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Systems
The performance of the control system is specified in terms
of both the transient response and stead-state response.
1
Chapter 5 The Performance of Feedback Control
Systems
2
Engineering, or the Art of Achieving the Optimal
Compromise
The specifications of the system are often results of a compromise.
p p
3
Test Input Signals
The time-domain performance specifications are important
because the control systems are inherently time-domain system.
In general, a standard test input signals are used. The standard
test input signals commonly used are:
Y(s)=T(s)R(s)
Step input Ramp input Parabolic input
Ec ( s ) = (1 T ( s )) R( s )
r (t ) = A r (t ) = At r (t ) = At 2
A A
R( s) = R( s) = 2 2A
R( s) = 3
s s s 4
A Unit Impulse Function
A unit impulse function (t ) is also useful for test signal purpose.
Why?
5
A Unit Impulse Function
The unit impulse function is based on a rectangular function
f 1/
1 ( 0, t 0)
, t ;
f (t ) = 2 2
0, otherwise, f (t ) (t ) -/2 /2
t
1 /2
(t )dt lim
= =
0
f (t )dt lim
=
0 /2
dt 1
f 1/
1 ( 0, t a )
, t a ; a
f (t a ) = 2 2
0, otherwise, f (t a ) (t a) t
-/2 /2
6
A Unit Impulse Function
1 ( 0, t a ) f
, ta ; a
f ( t a ) = 2 2 1/
0, otherwise , f (t a ) (t a) -/2 /2 t
(t a ) g (t )dt = lim f (t a ) g (t )dt
0
= lim [ a / 2 0 g (t )dt + aa+ //22 f (t a ) g (t )dt + a+ / 2 0 g (t )dt ]
0
a + / 2 1 a + / 2 1
= lim
0 a / 2
g (t ) dt = g (a ) lim
0 a / 2
dt = g (a)
( t a ) g (t )dt = g ( a )
7
A Unit Impulse Function
t
y (t ) = g (t )r ( )dt = 1{G ( s ) R ( s )}.
r ( ) ( )
t
g (t ) ( )dt =g (t ) {if =0}
t
=
y (t )
g (t ) ( )dt =
For R(s)=(s)=1 Y ( s) = G ( s) R( s) = G ( s)
8
Performance of a Second-Order System
G( s) n2 / s( s + 2n )
Y ( s) = R( s) = R( s)
1 + G( s) 1 + n / s( s + 2n )
2
n2
= 2 R( s) for a step input R(s)=1/s
s + 2n s + n
2
n2 1
= 2
s + 2n s + n2 s
9
Response for second order systems
n2
Transfer function: T ( s) = 2
s + 2n s + n2
Characteristic equation: s 2 + 2n s + n2 = 0
s1, 2 = n jn 1
Im(s )
Poles: 2
n 1 2
n Re(s )
cos 1
Time domain response requirements
can be translated into pole positions
Oscillation
frequency
10
Transient Response for Second Order Systems
n2
Transfer function: T ( s) = 2
s + 2n s + n2
Laplace transform of step response (assuming zero states at t=0):
1 n2 1
=
Y ( s ) T=
(s)
s ( s 2 + 2n s + n2 ) s
By the inverse Laplace transform one can get the step
response in time: ( or we can use the Table 2.3, directly)
1 e nt sin(n 1 2 t + cos 1 ) / 1 2
y (t ) =
e nt sin( n t + ),
1
y (t ) = 1
Figure 5.5 (a) Transient response of a second-order system for a step input.
(b) The transient response of a second-order system for a step input as a
13
function of and n t .
Natural Frequencies
For an under-damped system, the step response will be:
1 nt 0 < <1
y (t ) = 1 e sin( n t + ),
= 1 2 , = cos 1 cos =
sin = 1 cos 2 = 1 2 =
1
= (time constant)
n
n 1 2 (oscillation/vibration frequency)
14
Second-Order System
e nt sin( n t + ),
1
y (t ) = 1 (0 < < 1)
M p fv
Percent Overshoot = 100
fv
(usually corresponding
response within 2%)
15
Second-Order System
e nt sin( n t + ),
1
y (t ) = 1 (0 < < 1)
M p fv
Percent Overshoot = fv
100
(usually corresponding
response within 2%)
16
Setting Time
e nt sin( n t + ),
1
y (t ) = 1
corresponding to 2% of input
ent sin(n t + ) 0.02
1
y (t ) 1
nTs sin(n t + )
e 0.02 = 1 2 = 1 cos 2 = sin
sin(n t + ) 0 sin x
( 0,sin 0, 0 = lim =
1)
0 x 0 x
nTs
e < 0.02 nTs 4.
