3.

Feed Back and its Properties

Feed back Control Systems
• Have the possibilities of being adopted to perform
their assigned tasks automatically.
Input + e Process Output
a) Block Diagram E(s)
R(s) - G(s) C(s)

Sensor
Feed back H(s)

R(s) E(s) G(s) C(s) 1 C(s)

1
b) Signal Flow Graph
-1 H(s)

1
• The system is driven by two signals
1. Input Signal
2. Feed back Signal (Derived from the output and
helps the system for self correcting mechanism)
• Feedback (FB) system is a self correcting
mechanism.
3.1. Types of feedback
i. +ve feedback (Regenerative Feedback): when the
signal feedback is going to be added to the
reference value at the comparison element.
ii. -ve feedback (Degenerative Feedback): when the
signal which is feedback is going to be subtracted
from the reference value at the comparison
element. (Necessary for control to be achieved)
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3.2. Importance of Feedback
3.2.1. –Ve (Degenerative) Feedback
1. Reduction of effects of Parameter Variations
❖ Feedback reduces the sensitivity of the system to
parameter variations. These parameters of a
system may vary with age (e.g. Wear of
mechanical components), with environmental
change, and so on.
❖ Sensitivity: is a measure of the effectiveness of a
control system in reducing the influence of
parameter variation.

❖ It is the relative variation in the overall transfer

function, T(s) due to variation in G(s) or in H(s).
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• Sensitivity due to variation in G is calculated by:
T / T % change in T(s)
S =
T
=
G / G % change in G(s)
G

i) Sensitivity of closed loop:

T G   G  G
S = T
. =  .
G T G  1 + GH
G
 T
 ( 1 + GH ) − G.H  G ( 1 + GH ) 1
= . =
 ( 1 + GH ) 2
 G 1 + GH

ii) Sensitivity of an open loop:

T G  G
S = T
. = (G ) . = 1
G T G
G
G 4
• Conclusion:
❖ The sensitivity of a closed-loop system w.r.t
variation in G is reduced by a factor 1+GH as
compared to that of an open-loop system.
• Sensitivity w.r.t H(s) of a closed-loop
system is given as:
T H   G  H
S =
T
. =  .
H T H  1 + GH
H
 T
 −G.G  H ( 1 + GH ) −GH
= . =
 ( 1 + GH ) 2
 G 1 + GH
• For large value of GH:
S 1
T
H 5
• This shows that, the changes in H directly affects
the system output.
• Therefore, it is important to use feedback
elements which do not vary with environmental
changes or elements that can be maintained
constant
i.e. closed-loop system requires careful
selection of the components of the feedback
sensor H(s).
❖ Note: G(s) is made of power elements and H(s)
is made of measuring elements which operate at
low power levels, therefore the selection of
accurate H(S) is far less costly than that of G(s) to
meet the exact specification. 6
 2. Control Over system Dynamics
• To be discussed in time response
3. Control of the effects of disturbance signals
(Disturbance rejection)
Case i)
TD(s) TD(s)

R(s) -1 -1
1 E(s) G1(s) G2(s) C(s) 1 C(s) R(s) G1(s) G2(s) C(s)

-1
H(s)

• The ratio of the output C(s) to the disturbance

signal TD(s), when R(s)=0, is given by:

C( s ) CD ( s ) −G2
= =
TD ( s ) R( s )=0 TD ( s ) 1 + G1G2 H
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 If G1G2 H( s ) >>1 over the working range of s
CD ( s ) −1
 
TD ( s ) G1 H
• If G1(s) is made sufficiently large, the effect of
disturbance can be decreased by feedback.
Case ii)
• Measurement sensor H may itself generate some
noise (disturbance)
R(s) E(s) G1(s) G2(s) C(s) 1 C(s)
1

-H2(s) H1(s)
1
N(s)
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 C( s ) CN ( s ) −G1G2 H 2 ( s )
= =
N( s ) R( s )=0 N( s ) 1 + G1G2 H 1 H 2 ( s )
When G1G2 H 1 H 2  1
CN ( s ) −1
 =
N( s ) H 1 ( s )
 the effect of noise on output is then:
− N( s )
CN ( s ) =
H1( s )
• Thus, for optimum performance of the
system, the measurement sensor should be
designed such that H1(s) is maximum. 9
3.2.2. +Ve (Regenerative feedback)
R(s) E(s) G(s) C(s) 1 C(s)
1

H(s)
C( s ) G( s )
T( s ) = =
R( s ) 1 − GH( s )
• -Ve sign in the denominator includes the
possibility of denominator becoming equal to zero
thereby giving an infinite output for a finite input
which is the condition of instability.
Importance
❖ Regenerative feedback is sometimes used for increasing
the loop gain of feedback system as follows.
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 G( s )
R(s) E(s) 1 G(s)
C(s) C(s) R(s) E(s) 1 − G f ( s )C(s) C(s)
=
1 1
Gf(s) -1 H(s)
-1 H(s)
Inner loop- regenerative feedback

• If Gf(s) is selected to be nearly unity, the closed

loop transfer function becomes

C( s ) G( s ) 1
= 
R( s ) 1 − G f ( s ) + G H( s ) H( s )

• Thus due to high loop gain provided by the inner

regenerative feedback loop, the closed loop
transfer function becomes insensitive to G(s).
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End of chapter 3

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