FEEDBACK AND ITS PROPERTIES

A control system mainly categorized into open and closed loop systems.

Closed loop systems use plant response(output) for determining appropriate control action from
controller. These closed loop systems are also called feedback controllers.
A controller with a feedback may affect properties like
Parameter variation: variation of parameters which are expected (i.e. working domain).
Overall gain: the magnitude in which the input is multiplied.
Disturbance: parameter variation which is unexpected.
Sensitivity: the amount of deviation on a parameter caused by deviation in another parameter.
Stability: response of a system to be in a given band (BIBO).
Time constant: time required the system response to reach 63% of final/desired output.
 PARAMETER VARIATION
For a given system with input R(s), output For closed loop
C(s) and parameter G(s). So transfer
function (i.e. tf=C(s)/R(s)) becomes G(s). R(s) G(s) C(s) G(s)
tf =
1 − G s H(s)
R(s) G(s) C(s) H(s)

R(s) G(s)+∆G(s) C(s) G s + ∆G(s)

tf =
What will be the new tf if G(s) becomes 1 − [G s +∆G(s)]H(s)
H(s)
G(s)+∆G(s)
∆G(s)
tf = +
+ ( ) ( )

For open loop For G(s)>>∆G(s)

tf=G(s)+∆G(s) From this we can conclude parameter variation has less effect
R(s) G(s)+ ∆G(s) C(s)
on closed loop system than open loop system.
OVERALL GAIN
Open loop Generally closed loop system has smaller
over all gain.

tf=G(s)
Closed loop
 DISTURBANCE
Disturbance on open loop system Disturbance on a closed system may
occur on
D(s) a. Forward path
b. Output or
R(s) G1(s) G2(s) C(s) c. Feedback path
To study the effect of disturbance we
remove the input and examine the
( )
= G2(s) response caused by the disturbance
( )
 DISTURBANCE ON FORWARD PATH

D(s)
D(s) G2(s) C(s)

R(s) G1(s) G2(s) C(s)

G1(s) H(s)

H(s)

C(s) G2(s)
=
Making the input zero (s) 1 − G1(s)G2(s)H(s)
 DISTURBANCE ON OUTPUT

D(s)
D(s) C(s)

R(s) G1(s) C(s)

G1(s) H(s)

H(s)

C(s) 1
=
Making the input zero (s) 1 − G1(s)H(s)
 DISTURBANCE ON FEEDBACK PATH
R(s) H1(s) G(s) C(s)
R(s) G(s) C(s)
H2(s)

H1(s) H2(s)

C(s) H1(s)G(s)
D(s) =
(s) 1 − H1(s)H2(s)G(s)

From these equations we can conclude that closed system less affected by disturbance.
SENSITIVITY
How much is the impact of variation in Effect of variation of forward path gain
parameter ‘b’ on parameter ‘a’. on overall transfer function on closed
loop.
= ⋅ ( )
a= ; b=G(s)
( )
Effect of variation of forward path gain
( )
on overall transfer function on open loop. = ( )
[ ]⋅
[ ]
a=G(s)
= ( )
b=G(s)
( ) ( ) So, closed loop systems are less sensitive than open
= ⋅ = ⋅ =1x1=1 loop systems.
( ) ( )
STABILITY AND TIME CONSTANT
In general, if properly designed closed loop systems can improve both stability and time
constant.
For stable open loop system making it closed loop may affect the system negatively (i.e.
may become unstable.)
TIME RESPONSE
Transient/natural response, : response of the system as the input is applied
and die out as time goes. lim =0
→
Steady state /forced response, : response of a system which remain after
transient response die out.
Total response C(t)= +
Order: Order (i.e. highest degree) of differential equations(denominator after cancelling
common factors in the numerator) describing the system.
For system equation represented with numerator and denominator zeros of numerator
is called zeros of the system and zeros of denominator is called poles of the system.
FIRST ORDER SYSTEM RESPONSE
Time constant: time in which the response
reaches 63% of the final value.
The maximum possible value of c(t) is 1
Let G(s) first order system with tf G(s)= which is the final value and 63% becomes
and R(s)= (i.e. unit step input) 0.63.
1-e =0.63
Output C(s)=R(s)G(s)= .
e = 0.37
C(s)= . = + =>A=1, B=-1;
e = 0.37
C(s)= − - t=-0.994
c(t)=1-e taking inverse Laplace transform t≈ 1/
 OPEN VS CLOSED LOOP TIME CONSTANT

R(s) C(s) Comparing

& =
k
= ;
C(s)=R(s). ; ( )

