Control Systems-I

Instructor
Dr. Hafiz Farhan Maqbool

Department of Mechanical, Mechatronics & Manufacturing

Engineering
University of Engineering and Technology, Lahore
Faisalabad Campus
 PREVIOUSLY

The Performance of Feedback control system:

• Test Input Signals
• Performance of 2nd order systems
TODAY

The Performance of the Feedback

Control Systems

Effects of a third pole and a zero on

a second order system response

The S-Plane Root Location

 EFFECTS OF A THIRD
POLE AND A ZERO
• For a third-order system with a closed-loop transfer function

This third-order system is normalized with ωn = 1

The response of a third-order system can be

approximated by the dominant roots of
the second-order system as long as the real
part of the dominant roots is less than one
tenth of the real part of the third root
If the transfer function of a system possesses finite zeros and they are
located relatively near the dominant complex poles, then the zeros
will materially affect the transient response of the system
 The response for the second-order transfer function
with a zero for four values of the ratio a/ξωn: A = 5, B =
2, C = 1, and D = 0.5 when ξ = 0.45
The transient response of a system with
one zero and two poles may be affected
by the location of the zero
 Example 5.1: Parameter
Selection
Select the gain K and the parameter p so that the time-domain specifications will
be satisfied. The transient response to a step should be as fast as is attainable while
retaining an overshoot of less than 5%. Furthermore, the settling time to within
2% of the final value should be less than 4 seconds.
 Example 5.1
The damping ratio for an overshoot of 4.3% is
0.707.

Settling time 4%

we require that the real part of the complex

poles of T(s) be

Specifications and root locations

on the s-plane

When the closed-loop roots are r = -1 + jω and r = -1 - jω , we have Ts = 4 s and an

overshoot of 4.3%. Therefore, ξ = l / 2 and ωn = l/ ξ = 2 .
 Example 5.2: Dominant Poles

Both the zero and the real pole may affect the transient response. If a » ξωn
And Ʈ « 1/ξωn , then the pole and zero will have little effect on the step
response.
Assume that we have

Note that the DC gain is equal to 1 (T(0) = 1), and we expect a zero steady-state
error for a step input. We have ξωn = 3, T = 0.16, and a = 2.5.
 Example 5.2
■ The poles and the zero are shown on the s-plane in Figure

As a first approximation, we neglect

the real pole and obtain

We now have ξ = 0.6 and wn = 5 for dominant

poles with one accompanying zero
for which a/ ξωn = 0.833.

Using Figure shown on next slide we find that

the percent overshoot is 55%. We expect the
settling time to within 2% of the final value to
be
 Example 5.2

Using a computer simulation for the actual third-order system, we find that the percent
overshoot is equal to 38% and the settling time is 1.6 seconds. Thus, the effect
of the third pole of T(s) is to dampen the overshoot and increase the settling time
(hence the real pole cannot be neglected).
The s-plane root location and
the transient response
■ The transient response of a closed-loop feedback control system
can be described in terms of the location of the poles of the
transfer function.
■ The closed-loop transfer function is written in general as

The output of a system (with gain = 1) without repeated roots and a unit step input
can be formulated as a partial fraction expansion as
Impulse response for various root
locations in the s-plane.
(The conjugate root is not shown.)
NEXT

■ Steady State Error of Feedback Control Systems

 Introduction
■ Any physical control system inherently suffers steady-state error in
response to certain types of inputs.

■ A system may have no steady-state error to a step input, but the

same system may exhibit nonzero steady-state error to a ramp input.

■ Whether a given system will exhibit steady-state error for a given type
of input depends on the type of open-loop transfer function of the
system.
 Introduction

■ Control systems may be classified according to their ability to follow step

inputs, ramp inputs, parabolic inputs, and so on.

■ The magnitudes of the steady-state errors due to these individual inputs

are indicative of the goodness of the system.
 Introduction
■ Consider the unity-feedback control system with the following transfer
function

• It involves the term sN in the denominator,

representing N poles at the origin.

• A system is called type 0, type 1, type 2, ...

, if N=0, N=1, N=2, ... , respectively.
Introduction
■ As the type number is increased, accuracy is improved.

■ However, increasing the type number aggravates the stability

problem.

■ A compromise between steady-state accuracy and relative stability is

always necessary.
Steady State Error of Unity Feedback
Systems

■ Consider the system shown in following figure.

■ The closed-loop transfer function is

 Steady State Error of Unity Feedback
Systems
■ The transfer function between the error signal E(s) and
the input signal R(s) is
E( s ) 1

R( s ) 1  G( s )
• The final-value theorem provides a convenient way to
find the steady-state performance of a stable system.

• Since E(s) is

• The steady state error is

Static Error Constants
■ The static error constants are figures of merit of control systems. The
higher the constants, the smaller the steady-state error.

■ In a given system, the output may be the position, velocity, pressure,

temperature, or like.

■ Therefore, in what follows, we shall call the output “position,” the rate
of change of the output “velocity,” and so on.

