Control Systems-I

Instructor
Dr. Hafiz Farhan Maqbool

Department of Mechanical, Mechatronics & Manufacturing

Engineering
University of Engineering and Technology, Lahore
Faisalabad Campus
 PREVIOUSLY

Feedback control system characteristics:

• Error Signal Analysis
• Sensitivity to model uncertainties
• Disturbance rejection
• Measurement Noise Attenuation
•Transient response characteristics for input signals
TODAY

Feedback Control System

Characteristics

Steady-State Error
An error after the transient response
has decayed, leaving only the
continuous/steady-state response.
OPEN LOOP SYSTEM

An open-loop system with a disturbance input,

Td(s). (a) Signal-flow graph, (b) Block diagram.

• The error of the open-loop system would be

𝐸𝑜 𝑠 = 𝑅 𝑠 − 𝑌 𝑠 = 1 − 𝐺 𝑠 𝑅(𝑠)

when Td(s) = 0
 CLOSED LOOP SYSTEM

A closed-loop control system (a) Signal-flow graph, (b) Block diagram.

• The tracking error for the closed-loop system with unity feedback
would be
1
𝐸𝑐 𝑠 = 𝑅(𝑠) (1/1+Gc(s)G(s)H(s)) R(s)

1 + 𝐺𝑐 𝑠 𝐺(𝑠) H(s) = 1

when Td(s) and N(s) = 0

 Steady-state error
The final value theorem is used to determine the final value in time domain by applying just the zero
frequency component to the frequency domain representation of a system.

Final-value theorem is used to calculate the

steady-state error

lim 𝑒(𝑡) = lim 𝑠𝐸(𝑠)

𝑡→∞ 𝑠→0
Steady-State Error
■ Consider a unit step input as a comparable input
For open-loop System

𝑒𝑜 ∞ = 𝑅 𝑠 − 𝑌 𝑠 = 1 − 𝐺 𝑠 𝑅(𝑠)

1
𝑒𝑜 ∞ = lim 𝑠(1 − 𝐺 𝑠 )( )
𝑠→0 𝑠

𝑒𝑜 ∞ = (1 − 𝐺 0

Steady state Equation

For closed-loop System

1 1 1
𝑒𝑐 ∞ = lim 𝑠 ( )=
𝑠→0 1 + 𝐺𝑐 𝑠 𝐺(𝑠) 𝑠 1 + 𝐺𝑐 0 𝐺(0)

Tracking Error
• The value of G(s) when s = 0 is often called the DC
gain and is normally greater than one.

• Therefore, the open-loop system will usually have a

steady-state error of significant magnitude.

• By contrast, the closed-loop system with a reasonably

large DC loop gain L(0) = Gc(0)G(0) will have a small
steady-state error.
STEADY-STATE ERROR

The advantage of the closed-loop system is

that it reduces the steady-state error that are
resulted from parameter changes,
environmental effects calibration errors.
Example
Consider a unity feedback system with a process transfer function

𝑘
Process transfer function
𝐺 𝑠 =
𝜏𝑠 + 1

which could represent a thermal control process, a voltage regulator, or a water

level control process.
For a specific setting of the desired input variable, which may be represented by
the normalized unit step input function, we have R(s) = l/s.
Input signal is Unit Step input

Then the steady-state error of the open-loop system is

𝑒𝑜 ∞ = (1 − 𝐺 0 = 1 − K
The error for the closed-loop system is
Example
G(s)= K / (ts+1)

MCQs
For the open-loop system, we would calibrate the system so that K = 1
and the steady-state error is zero.

For the closed-loop system, we would set a large gain K. If

K = 100, the closed-loop system steady-state error is ec.(∞) = 1/101.
Example K=90 , delta K / K = 10/90
 COST OF FEEDBACK
 INCREASED NUMBER OF COMPONENTS AND COMPLEXITY
(SENSOR IS A KEY ONE, ALSO THE MOST EXPENSIVE, IT ALSO INTRODUCES NOISE
AND INACCURACIES INTO THE SYSTEM)
 LOSS OF GAIN
FOR EXAMPLE, IN A SINGLE-LOOP SYSTEM, THE OPEN-LOOP GAIN IS GC(S)G(S)
AND IS REDUCED TO GC (S)G(S)/(1 + GC (S)G(S)) IN A UNITY NEGATIVE FEEDBACK
SYSTEM. THE CLOSED-LOOP GAIN IS SMALLER BY A FACTOR OF 1/(1 + GC (S)G(S)),
WHICH IS EXACTLY THE FACTOR THAT REDUCES THE SENSITIVITY OF THE SYSTEM TO
PARAMETER VARIATIONS AND DISTURBANCES.
 INSTABILITY
WHEREAS THE OPEN-LOOP SYSTEM IS STABLE, THE CLOSED-LOOP SYSTEM MAY
NOT ALWAYS BE STABLE.
NEXT

