OVERVIEW

EE3041 Principles of Feedback Control

Control objectives
CONTROL SYSTEM DESIGN Feedback control system characteristics
Controller for feedback control systems
Alternative control configurations

CONTROL OBJECTIVES CONTROL OBJECTIVES

Set point problem reference value is constant (Does not change frequently) Stability Primary requirement

y (t ) yr (t ); t t0
Input amplitude constraints Linearity assumption will be invalid if amplitude
Settling time should be less Speed of response will be better of various signals go beyond certain value
Steady state accuracy
Disturbance rejection Effects of disturbance should be properly filtered out

w N(s) Noise filtering Sensor introduces high frequency noise into the system

u +
r + + y Shaping the dynamic response
D(s) G(s)
Very less value of damping ratio is not allowed due to input amplitude
- constraints
b
System may become non-linear or may damage some components
H(s)
High damping ratio is also not allowed due to large settling time

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 FEEDBACK CONTROL SYSTEM
CONTROL OBJECTIVES
CHARACTERISTICS
Sensitivity and Robustness
Sensitivity
System has modelling errors because it is assumed to be linear model
Let J be system performance measure
Test your design for various possibilities of modelling errors which can
be system parameter
occur
More complex model Design algorithm will be more complex
n
Parameters changes with time Test your design under parameter changes
Robustness design works satisfactorily for finite amount of changes in Jn J( n)
model (whether they are due to modelling errors or due to parameter
J
variations) J( ) J( n ) J( n) n
..........
Sensitivity If changes are differentially small, system has good
sensitivity i.e., it is insensitive to parameter variations Sensitivity is the ratio of % change in J(system performance) to the %
change in (system parameter)

J / Jn J
SJ n
/ n n
Jn
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FEEDBACK CONTROL SYSTEM FEEDBACK CONTROL SYSTEM

CHARACTERISTICS CHARACTERISTICS
Effect of feedback on sensitivity Effect of feedback on sensitivity
Once hardware is designed, G and H are not in our control
Y ( s) D ( s )G ( s ) By controlling gain of D, loop gain DGH is suitably controlled to reduce
M ( s) sensitivity to required level
R (s ) 1 D(s )G (s ) H (s ) If H = 0 Open loop system Sensitivity = 1
D( s)G ( n , s ) Open loop system is highly sensitive to variations in G
M ( n , s)
1 D( s)G ( n , s ) H ( , s) D( s)G ( s) H ( , s)
S HM 1
M D G 1 D( s)G ( s) H ( , s)
2
n (1 DGH ) n
Sensitivity due to changes in H is unity as loop gain increases
M /M 1 System is highly sensitive to sensor parameter changes
SGM Sensor has to be designed carefully
G /G 1 D (s )G ( n , s ) H ( , s )
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 FEEDBACK CONTROL SYSTEM FEEDBACK CONTROL SYSTEM
CHARACTERISTICS CHARACTERISTICS
Effect of feedback on sensitivity Disturbance rejection
There is a loss in gain in closed loop system at the advantage of sensitivity If loop gain increases, disturbance effect is reduced
Increase the open loop gain to a value such that loss in gain in closed loop is If H = 0, disturbance rejection is not possible
acceptable In the process of feedback, controller takes an appropriate action to reduce
the effect of disturbance on the system
H(s) should not be increased because it is highly sensitive
G(s) should not be increased because N(s) is a function of G(s)
D(s) should be increased
Y ( s) N ( s)
M w ( s)
W ( s) 1 D(s )G ( s) H ( s)

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FEEDBACK CONTROL SYSTEM FEEDBACK CONTROL SYSTEM

CHARACTERISTICS CHARACTERISTICS
Shaping the dynamic response
Noise filtering
Major source of noise is sensor itself Y (s) D( s )G ( s )
Suitable high frequency filter should be designed so that we can increase R(s) 1 D( s )G ( s ) H ( s )
loop gin to filter out disturbance rejection and sensitivity problem
Poles decide the nature of the response
Zeros decide amplitude of response
+ y Shape of dynamic response is dictated by poles of transfer function
D(s) G(s)
Zeros of transfer function will change the magnitude of response
-

Y ( s) DG
1
V ( s) 1 DG v
(high frequency signal)
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 FEEDBACK CONTROL SYSTEM FEEDBACK CONTROL SYSTEM
CHARACTERISTICS CHARACTERISTICS
Shaping the dynamic response We can shape the dynamic response as we like in open loop system also
First cancel the poles of G(s) and then keep the prescribed poles
Y (s) D( s )G ( s )
Let
R(s) 1 D( s )G ( s ) H ( s )
1 1
D( s) * 2 2
Let D1 ( s ) G1 ( s ) H1 ( s) G ( s) ( s 2 n s n )
D( s ) , G ( s) , H (s) r D(s) G(s) y
D2 ( s) G2 ( s ) H 2 (s) Y ( s) 1
Y ( s) D1G1 H 2 R(s) (s 2 2 n s n
2
)
R( s) D2 G2 H 2 D1G1 H1 We never go for this solution because D(s) can cancel the poles of G(s) model,
Open loop dynamics is guided by G2(s) because it will give poles of G(s) not the actual plant
Since pole locations of G(s) is not acceptable, we are trying to reshape the So, there exists an error b/w actual output and reference output because of
dynamic response imperfect cancellation
By suitable design of D1 and D2, pole locations of closed loop system can be Since D(s) is not intelligent in open loop, errors will keep on building and
changed and hence dynamic response of the system can be reshaped as per causes instability
requirement

FEEDBACK CONTROL SYSTEM FEEDBACK CONTROL SYSTEM

CHARACTERISTICS CHARACTERISTICS
Steady state accuracy Steady state accuracy
r + e E (s) R (s ) Y ( s ) r
Y ( s) D( s ) G ( s ) D(s) G(s) y D(s) G(s) y
R(s) 1 D( s )G ( s ) R ( s ) D( s )G (s ) R ( s )
-
E (s) 1 R ( s )[1 D ( s )G ( s )]
R(s) 1 D( s )G (s ) 1
sR( s ) R( s) ess lim s 0 sE ( s) 1 D(0)G(0)
ess lim s 0 sE ( s ) lim s 0 limt e(t ) s
1 D (s )G ( s ) If we choose D(0)G(0) = 1, then steady state error is completely eliminated
1 1 But still we will go for closed loop system because of sensitivity and
R(s) ess
s 1 D(0)G (0) disturbance rejection

D(0)G(0) DC gain of loop i.e., loop gain at low frequencies

Steady state error can be reduced by appropriate design of the controller
Increase in loop gain steady state accuracy increases
 FEEDBACK CONTROL SYSTEM
CHARACTERISTICS
High loop gain
Advantages:
Sensitivity reduction
Disturbance reduction
Steady state accuracy
Drawbacks:
Noise problems high loop gain will allow the high frequency noise to
enter the loop and hence the signal to noise ratio may become poor and
the performance of the system may become poor
Thank you !
Input amplitude constraints high loop gain may create very high
values of the input signals and hence some of the components of the
system may saturate
Stability problems higher the loop gain, system is more oscillatory
and becomes unstable
Note: Only amplifier or only proportional controller may not realize all the
objectives because of the conflicts among them