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ME 132
Dynamic Systems and Feedback
Lecture 3
Feedback Interconnections
Closed-Loop VS Open-Loop Control
Summary
The structure of control systems
Basic control system (open-loop vs closed-loop)
Basic block-diagram algebra static and linear
systems
Open-loop control
Closed-loop control
Example: Cruise Control for a Car
Open-loop control
Closed-loop control
Advantages and disadvantages of feedback
Closed-Loop System
controller
controller
plant
y = Gm
r - reference input
d - disturbance input
y - output
e = r y - error
plant
y = G(u + d)
m=u+d
y = G(u + d)
y = G(Kr + d)
u = Kr
controller
controller
plant
y = G(Kr + d)
e = (1
GK)r
Gd
e=r
Inputs
r - reference input
d - disturbance input
Outputs
y - plant output
u - controller output
e = r y - error
plant
10
controller
Plant:
plant
controller
y = G(u + d)
y = G(u + d)
y=
Controller:
u = Ke
e=r y
u = K(r
plant
u = K(r
y)
GKy + GKr + Gd
y=
y)
GK
G
r+
d
1 + GK
1 + GK
11
12
Closed-loop VS Open-loop
We want to make
controller
plant
e=
GK
G
y=
r+
d
1 + GK
1 + GK
e=
1
r
1 + GK
G
d
1 + GK
e=r
1
r
1 + GK
G
d
1 + GK
Making K large,
results in
e being small
e=r
small
e = (1
GK)r
Difficult to select K
K
Gd
Gr
Gd
13
controller
14
plant
y=
GK
G
r+
d
1 + GK
1 + GK
| {z }
Gc(r!y)
e=
1
r
1| +{zGK}
Gc(r!e)
{z
Gc(d!y)
G
d
1 + GK
Ge!f = Go = GK
| {z }
Gc(d!e)
15
16
Gc(r!y) =
Gf p(r!y)
GK
=
1 + GK
1 + Go
Gc(r!e) =
Gf p(r!e)
1 + Go
1
1 + GK
Gc(d!y) =
G
Gf p(d!y)
=
1 + GK
1 + Go
Gc(d!e) =
Gf p(d!e)
1 + Go
G
1 + GK
Open-loop control:
u = Kol r
disturbance
input
control
input
y = Go Kol r
Closed-loop control:
yr
Closed-loop response :
y=
Closed-loop response:
GK
H
y=
r+
d
1 + GKfb
1 + GKfb
| {z }
| {z }
Gc(r!y)
Gc(d!y)
GK
H
r+
d
1 + GKfb
1 + GKfb
{z
yr
Closed-loop response :
y=
GK
H
r+
d
1 + GKfb
1 + GKfb
{z
0.01
Kfb &
Kfb
Ho
&
0.01Go
yol = r
H od
0.01d
H o = 5 >> 0.01
ycl = r
Ho
0.01Go
G
r
Go
yo = r
y=
S=
Go
yo
S=1
@y
@G
=
G = Go
y = yo
Go
yo
G
Go r
@G
G = Go
y = yo
y=
GK
r
1 + GKfb
yo =
S=
G
yo
@y
@G
=
G = Go
y = yo
Go @
yo
Go K
r
1 + Go Kfb
GKff
1+GKfb r
@G
yo =
Scl =
G = Go
y = yo
GK
r
1 + GKfb
y=
1
1 + Go Kfb
0.002
Go K
r
1 + Go Kfb
<< Sol
Ho
= 0.01
1 + Go Kfb
and Ho = 5
H
G
Sol = 1
Scl =
1
0.002
1 + Go Kfb
noise
{z
Gc(n!y)
30
Gc(n!y)
GKfb
=
1 + GKfb
Ideally we require
Gc(n!y) << 1
Summary
The structure of control systems
Open-loop control
Closed-loop control
Advantages of feedback :
Closed-loop systems exhibit superior external
disturbance rejection
Closed loop systems are significantly less
sensitive to plan parameter variations
Disadvantages of high-gain feedback
High sensitivity to measurement noise
May destabilize feedback system (dynamic
models)