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Design and analysis of feedback control system

Conference Paper · March 2018

DOI: 10.1109/ICOIACT.2018.8350714

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To Cite this work: F. A. Khan and S. Nisar, "Design and analysis of feedback control system," 2018 International
Conference on Information and Communications Technology (ICOIACT), Yogyakarta, 2018, pp. 16-24.
DOI: 10.1109/ICOIACT.2018.8350714

Design and analysis of feedback control system

Faiq Ahmad Khan and Shibli Nisar
National University of Computer and Emerging Sciences, Pakistan
p146373@nu.edu.pk, shibli.nisar@nu.edu.pk

Abstract—Feedback control system is one of the most used for checking stability of a system [6]. In this method we
significant and challenging area in this modern era. Almost in just count number of signing changes (minus to plus or plus to
every technical program it is being taught. Different research minus) and make decision whether system is stable or not. The
work has been done on the analysis of feedback control systems.
root locus can be used to qualitatively describe the
But all the previous research work is on analysis of system based
on stability, initial and final value theorem, state space performance of a system as various parameters are changed.
representation or based on root locus and bode plot individually. The root locus can also be used to evaluate stability [7]. Bode
In this paper the complete analysis of feedback control systems diagram/plot is a graphical technique that gives a feel of the
has been carried out that includes transfer functions , poles and frequency response of a circuit. Bode plot is most useful for
zeros , stability of a system, initial and final values, state space circuits with well separated poles and zeros [8,9].
representations, different responses of a system, time response of
In previous research work the systems have been analyzed
first and second order systems, Routh-Hurwitz criterion, root
locus and Bode plot together using MATLAB. on the basis of single or few characteristics of control system
like on the basis of only stability, root locus or state space
Index Terms—Feedback control system, Stability, Transfer representation etc. In this paper a composite model has been
function, Root locus, State space model designed that analyzes a system in different ways that includes
Transfer functions ,Poles and Zeros ,Stability of a system,
I. INTRODUCTION Initial and Final values, State Space Representations, Different
A control system is an interconnection of components that responses of a system, Time response of first and second order
will provide a desired system response or output response [1]. systems, Routh-Hurwitz Criterion, Root Locus and Bode plot.
Open-Loop Control Systems utilize a controller or control
actuator to obtain the desired response and Closed-Loop II. PROPOSED METHODOLOGY
Control Systems utilizes feedback to compare the actual This proposed model takes coefficients of input and output
output to the desired output response [2]. Systems with of a system and gives impulse, step, ramp responses as well as
feedback are applicative and are widely used in oscillators and poles and zeros and bode plot of a system. This proposed
electronics system. Different attributes of a system can be model also tells whether system is over damped, critically
conserved using Feedback Control Systems [3]. damped or under damped for a second order system. This
There are many characteristics, through which a feedback proposed model also do analysis of a system by returning final
control system can be analyzed which are Transfer functions and initial values of a system. If f(t) and F(s) is Laplace
,Poles and Zeros ,Stability of a system, Initial and Final transform pairs i.e,
values, State Space Representations, Different responses of a ( ) ( ) () ( )
system, Time response of first and second order systems, then Initial value theorem is given by
Routh-Hurwitz Criterion, Root Locus and Bode plot [4]. ( ) () ( )
Transfer function is the ratio of Laplace output to the input of
a system. Zeros are those values of a transfer function, which
and Final value theorem is given by
make the system response zero. And poles are those values
( ) () ( )
which make the system response high (undefined). Stability
tells whether system is stable or not. There are many methods In order to the Time constant, Rise time and Settling time of a
for checking stability. Some of the methods are used in this first order system. This proposed model also gives state space
paper. State Space representation is the representation of a representation.
system is the form of matrixes [5]. In this way we can analyze The state and output equations are:
a system very easily and it makes easy to draw simulation X’=AX(t)+BU(t)
diagram of a system. By applying Impulse, Step and Ramp Y(t)=CX(t)+DU(t)
responses as input, output response of any mechanical or and simulation diagram in description that how many
electrical system can be analyzed. Initial and final values are integrators and summing points are needed and on which
the values of a system at time 0 seconds and infinite seconds point.it gives complete direction to the user that how to
respectively. Routh-Hurwitz criterion is one of the methods construct a simulation diagram of a system
To Cite this work: F. A. Khan and S. Nisar, "Design and analysis of feedback control system," 2018 International
Conference on Information and Communications Technology (ICOIACT), Yogyakarta, 2018, pp. 16-24.
DOI: 10.1109/ICOIACT.2018.8350714