> 1, ℎ .
C(s)= . ; b= −

C(s)= − ; =

t=
FIRST ORDER SYSTEM RESPONSE
Rise time ( ): time taken for the system Settling time ( ): time taken the output
to reach 10%-90% of the final output. to reach and stay ±2% of final output for
the first time.
1-e =0.9
. 1-e =0.98
=
=
1-e =0.1
.
=
. . .
= − = − =
SECOND ORDER SYSTEM RESPONSE
General second order system

 - natural frequency
 – damping constant

Find natural frequency and damping constant of

( )
a. ( )
, if f t = 27 ( ), M = 3, fv =6, K=27

b. G(s)=s2+4.2s+36
CLASSIFICATION OF 2 ND ORDER SYSTEM USING DAMPING RATIO = 1−
SECOND-ORDER UNDER DAMPED RESPONSE SPECIFICATIONS
SECOND-ORDER SYSTEM RESPONSE SPECIFICATIONS
UNDERDAMPED
 lim = ∞ = lim
→ →

STEADY STATE ERROR e ∞ =lim

→
R(s)
=lim 1+G(s)H(s)
→
Steady state error: error of a system as time
approaches to infinity. Determine order and type of G(s) then find steady state error for

system with

1
a. G(s)=s+2, H(s)=0

E(s)=R(s)-H(s)C(s) 1
b. G(s)=s+2, H(s)=1
C(s)=E(s)G(s)

E(s)=R(s)-E(s)G(s)H(s) 1
c. G(s)=s(s+2) , H(s)=1

E(s)(1+G(s)H(s))=R(s)
1
d. G(s)= , H(s)=1
R(s) (s+2)
E(s)=1+G(s)H(s)
 For step, ramp and parabolic input
RELATIONSHIP BETWEEN INPUT, SYSTEM TYPE, STATIC
ERROR CONSTANTS AND STEADY STATE ERRORS

Where =
→
=
→
= 2
→
STABILITY OF CONTROL SYSTEM
Stability and transient response of a system affected by location of closed loop poles in
s-plane.

Routh-Hurwitz: tells us number of poles on the right half s-plane.

Root-Locus: shows graphically the movement of poles on s-plane for different

parameter k.
 As the parameter changes
 If the pole goes to the right the system is becoming unstable.

 If the pole goes to the left the system is becoming more stable.
 ROUTH-HURWITZ STABILITY
CRITERION
?
How can I know a pole lie on RHP
 ROUTH-HURWITZ STABILITY CRITERION CONT.…
The necessary and sufficient condition the system to be
stable is there SHOULD NOT BE any sign change in
s4 a4 a2 a0 the first column.
s3 a3 a1 0 If there is any sign change
s2 b1 b2 0  The system is unstable.
 The number of sign change shows the number of poles in the
s1 c1 0 0 RHP.
s0 d1 0 0 If there is zero
 The system is marginally stable.
 OPEN VS CLOSED LOOP STABILITY
Open loop Closed loop
1 1 - k
R(s) C(s) - k

k For >0; the system is stable If >0; to be the system stable

k should be less than 1 (i.e. k<1);

C(s)= ;

C(s)= ; closed loop

C(s)= ; open loop

ROUTH-HURWITZ STABILITY CRITERION CONT.…
Check stability of a system given by

1. G(s)= 2 and H(s)=0.3;

s +4s+2

( )
2. =
( ) s3 +5s2+10s+2

( )
3. =
( ) s5+3s4+3s3 +6s2+5s+3

( )
4. =
( ) s5+2s4+3s3 +6s2+5s+3
 SPECIAL CASES OF ROUTH-HURWITZ
1. Zero in the first column of row
Check stability of the system
a. Substitute with small number ε: check for sign change for positive
and negative ε. ( )
a. =
( ) s5+2s4+3s3 +6s2+5s+3
b. Reverse coefficients: reverse coefficients of the polynomial.

2. Row of zero ( )
b. =
( ) s5+7s4+6s3 +42s2+8s+56
 Use coefficients of auxiliary polynomial.

 Auxiliary polynomial is derivative of the polynomial just above row zero

NB: In these cases the system never become stable but it can be marginally stable.
 DESIGN USING ROUTH-HURWITZ
Finding the range of ‘gain’ in which the given system can be
stable.

