Feedback control system

characteristics
Error signal analysis Open- and closedloop control systems
Sensitivity to Parameter variations
Disturbance signals in a feedback control
system
Transient response of control system
Steady-state error

The feedback control system

Despite the cost and increased complexity,
closed feedback control system has the
following advantages:
Reduced steady state error
Reduced sensitivity to parameters
variation ( Enhance robustness)
Improved rejection of disturbances
Improve dynamic performance or adjust
the transient response

Error signal Analysis

Error signal Analysis

Y ( s) =

Gc G
G
Gc G
R+
Td
NL
1 + Gc G
1 + Gc G
1 + Gc G

from (1) we

(2)

have

1
G
Gc G
N L (3)
R
Td
1 + Gc G
1 + Gc G
1 + Gc G
Define Gc G = L( s )

E=Ey=

1
G
L
R
Td +
N
1+ L
1+ L
1+ L
also define 1 + L( s) = F ( s )
E=

Then, in terms of F(s) define Sensitivity function as

1
1
=
F ( s ) 1 + L( s )
also define complementry sensitivity function as
S ( s) =

C (s) =

L( s )
1 + L( s )

Error signal Analysis

In terms of these definition we can write:
E(s)=S(s)R(s) - S(s)G(s)Td(s) + C(s)N(s) (5)
To reduce the tracking error for given G(s) then both C(s) and S(s)
should be small. However S(s)+C(s)=1 !!!
So you can not make both of them small simultaneously, therefore
compromises must be made.
In eq(4), for given G(s) to reduce the influence of the disturbance Td(s)
on the tracking error, E(s); L(s)= |L(j)| must be large over the range
of frequencies that characterized the disturbance Td(s) which implies
small G/(1+L) and since L=GcG, Gc must be large
In the other hand to attenuate the measurement noise N(s), C(s)=L/(L+1)
must be small i.e. smaller |L(j)| ..!!! They are conflict; but fortunately it
is possible to make the loop gain L(s) large at low frequencies
(generally associated with the frequency range of disturbances) and
making L(s) small at high frequencies (associated with measurement
noise).

Sensitivity of control system to

parameter variations
Control systems are time-varying in their 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 senses the change in the output due to
process changes and try to overcome this
disadvantage.

Sensitivity to parameter variations

If process G (s ) is changed to G ( s ) + G ( s )
Open-loop system: the error in the output
signal due to this change is given by:
E ( s ) = Gc ( s ) G ( s ) R ( s )

Closed-loop system: the error in the output due

to parameter change is given by:
1
E ( s ) + E ( s ) =
R( s ) or
1 + GC ( s )(G ( s ) + G ( s ))
1 + GC ( s )G ( s ) [1 + GC (G ( s ) + G ( s ))]
E ( s ) =
R( s)
[1 + GC ( s )G ( s )][1 + GC ( s )G ( s ) + GC ( s )G ( s )]
GC ( s )G ( s )
GC ( s )G ( s )
=
R( s) =
R( s)
2
2
[1 + GC ( s )G ( s )]
[1 + L( s )]

Sensitivity to parameter variations

We see that the tracking error is reduced by a factor
of [1+L(s)]. For large L(s) we have [1+L(s)]= L(s)
G ( s )
E ( s ) =
R( s)
L( s )G ( s )

Large magnitude of L(s) result into smaller

changes in the tracking error i.e. has reduced
sensitivity to change in process

Sensitivity to parameter variations

The system sensitivity is defined as:
The ratio of the change in the system transfer
function to the change of a process transfer
function for a small incremental change

T ( s ) / T ( s ) InT
S=
=
G ( s ) / G ( s ) InG

Sensitivity to parameter variations

Now since T(s)=GCG/(1+GCG)
The sensitivity of feedback system is

T ( s ) / T ( s )
S =
or
G ( s ) / G ( s )
1
T
SG =
1 + GC G ( s )
T
G

Sensitivity to parameters
If the system TF is

N ( s, )
T ( s, ) =
D ( s, )
System sensitivity to

is

ln T ln N ln D
N
D
S =
=

= S S
ln ln ln
T

Disturbance signals in a feedback

control system
Disturbance signal is an unwanted input signal that affects the systems
output, such as noise for amplifier,wind gusts for radar antennas, etc.
Feedback control system can effectively eliminates or reduces the effect
of disturbance signal.
Assume R(s)=N(s)=0