3) Step response
4) Ramp response
5) Poles and zeros
6) Bode plot
7) Stability
8) Damping ratio and Natural frequency of a second order
system only
9) Type of a second order system (i:e over damped, under
damped critically damped)
10) Initial and final values
11) State space Representation
12) Time Constant, Settling Time and Rise Time of a first
order system only
Here is the complete analysis of a system. At very first the
Fig. 1. Simulation diagram model has returned us transfer function of a system. Then the
impulse, step and ramp responses in Fig.2, Fig.3 and Fig.4
and tells about stability that whether system is stable or not by respectively, have been returned by model. Also the model has
three methods i:e using poles of Transfer Function, returned poles and zeros as illustrated in Table.1 and their plot
Eigenvalues of State Matrix i.e., as shown in Fig.5. The bode diagram is shown in Fig.6. The
As we know that the transfer function of a system using state natural frequency and damping ratio, initial and final value
space model is given by and type of system have been illustrated in Table.2, 3 and 4
G(S)=C([ ]) +D; where I shows identity matrix respectively. The coefficients of Matrixes A,B,C,D of state
Eigenvalues can be calculated from the equation given below space model are illustrated in Table.5 and state and output
H(s)= det([sI-A]) equations are illustrated in Table.6.
and Routh-Hurwitz method. Transfer function:
Two different systems are also compared on the basis of
their poles and zeros, bode plot and on basis of different
responses i:e impulse, step etc. systems have been analyzed
through Root Locus by which we illustrate how the poles of Impulse Response
0.7
the closed-loop system vary with the closed-loop gain.
0.6

III. RESULTS 0.5

If In this paper,some built-in commands have been used in 0.4

order to get the results, which are inserted in Appendix A. The
0.3
user can analyze the system depending upon the choice he
Amplitude

selects such as Complete Analysis of a system, Analysis of a 0.2

system using state space model , any specific response of the 0.1
Difference equation, checking stability only, comparison of
two systems, Analysis of a system using Routh-Hurwitz 0

criterion and Root Locus. -0.1

-0.2
A. For Complete analysis 0 1 2 3 4 5 6 7 8 9 10
Time (sec)
As it is said in proposed methodology that , this model is
capable of doing complete analysis. In order to do so, choice 1 Fig. 2. Impulse response of a system
must be selected. The model will ask for coefficients of Step Response
0.8
Laplace input and output. Here in this paper the coefficients of
Laplace input and output are [4,5] and [6,7,8] respectively. 0.7

In complete analysis the model gives this information about 0.6

a system: 0.5

1) Transfer Function
Amplitude

0.4
2) Impulse response
0.3

0.2

0.1

0
0 1 2 3 4 5 6 7 8 9
Time (sec)
To Cite this work: F. A. Khan and S. Nisar, "Design and analysis of feedback control system," 2018 International
Conference on Information and Communications Technology (ICOIACT), Yogyakarta, 2018, pp. 16-24.
DOI: 10.1109/ICOIACT.2018.8350714

-0.5833 + 0.9965i -1.2500

-0.5833 - 0.9965i

Fig.3. Step response of a system

Ramp response
100

90

80

70

60
Amplitude

50

40

30

20

10

0
0 10 20 30 40 50 60 70 80 90 100
Time (sec)
Fig. 6. Bode diagram
Fig. 4. Ramp response
TABLE 2
Zeros/Poles NATURAL FREQUENCY AND DAMPING RATIO

1
Natural frequency Damping ratio
1.1547 0.5052
0.8

0.6 TABLE 3
FINAL AND INITIAL VALUES OF A SYSTEM
0.4
Initial value of the system Final value of the system
Imaginary Part

0.2 0.6667 0
0
TABLE 4
-0.2 TYPE OF A SYSTEM
-0.4 Type of system
Underdamped
-0.6

-0.8 TABLE 5
COEFFICIENTS OF MATRIX A,B,C AND D OF STATE SPACE MODEL
-1
Matrix A coefficients Matrix B coefficients
-1.5 -1 -0.5 0 0.5 1
Real Part -1.1667 -1.3333 1
Fig.5.poles/zeros Plot 1.0000 0 0
Matrix C coefficients Matrix D coefficients
TABLE 1
POLES AND ZEROS OF A SYSTEM
0.6667 0.8333 0
Poles Zeros
Bode Diagram TABLE 6
0
STATE EQUATION AND OUTPUT EQUATION
-5 State equation
Magnitude (dB)

