Lecture 4

Feedback Control
System Characteristics

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 Outline

Feedback Control System Characteristics

 Error Signal Analysis

 Sensitivity of Control System to Parameter Variations

 Disturbance Rejection and Measurement Noise Attenuation

 Control of the Transient Response and Steady-state Error

 Cost of Feedback

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 Open-loop Control System
An open-loop control system operates without feedback and directly generates
the output in response to an input signal.

- The disturbance, Td(s), directly influences the output Y(s). In the absence of feedback,
the control system is highly sensitive to disturbances and to both knowledge of and
variations in parameters of G(s).

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 Closed-loop Control System
A closed-loop control system uses a measurement of the output signal and a comparison with
the desired output to generate error signal that is used by the controller to adjust the actuator.

- The introduction of feedback to improve the control system is often necessary;

- It is interesting that feedback is inherent in nature systems such as biological and physiological
system (i.e., heart rate control).

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 Advantages of Closed-loop Control

 Decreased sensitivity of the system to variations in parameters of the process;

 Improved rejection of the disturbances;
 Improved measurement noise attenuation;
 Improved reduction of the steady-state error of the system;
 Easy control and adjustment of the transient response of the system.

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 Error Signal Analysis
𝐸𝐸𝑎𝑎 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝐻𝐻(𝑠𝑠)[𝑌𝑌 𝑠𝑠 + 𝑁𝑁 𝑠𝑠 ] 𝑌𝑌 𝑠𝑠 = 𝐸𝐸𝑎𝑎 𝑠𝑠 𝐺𝐺𝑐𝑐 𝑠𝑠 + 𝑇𝑇𝑑𝑑 𝑠𝑠 𝐺𝐺(𝑠𝑠)

For easy discussion, an unity feedback system is considered, i.e., 𝐻𝐻(𝑠𝑠) = 1.

Define the tracking error: 𝐸𝐸 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝑌𝑌(𝑠𝑠)
The output can be obtained from the block diagram:

Therefore:

Define the loop gain: 𝐿𝐿 𝑠𝑠 = 𝐺𝐺𝑐𝑐 𝑠𝑠 𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠 = 𝐺𝐺𝑐𝑐 𝑠𝑠 𝐺𝐺 𝑠𝑠

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 Sensitivity Function

Define:

Sensitivity Function Complementary Sensitivity Function

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 Sensitivity of Control System to Parameter Variations

A process, represented by G(s), is subject to a changing environment, aging, uncertainty

in the exact values of the process parameters, and other factors that affect the process.
- In open-loop control system, all these errors and changes result in a changing and
inaccurate output;
- However, a closed-loop system senses the change in the output due to the process
changes and attempts to correct the output.
The sensitivity of a control system to parameter variations is of prime importance.

A primary advantage of a closed-loop feedback control system is its ability to reduce the
system's sensitivity.

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 How to Reduce Sensitivity?
To analyze influences of changes in G(s), assume Td(s) = N(s) = 0.

Suppose the process (or plant) undergoes a change such that the true plant model is 𝐺𝐺 𝑠𝑠 + ∆𝐺𝐺 𝑠𝑠 , we then
consider the tracking error E(s) due to ∆𝐺𝐺 𝑠𝑠 .

Then the change in the tracking error is:

Since usually 𝐺𝐺𝑐𝑐 𝑠𝑠 𝐺𝐺(𝑠𝑠) ≫ 𝐺𝐺𝑐𝑐 𝑠𝑠 ∆𝐺𝐺 𝑠𝑠 for all complex frequencies of interest, we have

Therefore, the change in tracking error is reduced by the factor 1+L(s).

For large L(s), we have 1 + 𝐿𝐿(𝑠𝑠) ≈ 𝐿𝐿(𝑠𝑠), then

Large L(s) implies smaller

sensitivity. 9
 Definition of System Sensitivity
𝑌𝑌(𝑠𝑠)
where 𝑇𝑇 𝑠𝑠 =
𝑅𝑅(𝑠𝑠)

In the limit, for small incremental changes:

System sensitivity is the ratio of the change in the system transfer function T(s)
to the change of a process transfer function (G(s)) (or parameter) for a small
incremental change.

Sensitivity for open-loop system: 1.

Sensitivity for closed-loop system: since

or

To determine the influence of process parameter 𝛼𝛼, can use the chain rule:

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 Example – Feedback Amplifier
Open-loop Amplifier Amplifier with Feedback

Assume the transfer function is

Then:

Sensitivity to the changes in the

amplifier gain is:
For 𝐾𝐾𝑎𝑎 = 104 and 𝛽𝛽 = 0.1:

≈ 0.001

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 Disturbance Rejection
An important effect of feedback in a control system is the control and partial
elimination of the effect of disturbance signals.
- A disturbance signal is an unwanted input signal that affects the output signal.
- Many control systems are subject to extraneous disturbance signals that cause the system to
provide an inaccurate output. Electronic amplifiers have inherent noise generated within the
integrated circuits or transistors; radar antennas are subjected to wind gusts; and many
systems generate unwanted distortion signals due to nonlinear elements.
- The benefit of feedback systems is that the effect of distortion, noise, and unwanted
disturbances can be effectively reduced.

To analyze rejection of disturbance, assume R(s) = N(s) = 0.

For a fixed G(s) and a given Td(s), as the loop gain L(s) increases, the effect of Td(s) on the
tracking error decreases. For good disturbance rejection, we require a large loop gain over the
frequencies of interest associated with the expected disturbance signals.

