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Control Theory

The document discusses the effects of feedback on parameter variation, sensitivity analysis, external disturbances, system bandwidth, and linearizing effects in control systems. It also classifies different types of control systems as linear/nonlinear, continuous/discrete, time-invariant/time-varying, minimum phase/non-minimum phase, and deterministic/stochastic.

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Sushmita Kujur
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23 views

Control Theory

The document discusses the effects of feedback on parameter variation, sensitivity analysis, external disturbances, system bandwidth, and linearizing effects in control systems. It also classifies different types of control systems as linear/nonlinear, continuous/discrete, time-invariant/time-varying, minimum phase/non-minimum phase, and deterministic/stochastic.

Uploaded by

Sushmita Kujur
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Effect of feedback on parameter variation

Effect of feedback on parameter variation


R(s)

G(s)

C(s)

Open loop system


Unity feedback system

C(s) = R(s) . G(s)

C(s) = R(s) . G(s)/[1 + G(s)]


Effect of variation of forward path gain: G(s)
Let G(s) G(s) + G(s)
O/P of open loop system: C(s) + C(s) = [G(s) + G(s)] . R(s)
C(s) = G(s). R(s)
O/P of closed loop system:
Assuming G(s) G(s)
In a closed loop system, effect of variation in G(s) is reduced by a
factor [1 + G(s).H(s)]
2

Effect of feedback: Sensitivity analysis


System sensitivity: Relative variation in overall transfer function T(s) = C(s)/R(s)
due to variation of G(s), H(s) or other parameters.
For variation of G(s):

For Small incremental variation in G(s), sensitivity is:

Similarly, sensitivity of the open loop system is:


AS T = G
Sensitivity of a closed loop system w.r.t. variation in G is reduced by a factor
of (1 + GH) compared to open loop system

Effect of feedback: Sensitivity analysis


Sensitivity of T w.r.t. H, the feedback gain, is given by:

In general, |GH| 1 Sensitivity of T w.r.t. H tends to unity.

Selection of H is very important


A system is more sensitive to changes in H (feedback element)
compared to G (plant)

Effect of feedback: External disturbances


For calculating effect of disturbance
D(s), assume R(s) is zero. Let CD(s) is
the O/P corresponding to D(s).

For calculating effect of disturbance R(s), assume D(s) is zero. Let CR(s) is the O/P
corresponding to R(s).

Assuming,
CD(s)/D(s) becomes almost zero
CR(s) becomes almost 1/H(s)
5

Effect of feedback: System bandwidth


A control system is a low pass filter
At system bandwidth freq. ,wb, system gain
reduces to 1/2 of its DC gain
A large bandwidth means system responds
fast during transients
Open-loop transfer fn.:
where k = k/, = 1/
Closed loop transfer fn.:
where c = /(1 + K); Time constant of closed loop system is reduced
Open loop system bandwidth: b & of closed loop system cb
b = 1/ & similarly, cb = 1/ c
cb / b = / c = (1 + K)
Closed loop system bandwidth is (1 + K) time
that of open loop system
6

Linearising effect of feedback


Suppose g(t) = e2(t)
As an open loop: c = r2
As a closed loop: e = (r c)2

Classification of control systems


Linear/ Non-linear
Continuous/ Digital (Discrete)
Time invariant/ Time varying
Minimum phase/Non-minimum phase
Deterministic/Stochastic
Lumped parameter (ODE) / Distributed parameter (PDE)
SISO/MIMO
Etc.

Linear System
A linear system obeys the principle of superposition
For a function: y = f(x),
If inputs x1(t) y1(t) and x2(t) y2(t), then:
[1x1(t) + 2x2(t)] [1 y1(t) + 2y2(t)] where 1 , 2 are constants
Sinusoidal I/P to a linear system will produce a sinusoidal O/P of same
freq. but with different amplitude and phase shift
Stability is clearly defined in a linear system
Input signals and initial conditions have no effect on stability

Non-linear System
Does not follow principle of superposition
System response depends on I/P signal
System stability depends both on I/P signal and initial conditions

10

Continuous-data System
Various parts of the control system like, input, plant O/P, feedback, error
etc. are all continuous function of time i.e. all signals are continuously
available/measurable over time.

11

Discrete-data System (Sampled-data system)


In these systems, signals at one or more points of the system are either in
the form of a pulse train or in digital code.
Preferred in complex control system where a digital computer forms the
heart of a controller or where digital transmission over a long distance is
involved.
In general, a discrete-data system receives data only at uniformly spaced
discrete instances of time.
Cost of analog controller rises steeply with increase in control system
complexity.
Digital systems can be time-shared by a number systems
When signal transmission channel forms a part of a control loop, it
becomes necessary to use digital techniques
For a no. of control component, output is in discrete form: Shaft encoder,
image etc.
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Time-invariant & Time-varying systems


A system is time-invariant if its characteristics do not change with time.
The co-efficient of its equations do not change over time
Response of a time-invariant system is independent of the time at which
the input is applied

A system is time-varying if its characteristics change with time.


The co-efficient of its equations change over time
Response of a time-varying system is dependent on the time at which the
input is applied

13

Linear Time-invariant control system (LTI)

All subsequent system analysis will be for

Linear Time-Invariant control systems

14

Minimum phase/Non-minimum phase systems


A transfer function whose all poles and zeros are on ve side of s-plane is
called a minimum phase system
A system with at least one pole/zero on the RHS of s-plane is called a
non-minimum phase systems

Minimum phase system

Non-minimum phase system


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