4
Ts = 4 = . { = 1 /( n )}
n
17
Peak Time and Peak Value
1
1 e nt sin(n t + ),
y (t ) = =
1 2 , (0< < 1)
dy (t ) n nt
= e sin n t 0 t =T ?
dt p
dy (t ) n n t n nt
= e sin(n t + ) e cos (n t + )
dt
= n e n t [ sin(n t + ) cos (n t + )]
= cos 1 cos = sin = 1 cos 2 = 1 2 =
dy (t ) n n t
= e [ sin(n t + )cos sin cos (n t + )]
dt
n nt n nt
= e [ sin(n t + )] = e sin n t
18
Peak Time and Peak Value
dy (t ) n nt
= e sin n t 0 t =T
dt p
sin n T p = 0 n T p = n , n = 0,1,
=
for n 1 =
Tp =
n n 1 2
1 nT p
Mp =
y (T p ) =
1 e sin(n T p + ),
nT p sin ( + ) nT p sin = cos 1 cos =
= 1 e = 1+ e ,
sin = 1 cos 2 = 1 2 =
nT p 1 2
M pt = 1 + e = 1+ e
M pt fV 1 2
P.O. = 100% P .O . = 100e
fV 19
Second-Order System
Swiftness of response: rise time and peak time
Tp = , Tpn =
n 1 2 1 2
Closeness of response: overshoot and settling time
/ 1 2
M pt = 1 + e
With = 0.02 fv then T = 4 = 4 . Note e - 4 0.02
s
n
/ 1 2
M pt = 1 + e
21
Second-Order System
24
Step Response of Second-Order System
1 nt
y (t ) =
1 e sin(n t + cos 1 ), =
1 2 0< < 1
M p fv
Percent Overshoot = fv
100
25
Response For Second Order Systems -Summary
1 n2
(S-domain) Y ( s) = T ( s) =
s s ( s 2 + 2n s + n2 )
1 nt
(Time-domain) y (t ) =
1 e sin(n t + cos 1 ), =
1 2 (0< < 1)
4 Settling time
Ts = 4 = ( for = 2% )
n Percentage overshoot
/ 1 2
PO = 100e
Tp = Peak time
n 1 2
27
Example 5.1 Parameter Selection
Find K and p such that
overshoot<5%,
2% settling time<4s.
4
Ts = ( for = 2%) / 1 2
n P .O . = 100e
= 0.707 gives overshoot of 4.3%
4
Ts = < 4 n > 1 ?
n
= cos1 = cos1 0.707 = 450 ?
28
Second-Order System
T pn =
PO = 100e / 1 2
1 2
overshoot<5%
29
Example 5.1 Parameter Selection
K=? p=?
32
Effect of a Third Pole
n2
T ( s) = (5.15)
( s + 2n s
2
+ n2 )(s + 1)
R ( s ) = 1 / s = 0.45 n = 1 | n |= 0.45 0.45
33
Effect of a Third Pole
n2
T ( s) = (5.15)
( s + 2n s
2
+ n2 )(s + 1)
R ( s ) = 1 / s = 0.45 n = 1 | n |= 0.45 0.45
34
S-Plane and Transient Response
Y ( s ) Pi ( s ) i ( s )
T (s) = = , R( s) =
1
R( s) ( s) s
1 M Ai N Bk s + C k
Y (s) = + + 2 ,
s i =1s + i k =1 s + 2 k s + ( k + n )
2 2
M N
i t
y (t ) = 1 + Ai e + Dk e k t sin(k t + k )
i =1 k =1
35
S-Plane and Transient Response
36
Steady State Error
The steady state error is the steady state value of
the difference between the desired and the actual
output of the control system:
ess = e( ) = lim e(t )
t
Using the final value theorem of Laplace transforms
(see The Laplace transform table), we can calculate
the steady state error based on the Laplace transform
of the error:
ess = lim sE (s )
s 0
37
Steady State Error
ess = lim sE (s )
s 0
Steady State Error of an Open Loop System
E ( s ) = R( s ) Y ( s ) = (1 G ( s )) R ( s )
If the input was a unit step:
1
ess = lim sE ( s ) = lim s(1 G ( s )) = 1 G (0)
s 0 s 0 s
For H (s ) = 1
1
E ( s ) = (1 T ( s ))R( s ) = R( s)
1 + Gc ( s )G ( s )
the steady state error of the closed-loop
system
sR( s )
lim e(t ) = ess = lim sE ( s ) = lim
t s 0 s0 1 + G ( s )G ( s )
c
39
Relationship between Steady State Error and System Type
sR( s )
ess = lim sE ( s ) = lim ( for H ( s ) = 1)
s 0 s0 1 + G ( s )G ( s )
c
M
The general form of the open loop transfer K ( s + zi )
i =1
function of a system is given by Gc ( s )G ( s ) = Q
s N ( s + pk )
We can calculate ess k =1
for different types of N System type
standard signals Here N is known as
M
0 Type zero the system type, and
K (s + zi ) corresponds to the
1 Type 1 number of integrators
Ex: Gc (s )G (s ) = i =1
Q
in the system.
