Illustrations

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.

Chapter 4: Feedback Control System Characteristics
Objectives

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 ( ) 1
Y s ( )
G s ( )
1 G s ( ) +
R s ( )
E s ( )
1
1 G s ( ) +
R s ( )
Thus, to reduce the error, the magnitude of
1 G s ( ) + > 1 >
H s ( ) 1 =
Y s ( )
G s ( )
1 H s ( ) G s ( ) +
R s ( )
E s ( )
1
1 H s ( ) G s ( ) [ ] +
R s ( )
Thus, to reduce the error, the magnitude of
1 G s ( ) H s ( ) + > 1 >
Error Signal
Illustrations
Sensitivity of Control Systems To Parameter Variations
GH s ( ) 1 >
Y s ( )
1
H s ( )
R s ( ) Output affected only by H(s)
G s ( ) A G s ( ) +
Open Loop
A Y s ( ) A G s ( ) R s ( )
Closed Loop
Y s ( ) A Y s ( ) +
G s ( ) A G s ( ) + ( )
1 G s ( ) A G s ( ) + ( )
H s ( ) +
R s ( )
A Y s ( )
A G s ( )
1 GH s ( ) + A GH s ( ) + ( )
1 GH s ( ) + ( )
R s ( )
GH s ( ) A GH s ( ) >
The change in the output of the closed system
is reduced by a factor of 1+GH(s)
A Y s ( )
A G s ( )
1 GH s ( ) + ( )
2
R s ( )
For the closed-loop case if
Illustrations
Sensitivity of Control Systems To Parameter Variations
T s ( )
Y s ( )
R s ( )
S
A T s ( )
T s ( )
A G s ( )
G s ( )
S
T
T
d
d
T
G
G
d
d
G
|


\
|
|
|
.
T
T
d
d
|

\
|
|
.
G
G
d
d
|

\
|
|
.
G
T

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

[ ]
+
S
G
T T
T
d
d
|

\
|
|
.
G
G
d
d
|

\
|
|
.
G
T

T
T
d
d
|

\
|
|
.
G
G
d
d
|

\
|
|
.
G
T

1
1 GH + ( )
2
G
G
1 GH + ( )

S
G
T 1
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
S
H
T GH
1 GH + ( )
Illustrations
Example 4.1
Open loop Closed loop
v
o
K
a
v
in

|
R2
R1
R
p
R1 R2 +
T k
a

T
K
a

1 K
a
| +
S
Ka
T 1
1 K
a
| +
S
Ka
T
1
If Ka is large, the sensitivity is low.
K
a
10
4
:= | 0.1 := S
Ka
T
=
1
1 10
3
+
9.99 10
4
=
Illustrations
Control of the Transient Response of Control Systems
e s ( )
V
a
s ( )
G s ( )
K
1
t
1
s 1 +
where,
K
1
K
m
R
a
b K
b
K
m
+
t
1
R
a
J
R
a
b K
b
K
m
+
Illustrations
Control of the Transient Response of Control Systems
e s ( )
R s ( )
K
a
G s ( )
1 K
a
K
t
G s ( ) +
K
a
K
1

t
1
s 1 + K
a
K
t
K
1
+
K
a
K
1
t
1

s
1 K
a
K
t
K
1
+ ( )
t
1

(
(

+
Illustrations
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
G1 s ( ) Ka
Km
Ra
G2 s ( )
1
J s b + ( )
H s ( ) Kt
Kb
Ka
+
E s ( ) e s ( )
G s ( )
1 G1 s ( ) G2 s ( ) H s ( ) +
Td s ( )
G1G2Hs ( ) 1 >
E s ( )
1
G1 s ( ) H s ( )
Td s ( ) If G1(s)H(s) very large the ef fect of the disturbance
can be minimized
G1 s ( ) H s ( )
Ka Km
Ra
Kt
Kb
Ka
+
|

\
|
|
.
approximately
Ka Km Kt
Ra
since Ka >> Kb
Strive to maintain Ka large and Ra < 2 ohms
Disturbance Signals In a Feedback Control Systems
Illustrations
Steady-State Error
E
o
s ( ) R s ( ) Y s ( ) 1 G s ( ) ( ) R s ( )
E
c
s ( )
1
1 G s ( ) +
R s ( ) H s ( ) 1
Steady State Error
0 t
e t ( ) lim
0 s
s E s ( ) lim

For a step unit input

e
o
infinite ( )
0 s
s 1 G s ( ) ( )
1
s
lim
0 s
1 G 0 ( ) ( ) lim

e
c
infinite ( )
0 s
s
1
1 G s ( ) +
|

\
|
|
.

1
s
lim
0 s
1
1 G 0 ( ) +
|

\
|
|
.
lim

Illustrations
The Cost of Feedback


Increased Number of components and Complexity


Loss of Gain


Instability
Illustrations
Design Example: English Channel Boring Machines
Y s ( ) T s ( ) R s ( ) Td s ( ) D s ( ) +
Y s ( )
K 11 s +
s
2
12 s + K +
R s ( )
1
s
2
12 s + K +
D s ( ) +
Illustrations
Design Example: English Channel Boring Machines
Study system for different
Values of gain K
Steady state error f or R(s)=1/s and D(s)=0
infinite t
e t ( ) lim
0 s
s
1
1
K 11 s +
s
2
s +
+
|

\
|
|
|
|
.

1
s
lim

0
Steady state error f or R(s)=0 D(s)=1/s
infinite t
y t ( ) lim
0 s
s
1
s
2
12 s + K +
|

\
|
|
.

1
s
lim

1
K
G
Td
Illustrations
Study Examples of 4.9 - Control Systems Using MATLAB


And


Apply concepts performing Lab 3