Chapter 3: 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 AMIT BHATTACHARYYA
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 AMIT BHATTACHARYYA
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 magnitude 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 magnitude of 1 G( s ) H( s ) 1
Illustrations AMIT BHATTACHARYYA
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 ) DG( s )
Open Loop DY( s ) DG( s ) R( s )
Closed Loop
(G( s ) DG( s ) )
Y( s ) DY( s ) R( s )
1 (G( s ) D )
G( s ) H( s )
DG( s )
DY( s ) R( s )
(1 GH( s ) DGH( s ) )( 1 GH( s ) )
GH( s ) > DGH( s )
DG( s ) The change in the output of the closed system
DY( s ) R( s )
2 is reduced by a factor of 1+GH(s)
( 1 GH( s ) )
Illustrations AMIT BHATTACHARYYA
Sensitivity of Control Systems To Parameter Variations
Y (s )
T (s )
R (s )
d
T
D T ( s) d T d T
S
T ( s)
S
T d T
G
D G ( s) d G d G T
G ( s)
d 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 T d T
(1
2 G
G 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 AMIT BHATTACHARYYA
Example 3.1
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
AMIT BHATTACHARYYA
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 AMIT BHATTACHARYYA
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 AMIT BHATTACHARYYA
Control of the Transient Response of Control Systems
Illustrations AMIT BHATTACHARYYA
Disturbance Signals In a Feedback Control Systems
R(s)
Illustrations AMIT BHATTACHARYYA
Disturbance Signals In a Feedback Control Systems
Illustrations AMIT BHATTACHARYYA
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 )
( )>1
G1G2Hs
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 )
Ra
Kt approximately
Ka Ra
since Ka >> Kb
Strive to maintain Ka large and Ra < 2 ohms
Illustrations AMIT BHATTACHARYYA
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 E rror
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 AMIT BHATTACHARYYA
The Cost of Feedback
Increased Number of components and Complexity
Loss of Gain
Instability
Illustrations AMIT BHATTACHARYYA
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 AMIT BHATTACHARYYA
Illustrations AMIT BHATTACHARYYA
Illustrations AMIT BHATTACHARYYA