Find value of k in which the system

a. G(s)=s(1+0.5s)(1+0.5s) and H(s)=0.2

b. G(s)=s(1+0.6s)(1+0.4s) and H(s)=0.3

i. To be stable

ii. To be marginally stable, how much is its’ frequency of

sustained oscillation
EXPERIMENTAL DETERMINATION OF TRANSFER FUNCTION
Approximated to 1st or 2nd order system 1st order system:

 G(s)=s+a
Some parameters need to be collected using
 Whose step response is
sensors.
/ /
 C(s)=s(s+a) = s - s+a

The collected data plotted with time to

 C(t)=a (1- )

determine the transfer function.  C(ꝏ)=a

 If we get the time constant from experiment we can

easily determine the transfer function.
 EXPERIMENTAL DETER… CONT.…
2nd order system:

Percent overshoot and settling time used

for determining denominator or poles NB: In both cases the system should settle to some final
value.
of the transfer function.
 CONTROLLERS
We can alter system dynamics (parameters) to Commonly used industrial controllers

meet the required responses but sometimes are:-

this cannot be done because of several  ON-OFF

 Proportional
reasons.
 Proportional-Derivative (PD)
At this time we need to use controllers.  Proportional-Integral (PI)

 Proportional-Integral-Derivative (PID)
CONTROLLERS CONT.…
Water level controller is used as an example in this topic.

The in flow amount controlled by a servo motor based on the set point. The

out flow is uncontrolled.

The deviation of the water level from set point (desired level) is error signal

which is going to feed the controller.

The controller turns the servo to open and close the tap based on the error

amount.

The angle movement is from 0⁰(fully closed), 45⁰(half open) 90⁰ (fully open).

Assumption: Negative error(0⁰)_Zero error(45⁰)_Positive error(90⁰)

ON-OFF CONTROLLER
This two position works as a switch,
 If the level is below set point, tap is fully open.
 If the level is on and above set point, tap is fully
closed.
Dead band is introduced to prevent chattering
effect
 Dead band a range of values below or above set
point in which the controller take no action.

Solenoid operated valves and relays are ON-

OFF type controllers

Even though, these controllers are simple and

economical they are not suitable for complex
systems.
 PROPORTIONAL
The control action is proportional to the present error.

u=Kp x e

If the error is about negative the tap turns toward 0⁰.

If the error is about positive the tap turns toward 90⁰

Make the system responds faster .

The motion is continuous.

May not eliminate steady state error.

INTEGRAL
The control action is proportional to summation of the past
errors.

u=Ki ∫ e d

U(s)= E(s)

If the error was more positive, most likely the tap remain
open.

If the error was more negative, most likely the tap remain
closed.

Eliminate steady state error.

DERIVATIVE
The control action is proportional to rate of change of
the error. Dependent on the trend of the error rather
than current condition.

u=Kd

U(s)=sKd x E(s)

If the error rate is positive, the tap should be more open.

If the error is negative, the tap should be more closed.

Derivative controller does not used alone.

Reduce oscillation so reduces settling time

PROPORTIONAL INTEGRAL (PI)
Combination of proportional and integral
controllers.

u = Kp ∗ e(t) + Ki ∫ e d

So make the response faster without

offset.

There may be oscillation.

PROPORTIONAL DERIVATIVE (PD)
Proportional and derivative controllers
are combined.

()
u(t)= ∗ +

So the system is faster and have less

overshoot.
 PROPORTIONAL INTEGRAL DERIVATIVE (PID)
Combines the three controllers and their
advantages.

PID controller is assumed to have faster

response, no steady state error, small
overshoot, less settling time and
oscillation.
d ( )
u t = Kp ∗ e t + Ki e d +
d
PHYSICAL REALIZATION OF INDUSTRIAL CONTROLLERS
USING OPAMP
Proportional
Eo R2
=−
Ei R1

Integral

=−

Derivative

=− (sCR1+1)
PID
( )( )
=−

Physically these controllers can be tuned by using variable resistor.

Varying the value of the resistor will alter the gain value.
 TUNING PID CONTROLLER ZIEGLER-NICHOLS RULE
METHOD 1
There are two tuning methods in Ziegler-Nichols tuning
rules.

( )
u t = Kp ∗ e t + Ki ∫ e(t) d +

Method 1: Used for a system exhibits s-shaped response for

Type of Controller Kp Ki Kd
step input. P T 0 0
L
PI T T 0.3 0
0.9 0.9 ∗
L L L
PID T T 1 0.6
1.2 1.2 ∗
L L 2L
TUNING PID CONTROLLER ZIEGLER-NICHOLS RULE
METHOD 2
First find critical gain (Kcr): Gain at
which the system exhibits sustained
oscillation with Ki and Kd zero.

Critical period (Pcr): Period of the system Type of Controller Kp Ki Kd

P 0.5Kcr 0 0

at critical gain. PI 0.45Kcr

3.6
Kcr 0
Pcr
PID 0.6Kcr Kcr 0.075Kcr*Pcr
1.2
Pcr