s 2 (s + pk ) 2 Type 2
k =1
Type ? 40
Relationship between Steady State Error and System Type
sR( s )
ess = lim sE ( s ) = lim
s 0 s0 1 + G ( s )G ( s )
c
A) Step Input A s( A / s ) A
R( s) = ess = lim =
s s0 1 + Gc ( s )G ( s ) 1 + lim Gc ( s )G ( s )
M s 0
K ( s + zi )
i =1 A A A
Gc ( s )G ( s ) = For N=0 ess = = =
1 + Gc (0)G (0) 1+ K p
Q M Q
s ( s + pk )
N
1 + K zi / p k
k =1
i =1 k =1
Here K p is known as the position error constant.
M
K zi A
M Q ess =
=K P lim Gc (s )G=
s 0
(s) Gc (s)G (s)=
=
N =
0, s 0
=Q
i =1
K zi / pk 1+ Kp
k
N =0 =i 1 = k 1
p
k =1 41
Relationship between Steady State Error and System Type
A sR( s )
A) Step Input R( s) = ess = lim sE ( s ) = lim
s s 0 s0 1 + G ( s )G ( s )
c
M
K ( s + zi ) s( A / s ) A
ess = lim =
Gc ( s )G ( s ) = i =1 s0 1 + Gc ( s )G ( s ) 1 + lim Gc ( s )G ( s )
Q
s 0
s N ( s + pk )
k =1 A
ess = M Q
For N1 1 + K zi / ( lim s N pk )
s 0
=i 1 = k 1
A lim s N A lim s N
= s 0
M Q
= M
s 0
Q =0
lim s + K zi / ( pk )
N
K zi / ( pk )
s 0 =i 1 =
=i 1 =k 1 k 1
42
Relationship between Steady State Error and System Type
A
B) Ramp Input R ( s ) = 2
s
M
K ( s + zi ) s( A / s 2 ) A A
i =1
ess = lim = lim = lim
Gc ( s )G ( s ) = s0 1 + Gc ( s )G ( s ) s0 s + sGc ( s )G ( s ) s0 sGc ( s )G ( s )
Q
s N ( s + pk ) A A
k =1 ess = lim M Q
= lim M Q
s 0 s 0 N 1
sK ( s + zi ) / [ s ( s + pk )]
N
K ( s + zi ) / [ s ( s + pk )]
i =1 k =1 i =1 k =1
43
Relationship between Steady State Error and System Type
A
B) Ramp Input R( s) =
s2 A A
ess = lim M Q
= lim M Q
s 0 s 0 N 1
sK ( s + zi ) / [ s ( s + pk )]
N
K ( s + zi ) / [ s ( s + pk )]
i =1 k =1 i =1 k =1
s N ( s + pk )
k =1
For type 0 and type 1 systems, the steady state error is infinite.
For type 2 systems the steady state error is given by
A A
ess = M = M Q
Q K a = lim s Gc ( s )G ( s ) = K zi / pk
2
K zi / pk K a s 0 i =1 k =1
i =1 k =1 acceleration error
45
constant
Relationship between Steady State Error and System Type
System Type Input
(number of pure
integrators) step ramp parabola
0 ess =
A
1+ Kp
1 ess = 0
A
Kv
A
2 ess = 0 0 Ka
Conclusions:
1. Adding integrators (increasing system type) eliminates steady state error.
2. If steady state error is finite and not zero, then increasing the system dc
gain (increasing controller proportional gain), reduces steady state error.
