Mu’tah University

Faculty of Engineering
Electrical Eng. Depart.
AUTOMATIC CONTROL
CHAPTER 4
FEEDBACK CONTROL SYSTEM CHARACTERISTICS

Dr. Khaled Alawasa

2nd Semester 2015 1
 Main Topics
• Open- and closed-loop control systems
• Sensitivity to Parameter variations
• Transient response of control system
• Disturbance in feedback control system
• Steady-State Error in control system

2
 4.1 INTRODUCTION
• A control system is defined as an
interconnection of components
forming a system that will provide a
desired system response.
• Because the desired system response
is known, a signal proportional to the
error between the desired and the
actual response is generated.
• The use of this signal to control the
process results in a closed-loop FIGURE 4.1
sequence of operations that is called a A closed-loop
system.
feedback system.
• This closed loop sequence of
operations is shown in Figure 4.1. 3
 Open-loop system control
• A system without feedback, often called an open-loop
system, is shown in Figure below. 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 changes in parameters of G(s).

An open-loop system operates without feedback and directly generates the

output in response to an input signal.
4
 Closed-Loop Feedback Control
block diagram form
signal-flow graph form

• Despite the cost and increased system complexity, closed-loop

feedback control has the following advantages:
– Decreased sensitivity of the system to variations in the parameters of the
process.
– Improved: rejection of the disturbances, measurement noise attenuation.
reduction of the steady-state error of the system.
– Easy control and adjustment of the transient response of the system.
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 used by the controller to adjust the
actuator. 5
Closed-Loop Feedback Control

Nonunity (H(s)≠1) Feedback

H(s) =1  Unity Feedback 6

 Error Signal Analysis
• The closed-loop feedback control system shown in
Figure below has three inputs— R(s), Td(s) and
N(s)—and one output, Y(s). The signals Td(s) and
N(s) are the disturbance and measurement noise
signals, respectively. Define the tracking error as
2

7
 Error Signal Analysis
• We will consider a unity feedback system, that is, H(s)=1 in
In chapter 5 of the following chapter, the influence of a
nonunity feedback element in the loop is considered.
• After some block diagram manipulation, we find that the
output is given by:

• Therefore, with E(s)=R(s)-Y(s), we have

8
 Error Signal Analysis
• Define the function
• The function, L(s),is known as the loop gain
and plays a fundamental role in control system
analysis .In terms of L(s) the tracking error is
given by:

We will discuss the all the variable in details in the coming chapters
9
SENSITIVITY OF CONTROL SYSTEMS
TO PARAMETER VARIATIONS
Y ( s)
G( s)  
E ( s)

10
 Sensitivity of system to parameter
variations
System are time-varying in its nature because
of inevitable uncertainties such as changing
environment , aging , and other factors that
affect a control process.
All these uncertainties in open-loop system
will result in inaccurate output or low
performance. However, a closed-loop system
can overcome this disadvantage.
 Sensitivity of system to parameter
variations
• Suppose the process (or plant) G(s) undergoes a
change such that the true plant model is [G(s) +
ΔG(s) ]. The change in the plant may be due to a
changing external environment or natural aging, or it
may just represent the uncertainty in certain plant
parameters L( s)  G ( s)G ( s) c
 1 
E ( s)    R( s ) G( s)  G( s)
1  Gc ( s)G( s) 

Larger magnitude L(s) translates into smaller changes in the tracking error
(that is, reduced sensitivity to changes in ΔG(s) in the process) 12
 Effect of Parameter Variations
If process G(s) is change as G( s)  G( s)
• Open-loop system
Y ( s)  G( s) R( s)
• Closed-loop system
G ( s)
Y ( s)  R( s )
(1  GH )(1  GH  GH )
G ( s)
 R( s)
(1  GH ) 2

With feedback ,sensitivity of the output to the 1

change in the system is reduced by: (1  GH ) 2
 Sensitivity of Control Systems to
Parameter Variations
• System sensitivity is the ratio of the change in
the system transfer function to the change of
a process transfer function (or parameter) for
a small incremental change. The system
transfer function is : Controller Process
R(s) + Y(s)
Gc(s) G(s)
-
Feedback

H(s)

Process transfer function is G(s)

14
 Sensitivity of Control Systems to
Parameter Variations
the percentage change in the system transfer function
system sensitivit y 
the percentage change of the process transfer function