E = S (s)G(s)Td (s) =

G(s)
Td (s)
1 + L(s)

So for a fixed G(s) and given Td(s), as the loop gain L(s) increases, the effect of
Td(s) on the tracking error decreases i.e the sensitivity function S(s) is small.
Thus for good disturbance rejection, we require a large loop gain over the
frequencies of interest associated with the expected disturbance signals

Example of steel rolling mill

The block diagram model of armature controlled DC motor with a load torque
disturbance Td(s)=D/s is shown below. Assume R(s)=0, N(s)=0 find the
E(s)=- (s) and hence the steady state error eo() for a disturbance Td(s).
Assume a closed loop system with controller of gain Ka and feed back Kt, as
shown in the next figure investigate the effect of disturbance rejection under
the same condition as the open loop one (i.e. Find ec() and compare it with
Please follow the solution of this problem in your book C. Dorf
eo() )
Modern Control Systems, Ch4.

Transient response of system

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 of an open loop control system is not satisfying,
then the process G(s), must be replaced with a more suitable
process.
A close loop system can often be adjusted to yield the desired
response by adjusting the feedback loop parameters.
By using cascade controller GC(S) preceding the process G(s) it is
possible to adjust or change the transient response

Adjusting the transient response of open loop system

Adjusting the transient response of closed loop system, both Kt and

Ka can be adjusted to provide the required response as shown in
the below diagram

Steady-state error
Steady-state error is the error after the transient
response has decayed,leaving only the continuous
response.
Feedback can reduce the steady-state error of control
system

Open-loop system
Eo (s) = R(s) Y (s) = (1 G(s))R(s)

Closed-loop system
1
Ec ( s ) =
R( s) ,
1 + Gc ( s )G ( s )

for H ( s ) = 1

Steady-state error
Using a unit step input as comparable input we obtain:
Open-loop:
1
eo () = lim sEo ( s ) = lim s (1 G ( s )) = 1 G (0)
s 0
s 0
s
Closed-loop:
ec ( ) = lim sE c ( s ) = lim s (
s 0

s 0

1
1
1
) =
1 + G c ( s ) G ( s ) s 1 + Gc ( 0 ) G ( 0 )

The value of G(0) is often called the DC gain and is normally greater than one.
The open loop system will usually have a steady state error of significant
magnitude. By contrast, the closed loop system with a reasonable large DC loop
gain L(0)=Gc(0)G(0) will have a small steady state error.

Steady-state error: ex
Let G(s) = k/(s+1) find the steady state error for open
and closed loop system
1
sEo ( s ) = lim s (1 G ( s )) = 1 G (0) = 1 k
Open-loop: eo () = lim
s 0
s 0
s
1
1
1
Closed-loop: e ( ) = lim sE ( s ) = lim s (
) =
=
c

assume

s 0

Gc (s) =

s 0

1
1s + 1

1 + G c ( s )G ( s ) s
we obtain

1 + G c (0 )G (0 )

1
1+ k

G c (0 ) = 1

Now for small change in k (0.1 or 10%) then for open loop system if initially k is
adjusted to be 1, then:
eo()=1-0.9=0.1=10%
For closed loop normally error is reduced by selecting large value of k, assume k=100,
Then the steady state error is ec()= 1/(1+100)= 1/101
for 10% change in k we have:
ec()= 1/(1+90)= 1/91
Hence change in steady state error = 1/101 -1/91 =0.0011 while for open loop =10%

Summary
The fundamental reasons for using feedback are as
follows:
Decrease the sensitivity to parameter
variation
Improve transient or dynamic performance
Enhance the robustness
Reduce the steady-state error