■ Design Examples
Design Example: English
Channel Boring Machine

A block diagram model of a boring machine control system

The effect of load on the machine is represented by a disturbance

Design objective is to select the gain K so that the response to input angle
changes is desirable while we maintain minimal error due to the disturbance
 Design Example

The steady-state error of the system to a unit step input R(s) = 1/s is

The steady-state value of y(t) when the disturbance is a unit step,

Td(s) = 1/s, and the desired value is r(t) = 0 is
BY final value theorm.

Thus, the steady-state value is 0.01 and 0.05 for K = 100 and 20, respectively.
 Design Example

The response y(t)

for a unit step input
(solid line) and for a
unit step disturbance
(dashed line) for K=20.
Design Example

The response y{t) to (a) a unit input step r(t) and

(b) a unit disturbance step input with Td(s) = 1/s for K = 100.
Design Example
■ Finally, we examine the sensitivity of the system to a change
in the process G(s)
1/1+L(s)

For low frequencies (|s| < 1), the sensitivity can be approximated by

where K >= 20. Thus, the sensitivity of the system is reduced by

increasing the gain, K.

In this case, we choose K = 20 for a reasonable design compromise

Design Example: Mars Rover
Vehicle
■ A very simplified model of a rover is depicted in Figure. The
system may be operated without feedback, or with feedback,
as shown in Figure..
■ The goal is to operate the rover with modest effects from
disturbances such as rocks and with low sensitivity to
changes in the gain K.

Control system for the rover, (a) Open-loop (without feedback).

(b) Closed-loop with feedback.
Design Example
The transfer function for the open-loop system is

𝑌 𝑠 𝑘
𝑇𝑜 𝑠 = = 2
𝑅 𝑠 𝑠 + 4𝑠 + 5

The transfer function for the closed-loop system is

𝑌 𝑠 𝑘
𝑇𝑐 𝑠 = = 2
𝑅 𝑠 𝑠 + 4𝑠 + 3 + 𝐾
For K=2;

𝑌 𝑠 2
𝑇 𝑠 = 𝑇𝑜 𝑠 = 𝑇𝑐 𝑠 = = 2
𝑅 𝑠 𝑠 + 4𝑠 + 5

Hence, we can compare the sensitivity of the open-loop and

closed-loop systems for the same transfer function
Design Example
The sensitivity for the open-loop system is

𝑑𝑇𝑜
𝑆𝐾𝑇 = 𝐾/𝑇𝑜 = 1
𝑑𝐾

The sensitivity for the closed-loop system is

𝑑𝑇𝑐
𝑆𝐾𝑇 = 𝑑𝐾
𝐾/𝑇𝑐 = 𝑠 2 + 4𝑠 + 3/𝑠 2 + 4𝑠 + 3+K
To examine the effect of the sensitivity at low
frequencies, we let s = jw to obtain

For K = 2, the sensitivity at low frequencies, w < 0.1, is | 𝑆𝐾𝑇 | = 0.6.

Design Example

The magnitude of the sensitivity of the closed-loop

system for the Mars rover vehicle
 Design Example
The effect of the disturbance can be determined by setting R(s) = 0
and letting Td(s) = 1/s.
Then, for the open-loop system, we have the steady-state value

𝑌 ∞ = 1/3

For the closed-loop system, we have the steady-state value

1
𝑌 ∞ =
3+𝐾
When K = 2, y(∞) = 1/5.

Because we seek to minimize the effect of the disturbance, it is clear that a larger value
of K would be desirable.
An increased value of K, such as K = 50, will further reduce the effect of the disturbance
as well as reduce the magnitude of the sensitivity

However, as we increase K beyond K = 50, the transient performance of the system for
the ramp input, r(t), begins to deteriorate.
 PLEASE GO
THROUGH
Example 4, Example 6
Design Example: Disk Drive Read System
Related Exercise Questions
NEXT

■ Performance of Feedback Control Systems

Performance of Feedback
Control Systems
■ The ability to adjust the transient and steady-state performance is a
distinct advantage of feedback control systems.
■ Because control systems are inherently dynamic, their performance is
usually specified in terms of both the transient response and the
steady-state response.
■ The transient response is the response that disappears with time.
■ The steady-state response is the response that exists for a long time
following an input signal initiation.
■ The transient response of the system may be described in terms of
two factors:
1. The swiftness of response, as represented by the rise time and
the peak time.
2. The closeness of the response to the desired response, as
represented by the overshoot and settling time.
■ The design specifications for control systems normally include
several time response indices for a specified input command,
as well as a desired steady-state accuracy.
■ In the course of any design, the specifications are often
revised to effect a compromise.
■ The effective compromise and adjustment of specifications
are graphically illustrated in Figure.