T
S G

In the limit, for small incremental changes:

T ( s) / T ( s)
S
G( s) / G( s)
15
 Sensitivity of Control Systems to
Parameter Variations
• If a parameter within G(s) is changing (such as
gain K within G(s)), the system sensitivity
become:
 T ( s) G( s)  G(s) K (s)  T (s) G(s) K (s)
S KT  SGT S KG    
 G( s) T (s)  K ( s) G( s)  G(s) K ( s) T (s)

16
 Sensitivity comparison
The sensitivity of the
open-loop system to
• Open-loop system T ( s)  Gc ( s)G ( s) changes in the plant G(s)
is equal to 1
T (s) G(s) G( s)
S   (Gc (s))  1 1
T
G
G(s) T (s) (T (s)  Gc (s)G(s)) S GT
Open Loop

• Closed-loop system
compare

1
S T

1  Gc (s )G (s )
G Closed Loop

We find that the sensitivity of the system may be reduced below that of the open-
loop system by increasing Gc(s)G(s) over the frequency range of interest.
 Sensitivity Example (1)
• Consider the closed-loop system in Figure below
Process
R(s) + E(s) Y(s)
G(s)
-
Feedback

H(s)

Compute the sensitivit y S KT

Step#1 : G(s) is given
Step#2: find T(s)

T ( s ) G ( s ) K ( s ) 1  1  1  G ( s ) H ( s ) 
S KT    K  
G ( s ) K ( s ) T ( s ) (1  G ( s ) H ( s )) 2  
s  
10 G( s) 
G(s)

1

1  G( s) H ( s
18
 Sensitivity Example (2)
EXAMPLE 4.1 Feedback amplifier
amplifier without feedback Amplifier with feedback

 The output voltage is:

The closed-loop transfer function :

 The Transfer Function :

The sensitivity of the closed-loop feedback

 The sensitivity to changes in the amplifier amplifier is :
gain is

If Ka is large, the sensitivity is low.

≈0.001
19
 4.4 DISTURBANCE SIGNALS
IN
A FEEDBACK CONTROL SYSTEM

20
 Disturbance Signals in a Feedback
Control System
• 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
21
 Disturbance Signals in a Feedback
Control System
• Consider the feedback control system When R(s)=N(s)=0

 G( s) 
E ( s)    Td ( s )
1  Gc ( s )G ( s ) 
•For a fixed G(s) and a given Td(s)as the loop gain L(s) increases, the effect of
on the tracking error decreases. In other words, the sensitivity function S(s) is
small when the loop gain is large.
•We say that large loop gain leads to good disturbance rejection. More
precisely, for good disturbance rejection, we require a large loop gain over the
frequencies of interest associated with the expected disturbance signals
22
 Disturbance Signals in a Feedback
Control System - Example
• Steel rolling mill.

The change in speed due to the load disturbance is then

let us define Td(s) as step function

with magnitude D ;Td(s) =D/s

The steady-state error in speed due to the load torque,

23
 Disturbance Signals in a Feedback
Control System - Example
• Closed-loop speed tachometer control system.
• The closed loop speed control system is shown
in block diagram form in figure below

24
 Disturbance Signals in a Feedback
Control System - Example
• The ratio of closed-loop to open-loop steady-state speed
output due to an undesired disturbance is

<0.02.
This advantage of a feedback speed control system can also be illustrated by
considering the speed–torque curves for the closed-loop system
-3
x 10
0 0
open-Loop Disturbance Step Response Closed-Loop Disturbance Step Response
-0.1

-0.5
-0.2
c (rad/s)

-0.3
o

-1
-0.4

Steady-state error
-0.5 Steady-state error
-1.5

-0.6

-0.7 -2
0 2 4 6 8 0 0.005 0.01 0.015 0.02 0.025
25
Time (s) Time (s)
TRANSIENT RESPONSE of
CONTROL-SYSTEM
The Speed of Response
Steady-state
Transient response response

1.4

1.2

0.8
y(t)

0.6

0.4

0.2

0
0 0.5 1 1.5 2
Time (s)

26
 Control of the Transient Response
• Transient response is the response of a system as
a function of time. It is one of the most
important characteristics of control system.
• If transient response is not satisfying, what shall
we do?
– 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.

