Ch3 Feedback control system characteristics

Main content:
Open- and closed-loop control systems

Sensitivity to Parameter variations

Transient response of control system

Disturbance in feedback control system

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Main content:
Steady-state error

The cost of feedback

Examples and simulation

3.1 Open-loop and closed-loop control systems

Review the concepts and structure

Refer to P174-175

The roles of feedback

Benefits:
Reduce error (eliminating the error) Reduce sensitivity or Enhance robustness Disturbance rejection or elimination Improve dynamic performance or adjust the transient response (such as reduce time constant)

3.2 Sensitivity of system to parameter variations

System are time-varying in its nature because of inevitable uncertainties such as changing environment , aging , and other factors that affect a control process.All these uncertainties in open-loop system will result in inaccurate output or low performance. However, a closedloop system can overcome this disadvantage.

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A primary advantage of a closed-loop feedback control system is its ability to reduce the systems sensitivity to parameter variation. Sensitivity analysis Robust control

Effect of parameter variations

If process G(s) is change as G( s) G( s) Open-loop system

Y (s) G(s) R(s) Closed-loop system G ( s) Y ( s) R( s ) (1 GH )(1 GH GH ) G ( s) R( s ) 2 (1 GH )

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In the limit, for small incremental changes, last formula is

T ( s ) / T ( s ) InT S G ( s ) / G ( s ) InG

Sensitivity comparison
Open-loop system

S 1
T G

Closed-loop system

1 S 1 G( s) H (s)
T G

Sensitivity to parameters
If system TF is

N ( s, ) T ( s, ) D ( s, )
System sensitivity to
T

is

InT InN InD N D S S S In In In

Example of sensitivity
Feedback amplifier
Refer to 178-179 Goal: Reduce the sensitivity to parameters variation, that is enhance the robustness to change in amplifier gain.

3.3 Transient response of system

Transient response is the response of a system as a function of time. It is one of the most important characteristics of control system.
If transient response is not satisfying, what shall we do?

Control of transient response

(Take speed control system as example)

Cascade controller

Refer to P180 (Figure 4.6 and Figure 4.7)

Feedback controller Refer to P181 (Figure 4.8)

3.4 Disturbance in a feedback control system

Disturbance signal is an unwanted extraneous input signal that affects the systems output signal, such as noise for amplifier,wind gusts for radar antennas,etc. Feedback control can completely or partially eliminate the effect of disturbance signal.

Example of steel rolling mill

Refer to P183-187 Load changes or disturbances+Noise Feedback can alleviate the effects of disturbances and noise signal occurring within the feedback loop. If system exists noise at the input point, we can design a low-pass filter to improve SNR (signal-noise ratio)

System sensitivity
System sensitivity is defined as the ratio of the percentage change in the system transfer function to the percentage change of the process transfer function. It is defined as
T ( s ) / T ( s ) S G ( s ) / G ( s )

3.5 Steady-state error

Steady-state error is the error after the transient response has decayed,leaving only the continuous response.
Feedback can reduce the steady-state error of control system

How to define the error ?

From input point: E a (s)=R(s)-H(s)Y(s) From output point: E (s)=R(s)-Y(s)
Only for unit feedback H(s)=1,We have E a (s)= E (s)

Comparison of error
Open-loop system

Eo ( s) R( s) Y ( s) (1 G ( s)) R( s)
Closed-loop system
1 Eo ( s ) R( s) , 1 G ( s) for H ( s ) 1

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Open-loop system under unit step input
1 eo () lim sEo ( s) lim s(1 G( s)) 1 G(0) s 0 s 0 s

Closed-loop system under unit step input

1 1 1 ec () lim sEc ( s ) lim s ( ) s 0 s 0 1 G ( s ) s 1 G (0)

Example illustration
Refer to P189-190
An example of first-order system

3.6 The cost of feedback

Increase of complexity
Loss of gain Instability

An unrealistic dream
Why not simply set G(s)=Y(s)/R(s)=1?
Transfer function represent the physical system or process, Therefore G(s)=1 is unrealizable.

3.7 Design examples

English channel boring machines
PD controller, and how to select K ?

Mars rover vehicle

To compare the sensitivity and steady-state error between open-loop and closed-loop system

3.8 Simulation using MATLAB

Refer to P196-202
Self-learning after class

Summary
The fundamental reasons for using feedback are as follows: Decrease the sensitivity to parameter variation Improve transient or dynamic performance Enhance the robustness Reduce the steady-state error Refer to P205-207

Assignment
E4.1 E4.3 E4.4 E4.6 E4.8 P4.2 , P4.5, P4.7