Chapter 4 Feedback Control System Characteristics

4.1 Introduction 4.2 Error signal analysis 4.3 4 3 Sensitivity of control systems to parameter variations 4.4 Disturbance signals in a feedback control system 4.5 Control of the transient response 4.6 Steady-state error 4.7 The cost of feedback

EE 3510 Control Systems

4.1 Introduction: Plant Uncertainties and External Disturbances

Open-Loop:
Input Controller
+ +

disturbance Output Plant

Closed-Loop:
Input
+_ Error

disturbance Output Controller Plant

Sensor The effects of plant uncertainties and external disturbances appears directly at the output of an open-loop system. This issue can be resolved by feedback control
EE 3510 Control Systems 2

Advantages of Closed-Loop Feedback Control as Listed in the Book

. Decreased sensitivity of the system to plant uncertainties . Improved rejection of the disturbances . Improved measurement noise attenuation (This is a bit misleading. I will explain later . Improved reduction of the steady-state error of the system . Easy control and adjustment of the transient response of the system

EE 3510 Control Systems

4.2 Computation of the Output

D(s) R(s)
+_

C(s)

+ +

Y(s)=YR(s)+YD(s)+YN(s)

P(s)
+ + Noise N(s)

Calculate YR, YD, and YN by superposition

EE 3510 Control Systems

Contd
D(s) R(s)
+_

C(s)

+ +

Y(s)=YR(s)+YD(s)+YN(s)

P(s)
+ + Noise N(s)

EE 3510 Control Systems

4.3 Sensitivity of Control Systems to Parameter Variations (Regarding to the Plant)

R(s) Y(s)

C(s) ( )

P(s) ( ) P(s)

For open-loop systems, the change in the output due to the variation P(s) in the plant is directly amplified as:

EE 3510 Control Systems

Sensitivity Reduction With Respect To Plant Uncertainties by Feedback Control

R(s)
+_

C(s)

P(s)

Y(s)

For closed-loop systems:

Y(s ) C(s )P(s ) = R (s ) 1 + C(s )P(s )

With a P(s) variation in the plant:

EE 3510 Control Systems

Contd
R(s)
+_

C(s)

P(s)

Y(s)

For CP >> CP:

EE 3510 Control Systems

System Sensitivity

T(s ) =

Y(s ) C(s )P(s ) = R (s ) 1 + H(s )C(s )P(s )

System sensitivity: it allows you to see how the changes in the plant or sensor affect the system performance It is defined as the ratio of the percentage change in the closedp g g loop transfer function T(s) to the percentage change of the functional-block transfer function

EE 3510 Control Systems

System Sensitivity To the Plant: ST = T / T = T P P

P / P
Y(s ) C(s )P(s ) = R (s ) 1 + H(s )C(s )P(s )

P T

T(s ) =

In the limit for a very small change:

EE 3510 Control Systems

10

System Sensitivity To the Sensor

Y(s ) C(s )P(s ) = R (s ) 1 + H(s )C(s )P(s )

T(s ) =

EE 3510 Control Systems

11

Typical Frequency Response of the Open-Loop Transfer Function

Trust me on this for now. I will explain later.
|HCP| >> 1 at low & medium frequencies

|L(j)| (i.e. |H(j)C(j)P(j)|

bandwidth

0
|HCP| << 1

frequency at high frequencies

EE 3510 Control Systems

12

Contd: Sensitivity Reduction against Sensor Variation?

T(s ) = Y(s ) C(s )P(s ) = R (s ) 1 + H(s )C(s )P(s )

ST = 1 at low & medium freq. H

Since a control system mainly operates in the low- and medium Si t l t i l t i th l d di frequencies up to its bandwidth, sensor variations would directly affect the closed-loop response

EE 3510 Control Systems

13

Example: Find SP
d(t)

r(t)

+_

K+11s C(s)

++

1 s(s + 1)
P(s)

y(t)

System sensitivity with respect to the plant:

EE 3510 Control Systems

14

Example: The Non-inverting Amplifier Implemented by an Operational Amplifier (Op-amp) with a Gain A
Based on: R1
_

R2

v-

vo

We draw the block diagram:

vi Op-amp gain = A R2 = 9R1

EE 3510 Control Systems

15

Contd: System Sensitivity to the Gain A

The system sensitivity with respect to the gain A, STA is: R1 R2

vSince = 0.1:

vo

vi

Op-amp gain = A

R2 = 9R1

EE 3510 Control Systems

16

Q: Why We Use an Op-amp to Build an Amplifier?