27
 Control of the Transient Response
• A speed control system, as shown in Figure below, is often
used in industrial processes to move materials and
products. Several important speed control systems are used
in steel mills for rolling the steel sheets and moving the
steel through the mill

28
 Control of the Transient Response
• The transient speed change is then

• If this transient response is too slow, we must

choose another motor with a different time
constant τ1 if possible.
• However, feedback control can help to
improve transient response
29
Control of the Transient Response

30
Control of the Transient Response

Poor design

FIGURE 4.15 The response of the open-loop and

closed-loop speed control system.
Time to reach 98% of the final value for :
• Open-loop is 40 seconds 
• Closed-loop system is 0.4 seconds. 31
 Steady-State Error
An Error , generally, is the difference between
the desired value and the actual value.

t∞

In this figure, a step input and two possible outputs are shown. Output 1
has zero steady-state error, and output 2 has a finite steady-state error.
32
 Steady-state Error
• Steady-state error is: the error after the
transient response has decayed, leaving only
the continuous response. ( i.e., after a very
long time from the application of the input,
t∞) , Process
R(s) Y(s)
G(s)

Error in Open-loop system

Eo ( s)  R( s)  Y ( s)  (1  G( s)) R( s)

33
The steady state error of feedback systems
Process
R(s) + E(s) Y(s)
G(s)
-
Feedback

H(s)

Y ( s) G( s)  G(s) 
  Y ( s)    R( s )
R( s) 1  H ( s)G ( s) 1  H ( s)G ( s) 
H ( s)G ( s)
E ( s)  R( s)  H ( s)Y ( s)  R( s)  R( s )
1  H ( s)G ( s)
 H ( s)G ( s)  1  H ( s)G( s)  H ( s)G ( s) 
E ( s)  1   R( s )    R( s )
 1  H ( s)G ( s)   1  H ( s)G ( s) 

 1 
for H (s)  1  E (s)    R( s )
1  G(s)  34
 Steady-state Error Test Inputs
• Table below shows the standard test inputs typically used
for evaluating steady-state error.

Unit step
Or some time %

35
 Steady-state Error
• To calculate the steady-state error, we use the
final-value theorem
Steady - State Error  lim e(t )  lim sEo (s)
t  s 0

• Open-loop system under unit step input :

1
eo ()  lim sEo ( s)  lim s(1  G(s))  1  G(0)
s 0 s 0 s
• A unity closed-loop system under unit step input :
1 1 1
ec ()  lim sEc (s)  lim s( ) 
s 0 s 0 1  Gc (s)G(s) s 1  Gc (0)G(0) 36
 Steady-state Error
Ramp input

• Open-loop system under ramp input :

1 1  G(0)
eo ()  lim sEo ( s)  lim s(1  G(s)) 2 
s 0 s 0 s s
• A unity closed-loop system under ramp input :

1 1 1 1
ec ()  lim sEc (s)  lim s( ) 2
s 0 s 0 1  Gc (s)G(s) s s 1  Gc (0)G(0)

37
 Steady-State Error
• The value of G(s) when s=0 is often called the
DC gain and is normally greater than one.
• Therefore, the open-loop system will usually
have a steady-state error of significant
magnitude.
• By contrast, the closed-loop system with a
reasonably large DC loop gain L(0)=Gc(0)G(0)
will have a small steady-state error.

38
 Steady-State Error
• How to reduce the error in open-loop system
1
eo ()  lim sEo ( s)  lim s(1  G(s))  1  G(0)
s 0 s 0 s
• Upon examination of the above equation ,we note that the
open-loop control system can possess a zero steady-state
error by simply adjusting and calibrating the system’s DC
gain, G(0),so that G(0)=1
• If we are able to make G(0)=1 ??!!
Due to environmental changes and that the DC gain of the system will no longer
be equal to 1. Because it is an open-loop system, the steady-state error will not
equal zero until the system is maintained and recalibrated
39
 Steady-State Error
Example
• Consider a unity feedback system with a
process and controller transfer functions :
1
Gc ( s)  Controller Process
 cs 1 R(s) +
Gc(s) G(s)
Y(s)

Unity ( H=1)

1. Open-loop system under unit step input:

1
eo ()  lim sEo ( s)  lim s(1  Gc (s)G( s))  1  K
s 0 s 0 s
40
 STEADY-STATE ERROR
Example continue
2. Closed -loop system under unit step input
1 1 1 1
ec ()  lim s( )  
s 0 1  Gc (s)G(s) s 1  Gc (0)G(0) 1  K

•For the open-loop system, we would calibrate the system so

that K=1 and the steady-state error is zero.
•For the closed-loop system, we would set a large gain K. If
K=100 , the closed-loop system steady-state error is e(∞)=1/101

It seems open loop system is better than closed loop system ??