■ This means that in a temperature control system “position” represents

the output temperature, “velocity” represents the rate of change of the
output temperature, and so on.
Static Position Error Constant (Kp)
■ The steady-state error of the system for a unit-step
input is

• The static position error constant Kp is defined by

• Thus, the steady-state error in terms of the static

position error constant Kp is given by
Static Position Error Constant (Kp)
■ For a Type 0 system

■ For Type 1 or higher systems

■ For a unit step input the steady state error ess is

Static Velocity Error Constant (Kv)
■ The steady-state error of the system for a unit-ramp
input is

■ The static position error constant Kv is defined by

■ Thus, the steady-state error in terms of the static

velocity error constant Kv is given by
Static Velocity Error Constant (Kv)
■ For a Type 0 system

■ For Type 1 systems

■ For type 2 or higher systems

Static Velocity Error Constant (Kv)
■ For a ramp input the steady state error ess is
Static Acceleration Error Constant (Ka)
■ The steady-state error of the system for parabolic input
is

■ The static acceleration error constant Ka is defined

by

■ Thus, the steady-state error in terms of the static

acceleration error constant Ka is given by
Static Acceleration Error Constant (Ka)
■ For a Type 0 system

■ For Type 1 systems

■ For type 2 systems

■ For type 3 or higher systems

Static Acceleration Error Constant (Ka)
■ For a parabolic input the steady state error ess is
Summary
Example#1
■ For the system shown in figure below evaluate the
static error constants and find the expected
steady state errors for the standard step, ramp
and parabolic inputs.

100( s  2)( s  5)
R(S) C(S)
- 2
s ( s  8)( s  12 )
Example#1 (evaluation of Static Error
Constants)
100( s  2 )( s  5)
G( s ) 
s 2 ( s  8)( s  12 )
K p  lim G( s )
s 0 K v  lim sG ( s )
s 0
 100( s  2)( s  5) 
K p  lim  2   100 s( s  2)( s  5) 
s 0  s ( s  8)( s  12 )  K v  lim  2 
s 0  s ( s  8)( s  12 ) 
Kp  
Kv  

K a  lim s 2G( s )  100 s 2 ( s  2)( s  5) 

K a  lim  2 
s 0  
s 0
 s ( s  8 )( s  12 ) 
 100( 0  2)(0  5) 
K a     10.4
 ( 0  8)(0  12 ) 
Example#1 (Steady Sate Errors)
Kp   Kv   K a  10.4

0

0

 0.09
NEXT

■ Examples (Steady-State Error)

■ Performance Indices
 Example: Mobile Robot Steering Control
■ The steering control system for such a robot can be
represented by the block diagram shown in Figure.

The steering controller is

Therefore, the steady-state error of the system for a step input when K2= 0 and
Ge(s) = K1 is

where Kp = KK1
Example
■ When K2 is greater than zero, we have a type-1 system,

The steady-state error ___________ for a step input.

If the steering command is a ramp input, the steady-state error is

The transient response clearly shows the effect of the steady-state error, which
may not be objectionable if Kv is sufficiently large.

Note that the output attains the desired velocity as required by the input, but it
exhibits a steady-state error.

The transient response of the vehicle to a triangular wave input

• The control system's error constants describe the ability of a system to
reduce or eliminate the steady-state error.

• The designer determines the error constants for a given system and
attempts to determine methods of increasing the error constants while
maintaining an acceptable transient response.

• In the case of the steering control system, we want to increase the gain
factor KK2 in order to increase Kv and reduce the steady-state error.

• However, an increase in KK2 results in an attendant decrease in the

system's damping ratio and therefore a more oscillatory response to a step
input.

• Thus, we want a compromise that provides the largest Kv based on the

smallest ξ, allowable.
Example 5.4: Steady State Error
Example 5.5: Feedback
System

Determine an appropriate gain K so that the steady-state

error to a step input is minimized.
• The determination of the steady-state error is
simpler for unity feedback systems. However, it
is possible to extend the notion of error constants
to non-unity feedback systems by first
appropriately rearranging the block diagram to
obtain an equivalent unity feedback system.

• Remember that the underlying system must be

stable, otherwise our use of the final value
theorem will be compromised.
Performance Indices

A performance index is a quantitative

measure of the performance of a system
and is chosen so that emphasis is given
to the important system specifications.
A system is considered an optimum control system when the system
parameters are adjusted so that the index reaches an extremum, commonly a
minimum value.

A performance index must be a number that is always positive or zero.

A suitable performance index is the integral of the square of the error,

ISE, which is defined as
Another readily instrumented performance criterion is the integral of
the absolute magnitude of the error, IAE, which is written as

To reduce the contribution of the large initial error to the value of the
performance integral, as well as to emphasize errors occurring later
in the response, the following index has been proposed

The performance index ITAE provides the best selectivity of the

performance indices; that is, the minimum value of the integral is
readily discernible as the system parameters are varied.

Another similar index is the integral of time

multiplied by the squared error (ITSE), and is
defined as
The calculation of the integral squared error
NEXT

■ Examples