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 )
Y( s )

E( s )

1
G( s )

R( s )

1 G( s )
1
1 G( s )

R( s )

Error Signal

Thus, to reduce the error, the magnitu de of

1 G( s )

H( s ) 1

Y( s )

E( s )

G( s )
1 H( s ) G( s )

R( s )

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

R( s )

Thus, to reduce the error, the magnitu de of

Illustrations

1 G( s ) H( s )

Sensitivity of Control Systems To Parameter Variations

For the closed-loop case if
Y( s )

1
H( s )

R( s )

GH( s ) 1

Output affected only by H(s)

G( s ) G( s )
Y( s )

Open Loop

G( s ) R( s )

Closed Loop
Y( s ) Y( s )

Y( s )

G( s ) G( s )
R( s )

1
G( s )
G( s ) H( s )
G( s )

1 GH( s ) GH( s ) ( 1 GH( s ) )

R( s )

GH( s ) GH( s )
Y( s )

G( s )
( 1 GH( s ) )

Illustrations

R( s )

The change in the output of the closed system

is reduced by a factor of 1+GH(s)

Sensitivity of Control Systems To Parameter Variations

Y ( s )
R ( s )

T (s )

d
T ( s)

T ( s)

G
G

S H

Illustrations

(1

GH

GH
( 1 GH

d
d

d
S G

G
T

1
H [(s )G (s )]

d
S G

G ( s)

T (s )

G ( s)

G
T

1
(1

GH

G
G
( 1 GH

Sensitivity of the closed-loop to G variations reduced

Sensitivity of the closed-loop to H variations
When GH is large sensitivity approaches 1
Changes in H directly affects the output response

Example 4.1

Open loop
vo
T
SKa

Ka v in
ka
T

Closed loop

T
1

R2

Rp

R1
Ka
1 Ka

R1 R2

SKa

1
1 Ka

If Ka is large, the sensitivity is low.

4

Ka 10
Illustrations

0.1

SKa

1 10

9.99 10

Control of the Transient Response of Control Systems

( s )

G( s )

Va( s )

K1
1 s 1

where,
K1

Illustrations

Km
Ra b Kb Km

Ra J
Ra b Kb Km

Control of the Transient Response of Control Systems

Illustrations

( s )

K a G( s )

K a K 1

R( s )

1 K a K t G( s )

1 s 1 K a K t K 1

K a
s

K1
1

1 K a K t K 1
1

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

G1( s )

Ka

E( s )

( s )

G2( s )

Ra

1
( J s b )

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

H( s )

Kt

Kb
Ka

Td ( s )

G1G2H( s ) 1

E( s )

1
G1( s ) H( s )

G1( s ) H( s )

If G1(s)H(s) very large the effect of the disturbance

can be minimized

Td( s )

Ka Km

Kt

Ra
Ka
Kb

approximately

Strive to maintain Ka large and Ra < 2 ohms

Illustrations

Ka Km Kt
Ra

since Ka >> Kb

Steady-State Error
Eo ( s )

Ec( s )

R( s ) Y( s )

1
1 G( s )

( 1 G( s ) ) R( s )

R( s )

H( s )

Steady State Error

lim

e( t )

t 0

lim
s 0

s E( s )

For a step unit input

eo ( infinite )

ec( infinite)

Illustrations

lim
s 0

lim
s 0

s ( 1 G( s ) )

1
s

1 G( s ) s

lim
s 0

lim
s

( 1 G( 0) )

0 1 G( 0)

The Cost of Feedback

Increased Number of components and Complexity
Loss of Gain
Instability

Illustrations

Design Example: English Channel Boring Machines

Y( s )

Y( s )

T( s ) R( s ) Td ( s ) D( s )
K 11 s
2

s 12 s K

Illustrations

R( s )

1
2

s 12 s K

D( s )

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

e( t )

t infinite

lim s

s 0

K 11 s

s s

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

lim
t infinite
Illustrations

y ( t)

lim s

s 0

Td
12 s K

1
s

1
K

Study Examples of 4.9 - Control Systems Using MATLAB

And
Apply concepts performing Lab 3

Illustrations