However, what is the effect of small change of K into error !!
41
 Steady-State Error
Example continue
• If the calibration of the gain setting drifts or
changes by ΔK/K=0.1 (a 10% Change in the
system parameters), the open-loop steady-
state error is e(∞)=0.1.
• Then, the percent change from the calibrated
setting is

42
 Steady-state Error Example
continue
• By contrast, the steady-state error of the closed-loop
system, with is ΔK/K=0.1 if the gain decreases. Thus,
the change is e(∞)=1/91

• and the relative change is

or 0.11%. This is a significant improvement, since the

closed-loop relative change is two orders of magnitude
lower than that of the open-loop system
The advantage of the closed-loop system is that it reduces the steady-
state error resulting from parameter changes and calibration errors 43
 Steady-state Error Example (2)
• Magnetic disk drive : Motor and head may be
represented by the transfer function
  0.001 sec

• The controller takes the difference of the actual

and desired positions and generates an error. This
error is multiplied by an amplifier K.
– (a) What is the steady-state position error for a
step change in the desired input?.
– (b) Calculate the required K in order to yield a steady
state error of 0.1 mm for a ramp input of 10 cm/s

44
SSE Example .. Example (2) Solution
• Block diagram

– (a) steady-state position error for a step change

1 1

45
SSE Example .. Example (2) Solution
• (b) The ramp input of 0.1 m/sec is given by
Ramp input of 0.1 

• Then, using the final value theorem, we have

• We desire ess ≤ 0.0001 m, so

46
 SSE Example .. Solution
• Example : For the system shown in the figure, find
the steady-state error for a unit step input.
 100 
 
 s( s  10) 
Eo ( s)  1   R( s )
 1   100  1  
  s( s  10) ( s  5)  
 
6

eo ()  lim sEo (s) 5

s 0 4 Input

Response
Output
3

100( s  5) 1
ec ()  (1  )  (1  5)  4
s( s  10)( s  5)  100 0
0 2 4 6 8 1
Time[s.]

The negative value for steady-state error implies that

the output step is larger than the input step.
47
 SSE …Exercise.. Solve it!!
• Consider the control system

• 1. Find the steady state error when r(t) is a unit step

Answer = 0.1071
• 2. Find the steady state error when r(t) is a unit ramp.
Answer =∞

48
 The Cost of Feedback (1)
• Adding feedback to a control system results in the
advantages outlined in the previous sections. Naturally,
however, these advantages have an attendant cost.

1. The first cost of feedback: is an 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.
Question: Provide examples for different sensor types ?
49
 The Cost of Feedback (2)
2. The second cost of feedback is the loss of gain.
– For example, in a single-loop system, the open-loop
gain is Gc(s)G(s) and is reduced to
Gc(s)G(s)/[(1+Gc(s)G(s)]
3. The final cost of feedback is the introduction of
the possibility of instability.
– Whereas the open-loop system is stable, the closed-
loop system may not be always stable. Stability issues
will be discussed later in the course
However, for most cases, the advantages far outweigh the
disadvantages, and a feedback system is desirable. 50
 Sections :
4.8 Design Examples
4.9 Control System Characteristics Using
Control Design Software/ Simulation using
MATLAB

Self-Reading, self-learning
51
 Summary - Comparison between
Open Loop Closed loop
Sensitivity To
S 1
T 1
Parameter S 
T

1  Gc (s)G(s)
G
G
Variations

Disturbance Signals not able to reject Ability to “ completely”

disturbance reject the disturbance
Poor ( slow) Excellent ( fast
Transient Response response) response)

Steady-state Error not able to maintain able to maintain zero

zero steady state steady state

52
 Summary
The fundamental reasons for using feedback are
as follows:
• Decrease the sensitivity to parameter variation
• Improve transient or dynamic performance
• Enhance the robustness against disturbance
• Reduce the steady-state error
 Selected problems
• E4.1, E4.2
• E4.3,E4.4
• E4.6,E4.7
• E4.9,E4.11, E4.12,E4.15

Students are highly encouraged to solve

these selected exercises/problems.