46
Error Constants For Unit Feedback System
K p = lim Gc ( s )G ( s ) K v = lim sGc ( s )G ( s ) K a = lim s 2Gc ( s )G ( s )
s 0 s 0 s 0
Then for
A
Step input ess =
1+ Kp
A
Ramp input ess =
Kv
A
Parabolic input ess =
Ka
47
Mobile Steering Robot Gc ( s ) = K1 + K 2 / s
PI controller
K1K K2 K
Gc ( s )G ( s ) = +
K p = lim Gc ( s )G ( s ) K v = lim sGc ( s )G ( s ) s + 1 s(s + 1)
s 0 s 0
A A
ess = =
K v KK 2
49
Steady-State Error For Non-Unity Feedback
E ( s ) = R ( s ) Y ( s ) = [1 T ( s )]R ( s )
1
For a step input ess = lim s[1 T ( s )] = [1 T (0)]
s 0 s
G( s) K ( s + 4) 4K
T ( s) = = T ( 0) =
1 + G ( s ) H ( s ) ( s + 2)( s + 4) + 2 K 8 + 2K
Y ( s) Gc ( s )G ( s ) Z (s ) Gc (s )G (s )
T ( s) = = = Z (s ) =
R( s ) 1 + H ( s )Gc ( s )G ( s ) 1 + Z (s) 1 + Gc (s )G (s )(H (s ) 1)
The loop transfer function of the equivalent unity feedback
system is Z(s). The error constants for non-unity feedback
system are given by:
K p = lim Z ( s ) K v = lim sZ ( s ) K a = lim s 2 Z ( s )
s 0 s 0 s 0
52
Performance Indices For Elevator
53
Performance Indices For Elevator
Transient response
Passenger comfort and passenger patience are dependent
upon the transient response.
If this response is too fast, passenger comfort is sacrificed;
if too slow, passenger patience is sacrificed.
54
Performance Indices For Elevator
Steady-state error
57
More Performance Indices
T
ISE = e 2 (t )dt Integrated squared error
0
T
IAE = | e(t ) | dt Integrated absolute error
0
T
ITAE = t | e(t ) | dt Integrated time-multiplied
0 absolute error
T
ITSE = te 2 (t )dt Integrated time-multiplied
0
squared error
58
Example 5.6 Performance Criteria
System type =? 1
T ( s) = 2
s + 2s + 1
The ITAE tends to have better selectivity
(i.e. minimum more discernible) than the
others T
ITAE = t | e(t ) | dt For step input
0
60
Normalized Responses
61
Normalized Responses
62
Normalized Responses
The best
among
ISE,IAE
and ITAE
63
Design Example: Hubble Telescope Positioning Control
Design Goal:
select K,K1,
so that:
Td(s)=0
+
K G(s)
R(s) Y ( s) KG ( s ) L( s )
- = T ( s) = =
R( s) T 1 + KG ( s ) 1 + L( s )
d ( s ) =0
R(s)=0 Y ( s) G( s) G( s)
Td(s) + = TTd ( s) = = = T ( s) / K
-
G(s) Td ( s) R ( s )=0 1 + KG( s) 1 + L( s )
we have
K v = lim sG ( s )
s 0
B B B B
=
e = lim = lim = .
sKG ( s ) s 0 sK
ss
Kv s 0 1 ( K / K1 )
s ( s + K1 )
68
Design Example: Hubble Telescope Positioning Control
Goal: 3) reducing the effect of a step disturbance.
To reduce the step disturbance, by setting R(s)=0, and
Td(s)=1/s, we have
G( s) G( s)
E ( s) = Td ( s ) = Td ( s )
1 + L( s ) 1 + KG ( s )
G (s ) 1
=
eTd () lim= sE (s ) lim s
s 0 s 0 1 + KG (s ) s
1 1
= lim =
s 0 s (s + K ) + K K
1
69
Design Example: Hubble Telescope Positioning Control
K 1
In summary: Y ( s) = 2 .
s + K1s + K s
73
Sequential Design Example: Disk Drive Read System
Goal: to achieve the fastest response to a step input r(t) while
(1) limiting the overshoot and oscillatory
(2) reducing the effect of a disturbance on the
output position of the read head.