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 Measurement Noise Attenuation
A noise signal that is prevalent in many systems is the noise generated by the measurement sensor.
To analyze attenuation of measurement noise, assume R(s) = Td(s) = 0.

As the loop gain L(s) decreases, the effect of N(s) on the tracking error decreases. For effective
measurement noise attenuation, we need a small loop gain over the frequencies associated with the
expected noise signals.

How to realize disturbance rejection and measurement noise

attenuation at the same time?
 In practice, disturbance are often at low frequencies, while measurement noise signals are often high
frequency.
------ the controller should be of high gain at low frequencies and low gain at high frequencies.

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 Control of Transient Response
The transient response is the response of a system as a function of time. One of the
most important characteristics of control systems is their transient response.

Because the purpose of control systems is to provide a desired response, the transient response
of control systems often must be adjusted until it is satisfactory.
- If an open-loop control system does not provide a satisfactory response, then the process,
G(s), must be replaced with a more suitable process;
- By contrast, a closed-loop system can often be adjusted to yield the desired response by
adjusting the feedback loop parameters.

A feedback control system is valuable because it provides the engineer with the
ability to adjust the transient response.

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 Example – Speed Control System
A speed control system, is often used in industrial processes to move materials and products ((a) open-loop
control system; (b) Control system with feedback).

Open-loop:

Closed-loop:

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 Example – Speed Control System

Open-loop:

𝐾𝐾𝑎𝑎 𝐾𝐾𝑎𝑎

Closed-loop:

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 Transient Response
The response of the open-loop and closed-loop speed control system when τ = 10 and K1KaKt = 100. The time to
reach 98% of the final value for the open-loop and closed-loop system is 40 seconds and 0.4 seconds, respectively.

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 Steady-state Error
The steady-state error is the error after the transient response has decayed, leaving only the
continuous response.

Final Value Theorem:

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Assume a unit step input as a comparable input (𝑟𝑟(𝑡𝑡) = 1, 𝑅𝑅(𝑠𝑠) = ):
𝑠𝑠
Open-loop: 𝐸𝐸𝑜𝑜 𝑠𝑠 = 𝑅𝑅 𝑠𝑠 − 𝑌𝑌 𝑠𝑠 = 1 − 𝐺𝐺𝑐𝑐 𝑠𝑠 𝐺𝐺 𝑠𝑠 𝑅𝑅(𝑠𝑠)

1
𝑒𝑒𝑜𝑜 (∞) = lim 𝑠𝑠 1 − 𝐺𝐺𝑐𝑐 𝑠𝑠 𝐺𝐺 𝑠𝑠 = 1 − 𝐺𝐺𝑐𝑐 0 𝐺𝐺 0
𝑠𝑠→∞ 𝑠𝑠

Closed-loop (assume Td(s) = N(s) = 0):

Large 𝐿𝐿 0 = 𝐺𝐺𝑐𝑐 0 𝐺𝐺 0 will
lead to small steady-state
error.

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 The Cost of Feedback
 Increased number of components and complexity in the system.
- To add the feedback, it is necessary to consider several feedback components; the
measurement component (sensor) is the key one. The sensor is often the most expensive
component in a control system. Furthermore, the sensor introduces noise and inaccuracies into
the system.
 Loss of Gain.
- Open-loop gain: 𝐺𝐺𝑐𝑐 𝑠𝑠 𝐺𝐺 𝑠𝑠
𝐺𝐺𝑐𝑐 𝑠𝑠 𝐺𝐺 𝑠𝑠
- Closed-loop gain:
1+𝐺𝐺𝑐𝑐 𝑠𝑠 𝐺𝐺 𝑠𝑠

 Introduction of the possibility of instability.

- Whereas the open-loop system is stable, the closed-loop system may not be always stable
(will be discussed in later chapter).

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 Quiz
1
Consider the following system, where 𝐺𝐺 𝑠𝑠 = . Calculate the sensitivity of the system
𝑠𝑠(𝑠𝑠+50)
to changes in the controller gain K.

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 Quiz
Consider the following system.

𝑌𝑌(𝑠𝑠)
1) Compute the transfer function 𝑇𝑇 𝑠𝑠 = ;
𝑅𝑅(𝑠𝑠)
2) Determine the sensitivity 𝑆𝑆𝐾𝐾𝑇𝑇1 and 𝑆𝑆𝐾𝐾𝑇𝑇2 ;
3) Calculate the steady-state error due to disturbance 𝑇𝑇𝑑𝑑 = 1/𝑠𝑠.

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 Additional Exercise
Textbook (“Modern Control Systems” by Dorf & Bishop, 13th edition), chapter 4:
Skills check:
pg. 298-302, all
- answers in pg.322;
Additional:
E4.2, E4.3, E4.4, E4.12
Partial answers to E4.12
5−𝐾𝐾1 (5−𝐾𝐾2 )
(a) 𝑒𝑒𝑒𝑒𝑒𝑒 =
5+𝐾𝐾1 𝐾𝐾2

−𝐾𝐾 𝐾𝐾
(b) 𝑒𝑒𝑒𝑒𝑒𝑒 = 5+𝐾𝐾1 𝐾𝐾2
1 2

(c) The trade off would be to make 𝐾𝐾1 𝐾𝐾2 as large as possible to improve the tracking performance while
keep 𝐾𝐾1 𝐾𝐾2 as small as possible to reject the noise.

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