Two performance measures versus parameter p.

Test Input Signals
■ The time-domain performance specifications are important
indices because control systems are inherently time-domain
systems
Performance of 2nd Order
Systems

R= 1/s
The transient response of this second-order system for various values of the damping
ratio is shown in Figure

Transient response of a second-order

system for a step input
 Response of a second-order
system for an impulse function input.
Time-Domain Specification
For 0<  <1 and ωn > 0, the 2nd order system’s response
due to a unit step input looks like

34
Time-Domain Specification
• The delay (td) time is the time required for the
response to reach half the final value the very first
time.

35
Time-Domain Specification
• The rise time is the time required for the response to rise from
10% to 90%, 5% to 95%, or 0% to 100% of its final value.
• For underdamped second order systems, the 0% to 100% rise
time is normally used. For overdamped systems, the 10% to
90% rise time is commonly used.

36
Time-Domain Specification
• The peak time is the time required for the response to
reach the first peak of the overshoot.

37
37
Time-Domain Specification
The maximum overshoot is the maximum peak value of the
response curve measured from unity. If the final steady-
state value of the response differs from unity, then it is
common to use the maximum percent overshoot. It is
defined by

Mpt, is the peak value of the time response, and fv is the

final value of the response.

The amount of the maximum (percent) overshoot directly

indicates the relative stability of the system.

38
 Time-Domain Specification
• The settling time is the time required for the response curve
to reach and stay within a range about the final value of size
specified by absolute percentage of the final value (usually
2% or 5%).

39
Time Domain Specifications

Rise Time Peak Time

     
tr   tp  
d 2 d  1   2
n 1   n

Settling Time (2%)

4
t s  4T  Maximum Overshoot
 n


3 Mp e
1 2
 100
t s  3T 
 n
Settling Time (4%)
40
Example
■ Consider the system shown in following figure, where
damping ratio is 0.6 and natural undamped frequency
is 5 rad/sec. Obtain the rise time tr, peak time tp,
maximum overshoot Mp, and settling time 2% and 5%
criterion ts when the system is subjected to a unit-step
input.

41
Example

Rise Time

 
tr 
d
3.141  
tr  
2
n 1  

2
 1  
  tan 1( n )  0.93 rad
 n

3.141  0.93
tr   0.55s
5 1  0.6 2
42
Example

Peak Time
Settling Time (2%)

 4
tp  ts 
d  n
4
3.141 ts   1.33s
tp   0.785 s 0.6  5
4
Settling Time (4%)

3
ts 
 n
3
ts   1s
0.6  5 43
Example
Maximum Overshoot


1 2
Mp e  100

3.1410.6

1 0.6 2
Mp e  100

M p  0.095  100

M p  9.5%
44
Example
Step Response
1.4

1.2 Mp

0.8
Amplitude

0.6

0.4

Rise Time
0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
45
Time (sec)
Example
■ For the system shown in Figure-(a), determine the values of
gain K and velocity-feedback constant Kh so that the
maximum overshoot in the unit-step response is 0.2 and
the peak time is 1 sec. With these values of K and Kh,
obtain the rise time and settling time. Assume that J=1 kg-
m2 and B=1 N-m/rad/sec.

46
Example

47
Example

Since J  1 kgm2 and B  1 Nm/rad/sec

C( s ) K
 2
R( s ) s  (1  KK h )s  K
• Comparing above T.F with general 2nd order T.F

C( s ) n2
 2
R( s ) s  2 n s  n2

(1  KK h )
n  K  
2 K
48
Example
(1  KK h )
n  K  
2 K
• Maximum overshoot is 0.2. • The peak time is 1 sec


tp 
d
3.141
1

 n 1   2
)  ln 0.2
1 2
ln( e
3.141
n 
1  0.456 2
 n  3.53
49
Example
 n  3.96

(1  KK h )
n  K  
2 K
3.53  K 0.456  2 12.5  (1  12.5K h )

3.532  K K h  0.178

K  12.5

50
Example
 n  3.96

  4
tr  ts 
n 1   2  n

t r  0.65s t s  2.48s

3
ts 
 n
t s  1.86s
51
Example
Given the system shown in following figure, find J and D to yield
20% overshoot and a settling time of 2 seconds for a step input
of torque T(t).

52
Example

53
Example

54
55