R1

R2

v-

vo

vi Op-amp gain = A

EE 3510 Control Systems

17

4.4 Disturbance Signals in a Feedback Control System

Sensitivity reduction against external disturbances: it is achieved by design of a large loop gain at frequencies where disturbances appear (usually at low frequencies) pp ( y q )

R(s)
+_

D1(s)
e

D2(s)
P(s)
++

C(s) controller

++

YR(s)+YD1(s)+YD2(s)

plant H(s)

sensor
EE 3510 Control Systems 18

Contd
By superposition, calculate YD1(s) and YD2(s) due to D1 and D2, respectively

EE 3510 Control Systems

19

Example
For d(t) is a unity step, what is the steady-state value of yd(t)?

D(s)
R(s) R( )
+_

C(s)

++

P(s)

YR(s)+YD(s)

H(s)

EE 3510 Control Systems

20

10

Example: Find YD(s) in the Case with Multiple Loops

R(s)=0
+_

C2(s) ( )

+_

D(s)
C1(s) ( )
++

P(s) ( )

YD(s)

H1(s) H2(s)

EE 3510 Control Systems

21

Sensor Noise in a Closed-Loop System

The output due to the sensor noise is desired to be small since it limits the achievable control resolution

R(s)

+_

C(s)

P(s)

Y(s)

H(s)

+ +

Noise N(s)

EE 3510 Control Systems

22

11

A Few Notes about

YN (s ) HCP = N(s ) 1 + HCP

1. At low frequencies: the loop gain |HCP| is usually large ( >>1 for sensitivity reduction with respect to disturbance). Then YN(s) = -N(s), no noise reduction. 2. At high frequencies: |HCP| is small, YN(s) = -HCPN(s). Noise is attenuated.

EE 3510 Control Systems

23

Bandwidth vs. Noise Attenuation

|L(j)| (i.e. |H(j)C(j)P(j)|

System 2

System 1 0 frequency

EE 3510 Control Systems

24

12

4.5 Control of the Transient Response

Feedback can change the dynamic response of the original plant Example:

EE 3510 Control Systems

25

Example: A Non-inverting Amplifier Implemented by an Operational Amplifier Represented by G(s)

We draw the block diagram: R1 v_ +

R2

vo
A 1+ s p1

vi G (s ) = R2 = 9R1

EE 3510 Control Systems

26

13

Contd

Lets look at the frequency responses (Chap. 8) and time constants:

EE 3510 Control Systems

27

4.6 Steady-State Error

r(t) C(s) K1 P(s)
K2 s + 1

y(t)

Steady state refers to the response at t = For open-loop systems: parameter variations in the plant (like K2) induce a change of gain such that y(t)|t= deviates from the desired value K2 changes by 10%, the steady-state error immediately becomes 10%

EE 3510 Control Systems

28

14

Reduction of Steady-State Error in a Closed-Loop Control System

r(t)
+_

e(t)

C(s) K1

y(t) P(s)
K2 s + 1

The error E(s) is:

EE 3510 Control Systems

29

Contd
For r(t) is a unit step: For K1K2=100: For K1K2=90: K

How to reduce the steady-state error in a closed-loop control system?

EE 3510 Control Systems

30

15

Example: Find the Steady-State Error due to r(t), and the Output yd() due to d(t)
r(t) = u(t)
+_

d(t) = u(t) eR+eD K+11s C(s)

++

1 s(s + 1)
P(s)

yR(t)+yD(t)

The steady-state error due to r(t):

EE 3510 Control Systems

31

Contd
r(t) = u(t)
+_

d(t) = u(t) eR+eD K+11s C(s)

++

1 s(s + 1)
P(s)

yR(t)+yD(t)

The output yD() due to d(t):

EE 3510 Control Systems

32

16

Summary: Frequency Response of the Loop Transfer Function Important!

r(t) +_ y(t) C(s) P(s)

Open-loop transfer function: L(s) = C(s)P(s)

EE 3510 Control Systems

33

4.7 The Cost of Feedback

r(t)
C(s) P(s)

y(t)

r(t)

+_

y(t)
C(s) P(s)

Y(s ) = C(s ) P(s ) R (s )

1. Increased complexity and the cost 2. Assume the same C(s) in both cases: the reduction in the closed-loop gain is in exchange for sensitivity reduction due to parameter variations and disturbances (important!) 3. Stability: given that the open-loop system C(s)P(s) is stable, the closed-loop system may not be stable, if C(s) is not properly designed
EE 3510 Control Systems

Y(s ) C(s )P(s ) = R (s ) 1 + C(s )P(s )

34

17