-10
x1 x2 u1
x1 -1.167 -1.333 1
-15
x2 1 0 0
-20 Output equation
-25 x1 x2 u1
0
y1 0.6667 0.8333 0
Phase (deg)

-45

-90

-135
-1 0 1
10 10 10
Frequency (rad/sec)
To Cite this work: F. A. Khan and S. Nisar, "Design and analysis of feedback control system," 2018 International
Conference on Information and Communications Technology (ICOIACT), Yogyakarta, 2018, pp. 16-24.
DOI: 10.1109/ICOIACT.2018.8350714

Response

B. Analysis of a system using state space

For the analysis of a system using state space model , user are
needed to select choice 2. For the same coefficients of input
and output as in section A, the model gives transfer function
as shown in section A, the eigenvalues or poles, the initial and
final values as shown in table.3,tells about stability as in Fig.8
, Zeros/Poles plot as in Fig.5 ,the step, impulse, magnitude and
phase responses as in Fig.7,8,9 and Fig.10 respectively as
shown below.
5
x 10 Step Response
3

1
Amplitude

0zero
pole
zero

-1
Fig.9. Magnitude Response
-2 Phase Response
4.0762
-3
3.6492

3.2222
0 10 20 30 40 50 60 70 80 90
Samples
Fig.7. Step 2.7951
Response
Phase (radians)

2.3681
5 1.9411
x 10 Impulse Response

5 1.514

4 1.087

3 0.66

2 0.2329
zero
Amplitude

1 -0.1941
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
0zero Normalized Frequency ( rad/sample)
pole
zero
-1
Fig.10. Phase Response

-2 And the model also gives sate equation, output equation as

-3 in table.6 and an explanatory description about its simulation
diagram, that includes the order of each matrix,number of
-4
0 10 20 30 40 50 60 70 80 90 integrators and adders that are needed, the output and state
Samples equations for the connection purpose.
Magnitude Response (dB)

C. Any specific response of the difference equation

5
If user desiderates any specific response of discrete system
Fig.8. in time domain, then choice 3 will be used. Let we have a
Impulse 0 zero
system like y(n) + 3y(n-1)= x(n) + 2x(n-1) , To analyze this
Magnitude (dB)

system, model will ask for the input and output coefficients ,
-5
which are [1,3] and [1,2] respectively and the desire response,
range and other attributes related to the required response, in
-10

-15

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9

Normalized Frequency ( rad/sample)
To Cite this work: F. A. Khan and S. Nisar, "Design and analysis of feedback control system," 2018 International
Conference on Information and Communications Technology (ICOIACT), Yogyakarta, 2018, pp. 16-24.
DOI: 10.1109/ICOIACT.2018.8350714

this paper sinusoid response of it for any frequency 50 Hz and the coefficients of system 1 [2,3],[4,5,6] and for coefficients
range from 0 t0 3 with 0.1 step size is analyzed. of system 2 [2,5],[1,4,5] as shown below:
In the output program gives frequency and that required For system 1
response of the system as shown in Fig.11 and Fig.12 1 pole
respectively.
0.5

Imaginary Part
0.9

0.8 0 zero zero

Magnitude

0.7
-0.5
0.6

-1 pole
0.5
0 0.5 1 1.5 2 2.5 3
-1.5 -1 -0.5 0 0.5 1
Frequency 
Real Part
0.4 Fig.13.Poles/Zeros of system 1
Phase - Radians

0.3
For system 2
0.2
1 pole
0.1

0 0.5

Imaginary Part
0 0.5 1 1.5 2 2.5 3
Frequency 
0 zero zero
Fig.11. Frequency response
-0.5

Required response
0.02 -1 pole

-2.5 -2 -1.5 -1 -0.5 0 0.5 1

0.01
Real Part

0
Fig. 14.Poles/Zeros of system 2
Magnitude Response (dB)
4.2146
-0.01
Amplitude

0.2225 zero
-0.02

-3.7696
-0.03

-0.04 -7.7617

-0.05 -11.7537

-0.06 -15.7458
0 0.5 1 1.5 2 2.5 3 0 0.2 0.4 0.6 0.8
samples Normalized Frequency ( rad/sample)

