Chapter 4: Feedback Control System Characteristics

Objectives

In this chapter we extend the ideas of modeling to include control system

characteristics, such as sensitivity to model uncertainties, steady-state errors,
transient response characteristics to input test signals, and disturbance
rejection. We investigate the important role of the system error signal which we
generally try to minimize.

We will also develop the concept of the sensitivity of a system to a parameter

change, since it is desirable to minimize the effects of unwanted parameter
variation. We then describe the transient performance of a feedback system
and show how this performance can be readily improved. We will also
investigate a design that reduces the impact of disturbance signals.

Illustrations
 Open-And Closed-Loop Control Systems

An open-loop (direct) system

operates without feedback and
directly generates the output in
response to an input signal.

A closed-loop system uses a

measurement of the output
signal and a comparison with
the desired output to generate
an error signal that is applied to
the actuator.

Illustrations
 Open-And Closed-Loop Control Systems

H( s ) 1

G( s )
Y( s ) R( s )
1 G( s )

1
E( s ) R( s ) Error Signal
1 G( s )

Thus, to reduce the error, the magnitu de of 1 G( s ) 1

H( s ) 1

G( s )
Y( s ) R( s )
1 H( s ) G( s )

1
E( s ) R( s )
1 H[ ( s ) G( s ) ]

Thus, to reduce the error, the magnitu de of 1 G( s ) H( s ) 1

Illustrations
 Sensitivity of Control Systems To Parameter Variations

For the closed-loop case if GH( s ) 1

1
Y( s ) R( s ) Output affected only by H(s)
H( s )

G( s ) G( s )

Open Loop Y( s ) G( s ) R( s )

Closed Loop

G( s ) G( s )
Y( s ) Y( s ) R( s )
1 G( s )
G( s ) H( s )

G( s )
Y( s ) R( s )
1 GH( s ) GH( s ) ( 1 GH( s ) )

GH( s ) GH( s )

G( s ) The change in the output of the closed system

Y( s ) R( s )
2 is reduced by a factor of 1+GH(s)
( 1 GH( s ) )
Illustrations
 Sensitivity of Control Systems To Parameter Variations
Y ( s )
T (s )
R ( s )
d
T
T ( s) d T d T

S
T ( s)
S
T d T
G
G ( s) d d G T
d G
G ( s)
G
d G
G
1
T (s )
1 H [(s )G (s )]

d T d T

T d T
G d T
G 1

G
S G
d G T d G T
(1
2 G
GH )
d G d G ( 1 GH )

T 1
S G Sensitivity of the closed-loop to G variations reduced
(1 GH )

T GH Sensitivity of the closed-loop to H variations

S H When GH is large sensitivity approaches 1
( 1 GH )
Changes in H directly affects the output response

Illustrations
 Example 4.1

Open loop Closed loop

vo Ka v in R2
Rp R1 R2
R1
T ka Ka T 1
T SKa
T 1 Ka 1 Ka
SKa 1

If Ka is large, the sensitivity is low.

4 T 1 4
Ka 10 0.1 SKa 9.99 10
3
Illustrations
1 10
 Control of the Transient Response of Control Systems

( s ) K1
G( s )
Va( s ) 1 s 1

where,

Km Ra J
K1 1
Ra b Kb Km Ra b Kb Km

Illustrations
 Control of the Transient Response of Control Systems

K1
K a
( s ) K a G( s ) K a K 1 1
R( s ) 1 K a K t G( s ) 1 s 1 K a K t K 1 1 K a K t K 1
s
1

Illustrations
 Control of the Transient Response of Control Systems

Illustrations
 Disturbance Signals In a Feedback Control Systems

R(s)

Illustrations
 Disturbance Signals In a Feedback Control Systems

Illustrations
 Disturbance Signals In a Feedback Control Systems

Km 1 Kb
G1( s ) Ka G2( s ) H( s ) Kt
Ra ( J s b ) Ka

G( s )
E( s ) ( s ) Td ( s )
1 G1( s ) G2( s ) H( s )

G1G2H( s ) 1

1
E( s ) Td( s ) If G1(s)H(s) very large the effect of the disturbance
G1( s ) H( s ) can be minimized

Ka Km Kb Ka Km Kt
G1( s ) H( s ) Kt approximately since Ka >> Kb
Ra Ka Ra

Strive to maintain Ka large and Ra < 2 ohms

Illustrations
 Steady-State Error
Eo ( s ) R( s ) Y( s ) ( 1 G( s ) ) R( s )

1
Ec( s ) R( s ) H( s ) 1
1 G( s )

Steady State Error

lim e( t ) lim s E( s )
t 0 s 0

For a step unit input

1
eo ( infinite ) lim s ( 1 G( s ) ) lim ( 1 G( 0) )
s 0 s s 0

s 1
1 1
ec( infinite) lim lim
s 0 1 G( s ) s s 0 1 G( 0)

Illustrations
 The Cost of Feedback

Increased Number of components and Complexity

Loss of Gain

Instability

Illustrations
 Design Example: English Channel Boring Machines

Y( s ) T( s ) R( s ) Td ( s ) D( s )

K 11 s 1
Y( s ) R( s ) D( s )
2 2
s 12 s K s 12 s K

Illustrations
 Design Example: English Channel Boring Machines

Study system for different

Values of gain K

Steady state error for R(s)=1/s and D(s)=0

lim s 1
1
lim e( t ) 0
t infinite s 0 1 K 11 s s
G
2
s s

Steady state error for R(s)=0 D(s)=1/s

lim s 1
1 1
Td
lim y ( t)
2 s K
t infinite s 0 s 12 s K
Illustrations
 Study Examples of 4.9 - Control Systems Using MATLAB

And

Apply concepts performing Lab 3

Illustrations