

The parabolic input r(t) = 1·t²/2 is applied to a unity-feedback loop with G(s) = 10(s + 4)/(s²(s + 2)). Find the steady-state error ess.

G(s) = 10(s + 4)/(s²(s + 2))r(t) = 1·t²/2
ess =
4.Medium
r(t) = 1·t²/2+20(s + 4)s²(s + 4)C(s)−

The parabolic input r(t) = 1·t²/2 is applied to a unity-feedback loop with G(s) = 20(s + 4)/(s²(s + 4)). Find the steady-state error ess.

G(s) = 20(s + 4)/(s²(s + 4))r(t) = 1·t²/2
ess =
5.Hard
R(s)+Kp​ + Ki​/s1s + 4C(s)−

A PI controller C(s) = Kp + Ki/s drives the plant G(s) = 1/(s + 4) in a unity-feedback loop. The closed loop must have ωₙ = 4 rad/s and ζ = 0.6. Find the integral gain Ki.

G(s) = 1/(s + 4)ωₙ = 4 rad/sζ = 0.6
Ki =
6.Hard
R(s)+K = 202s(s + 10)C(s)−

A proportional controller K = 20 drives the plant G(s) = 2/(s(s + 10)) in a unity-feedback loop. Find the 2 % settling time ts of the step response, using ts ≈ 4/(ζωₙ).

G(s) = 2/(s(s + 10))K = 20
ts = s

Answer key

  1. 1. Kv = 10
  2. 2. Ka = 0.8
  3. 3. ess = 0.05
  4. 4. ess = 0.05
  5. 5. Ki = 16
  6. 6. ts = 0.8 s

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