Fig. 12. Sinusoid response

Fig. 15.Magnitude response of system 1

D. Checking stability only

If user is interested in stability of a system only, by selecting

TABLE 7
choice 4 and passing coefficients as discussed in previous NATAURAL FREQUENCIES AND DAMPING RATIOS
section , the program gives poles and zeros, their plot as Natural Natural Damping Damping
shown in Table.1 and in Fig.5 respectively and tells about frequency of frequency of ratio of ratio of
stability of the system. system 1 system 2 system 1 system 2
E. Comparison of Two systems 1.2247 2.2361 0.5103 0.8944
For comparing two linear time invariant systems, choice 5 is
TABLE 8
used. Model takes the coefficients of two systems and then it T YPE OF SYSTEMS
compares them on the basis of Poles and zeros, Impulse, Step,
Type of systems
Magnitude and Phase Responses, Rising time, Settling time
System 1 is underdamped
and Time constant (for 1st order systems only),Types, whether
System 2 is underdamped
they are Over damped, Under damped or critically damped
(For 2nd Order systems only) , Damping ratio and natural
frequency (For 2nd Order systems only) and Bode plots for
To Cite this work: F. A. Khan and S. Nisar, "Design and analysis of feedback control system," 2018 International
Conference on Information and Communications Technology (ICOIACT), Yogyakarta, 2018, pp. 16-24.
DOI: 10.1109/ICOIACT.2018.8350714

Magnitude Response (dB)

TABLE 9
3 ROOTS OF CHARACTERSITIC EQUATION
Roots
2
-1.3711
-0.0644 + 1.3488i
Magnitude (dB)

1
-0.0644 - 1.3488i
0 zero
TABLE 10
-1
ROUTH-HURWITZ’S ARRAY
-2 Routh-Hurwitz’S array
2.0000 4.0000
-3
3.0000 5.0000
0.6667 0
0 0.2 0.4 0.6 0.8
Normalized Frequency ( rad/sample)
5.0000 0

Fig.16.Magnitude response of system 1 And also by selecting choice 6, one can plot root locus of a
system. Laplace Input and output coefficients will be required
For system 1 in order to find transfer function, through which we plot Root
Magnitude (dB)

0
Locus of that system. In this paper the input and output
-20 coefficients taken are [3,4,5] and [4,5,6,7] respectively.
-40
0
Phase (deg)

-45
Root Locus
-90 1.5

-135
-1 0 1
10 10 10 1

Frequency (rad/sec)
0.5
Imaginary Axis

For system 2
0
Phase (deg) Magnitude (dB)

0
-0.5
-20
-1
-40
0
-1.5
-2.5 -2 -1.5 -1 -0.5 0 0.5

-45 Real Axis

-90
-1 0 1 2
10 10 10 10
Fig.18. Root Locus plots
Frequency (rad/sec)

Fig. 17. Bode plots of system 1 and system 2

F. Checking stability of a system using Routh-Hurwitz IV. CONCLUSIONS

Method and analysis of a system by Root locus
Explanatory analysis of Feedback Control Systems via
Routh-Hurwitz method is another method for checking
multiple methods has been carried out in this paper, which
stability of a system. If a user is interested in checking
will assistance readers in understanding, comparing and to
stability through this method, he will need to select choice 6.
have remarkable knowledge of different systems. Different
User will be asked to enter coefficients of a characteristic
research work has been done on the analysis of feedback
equation. The proposed model will return roots of the
control systems. But all the previous research work is on
characteristic equation as illustrated in Table 9, the Routh-
analysis of system based on stability, initial and final value
Hurwitz Array as in Table 10.
theorem, state space representation or based on root locus and
In this paper the coefficients of characteristic equation used
bode plot individually. In this paper the complete analysis of
are [2,3,4,5].
feedback control systems has been carried out that includes
transfer functions, poles and zeros, stability of a system, initial
To Cite this work: F. A. Khan and S. Nisar, "Design and analysis of feedback control system," 2018 International
Conference on Information and Communications Technology (ICOIACT), Yogyakarta, 2018, pp. 16-24.
DOI: 10.1109/ICOIACT.2018.8350714

and final values, state space representations, different

responses of a system, time response of first and second order
systems, Routh-Hurwitz criterion, root locus and Bode plot
together using MATLAB. Different techniques are used in
order to the analyzed the system from different aspects. In
future, the authors are planning to completely analyze PID
controller.

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