Specifications: Percentage overshoot Less than 5%
Setting time Less than 250ms
Max. value of response Less than 0.005
to a unit step disturbance
5000 5
G1 = = 1 = 1 / 1000 = 0.001 G 5 Dominate poles
s + 1000 1s + 1 1 74
Sequential Design Example: Disk Drive Read System
System Type=?
5K a 5K a n2
Y (s) = R( s) = 2 R( s) = 2 R ( s ),
s ( s + 20) + 5 K a s + 20 s + 5 K a s + 2 n s + n
2
n
2
= 5K a , and 2n = 20.
K a =20 5 K a =n2 n =10 2n =20 =1
or = 1 2n = 20 n = 10 5K a = 2
n K a = 20
K a > 20 < 1 75
Sequential Design Example: Disk Drive Read System
5K a
Y ( s) = R( s ) ,
s + 20 s + 5K a
2
Kv
Thebest compromise (Ka=40) still does not meet all the specifications. (Ts=400ms)
76
What to do?
Response For Second Order Systems -Summary
1 n2
(S-domain) Y ( s) = T ( s) =
s s ( s 2 + 2n s + n2 )
1 nt
(Time-domain) y (t ) =
1 e sin(n t + cos 1 ), =
1 2 (0< < 1)
4 Settling time
Ts = 4 = ( for = 2% )
n Percentage overshoot
/ 1 2
PO = 100e
Tp = Peak time
n 1 2
Kv
Using PD (proportional and derivative) controller, or using
velocity feedback to increase 2n .
78
Summary
In this chapter, we have concerned with the definition and
usefulness of quantitative measures of the performance of
feedback systems.
Y(s)=T(s)R(s)
Step input Ramp input Parabolic input
Ec ( s ) = (1 T ( s )) R( s )
r (t ) = A r (t ) = At r (t ) = At 2
A A
R( s) = R( s) = 2 2A
R( s) = 3
s s s 80
Second-Order System
e nt sin( n t + ),
1
y (t ) = 1 (0 < < 1)
M p fv
Percent Overshoot = fv
100
(usually corresponding
response within 2%)
81
Response For Second Order Systems -Summary
1 n2
(S-domain) Y ( s) = T ( s) =
s s ( s 2 + 2n s + n2 )
1 nt
(Time-domain) y (t ) =
1 e sin(n t + cos 1 ), =
1 2 (0< < 1)
4 Settling time
Ts = 4 = ( for = 2% )
n Percentage overshoot
/ 1 2
PO = 100e
Tp = Peak time
n 1 2
Type ? 83
Relationship between Steady State Error and System Type
System Type Input
(number of pure
integrators) step ramp parabola
0 ess =
A
1+ Kp
1 ess = 0
A
Kv
A
2 ess = 0 0 Ka
Conclusions:
1. Adding integrators (increasing system type) eliminates steady state error.
2. If steady state error is finite and not zero, then increasing the system dc
gain (increasing controller proportional gain), reduces steady state error.
84
Error Constants For Unit Feedback System
K =
K p = lim Gc ( s )G ( s ) K v = lim sGc ( s )G ( s ) a lim s 2
Gc ( s )G ( s )
s 0 s 0
s 0
Then for
A
ess =
Step input 1+ Kp
A
Ramp input ess =
Kv
A
Parabolic input ess =
Ka
85
Steady-State Error For Non-Unity Feedback
Y ( s) Gc ( s )G ( s ) Z (s ) Gc (s )G (s )
T ( s) = = = Z (s ) =
R( s ) 1 + H ( s )Gc ( s )G ( s ) 1 + Z (s) 1 + Gc (s )G (s )(H (s ) 1)
The loop transfer function of the equivalent unity feedback
system is Z(s). The error constants for non-unity feedback
system are given by:
K p = lim Z ( s ) K v = lim sZ ( s ) K a = lim s 2 Z ( s )
s 0 s 0 s 0
T
IAE = | e(t ) | dt Integrated absolute error
0
T
ITAE = t | e(t ) | dt Integrated time-multiplied
0 absolute error
T
ITSE = te 2 (t )dt Integrated time-multiplied
0
squared error
87