EE362 Ch4

Basic Properties of Feedback
Assoc. Prof. Enver Tatlicioglu

Department of Electrical & Electronics Engineering
Izmir Institute of Technology
Chapter 4
Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)
EE362 Feedback Control Systems
Chapter 4
1 / 34
Types of control systems

We will compare two basic types of control systems in disturbance
rejection, sensitivity, dynamic tracking, steady state error and stability.
Figure: Openloop
Figure: Closedloop
Chapter 4
2 / 34
DC motor control
Recall the DC motor model with a load torque
where the dynamics are

J (t) + b (t) = K ia (t) + l (t)
dia (t)
ke (t) + La
+ Ra ia (t) = ea (t) .
dt
Chapter 4
3 / 34
DC motor control
We want to control motor speed (t).
Let y (t) = (t) be the output and w (t) = l (t) be the disturbance.
System dynamics can be rewritten as
J y (t) + by (t) = K ia (t) + w (t)
dia (t)
ke y (t) + La
+ Ra ia (t) = ea (t) .
dt
After taking the Laplace transform, we obtain
JsY (s) + bY (s) = K Ia (s) + W (s)
ke Y (s) + La sIa (s) + Ra Ia (s) = Ea (s) .
Chapter 4
4 / 34
DC motor control
From the second expression, we obtain

Ia (s) =
Ea (s) ke Y (s)
.
La s + Ra
Substituting this into the first expression results in

[(La s + Ra ) (Js + b) + K ke ] Y (s) = K Ea (s) + (La s + Ra ) W (s)
which can be rearranged as

JLa s 2 + (JRa + bLa ) s + bRa + K ke Y (s) = K Ea (s)
+ (La s + Ra ) W (s) .
Chapter 4
5 / 34
DC motor control
After defining 1 JRa / (K ke ) as the mechanical time constant,
2 La /Ra as the electrical time constant, and
A = K / (bRa + K ke ), B = Ra / (bRa + K ke ) denoting some
constants, results in
(1 s + 1) (2 s + 1) Y (s) = AEa (s) + BW (s) .
So,
Y (s) =
B
A
Ea (s) +
W (s) .
(1 s + 1) (2 s + 1)
(1 s + 1) (2 s + 1)
If ea (t) = ea 1 (t) and w (t) = w 1 (t) with ea and w being

constants, what will be the steady state output?
Theorem
Final value theorem: If a signal has a constant final value, it may be
found as
yss = y () = lim y (t) = lim sY (s) .
t
s0
Chapter 4
6 / 34
DC motor control
So, the response of the openloop system without a controller is
found as
yss
lim sY (s)
s0
= Aea + Bw .
The openloop system has the form
Design a simple controller for the openloop system

ea (t) = Kol r (t)
where Kol is a positive control gain.
Chapter 4
7 / 34
DC motor control
When there is no disturbance (i.e., w = 0)

yss = Aea .
We need to choose Kol so that there wont be steady state error.
Let Kol = 1/A
1
yss = A rss = rss .
A
Note that, for w (t) = w 1 (t), we have
yss = rss + Bwss .
Chapter 4
8 / 34
DC motor control
Is closedloop any better?
Lets design a similar controller for the closedloop system

ea (t) = Kcl (r (t) y (t)) .
Chapter 4
9 / 34
DC motor control
The transfer function for the closedloop system is
Y (s) =
Y (s) =
BW (s)
AKcl (R (s) Y (s))
+
(1 s + 1) (2 s + 1)
(1 s + 1) (2 s + 1)
AKcl R (s)
BW (s)
+
.
(1 s + 1) (2 s + 1) + AKcl
(1 s + 1) (2 s + 1) + AKcl
When there is no disturbance (i.e., w = 0)

yss =
AKcl
rss .
1 + AKcl
We need to choose Kcl so that there wont be steady state error.

If AKcl 1 then yss rss .
Note that, for w (t) = w 1 (t), we have
yss =
AKcl
B
rss +
wss .
1 + AKcl
1 + AKcl
Chapter 4
10 / 34
Disturbance rejection
Recall that for openloop with disturbance, we have
yss
y , yss rss
= rss + Bwss
= Bwss .
For closedloop with disturbance, we have

yss
AKcl
B
rss +
wss
1 + AKcl
1 + AKcl
B
wss
1 + AKcl
which is much better than openloop case since AKcl 1.

Advantage of feedback:
Better disturbance rejection (by a factor of 1 + AKcl ).
Chapter 4
11 / 34
Sensitivity
The term sensitivity describes the effect of small variations in
parameters in the model on a particular signal in the system.
The steady state gain of the openloop system is Gol = 1.0.
How does this change if the motor constant A changes to A + A
Gol + Gol
= Kol (A + A)
1
=
(A + A)
A
A
A
= 1+
Gol =
.
A
A
|{z}
gain error
In relative terms
A
A
Gol
=
= |{z}
1.0
.
Gol
A
A
sensitivity
For example, a 10% change in A results in 10% change in gain, i.e.,

sensitivity is equal to 1.0.
Chapter 4
12 / 34
Sensitivity
Steady state gain of the closedloop system is
Gcl =
AKcl
.
1 + AKcl
When the motor constant A changes to A + A

Gcl + Gcl =
(A + A) Kcl
.
1 + (A + A) Kcl
From calculus, we obtain

Gcl =
Gcl
Gcl
A Gcl A
A
=
.
A
Gcl
G A A
| cl {z }
sensitivity
Chapter 4
13 / 34
Sensitivity
So, the sensitivity can be found as
SAGcl
=
=
=
A Gcl
Gcl A

AKcl2
Kcl
A
Gcl 1 + AKcl
(1 + AKcl )2
A
Kcl
1
AKcl 1 + AK 1 + AK
cl
cl
1+AK
cl
1
.
1 + AKcl
Advantage of feedback:
Lower sensitivity to modeling error (by a factor of 1 + AKcl ).
Chapter 4
14 / 34
Dynamic tracking
Steady state response of the closedloop better than the open-loop:
Better disturbance rejection,
Better (lower) sensitivity.
What about transient response?
Openloop system:
Poles are at roots of (1 s + 1) (2 s + 1)
s = 1/1 , s = 1/2 .
Closedloop system:
Poles are at roots of (1 s + 1) (2 s + 1) + AKcl
q
(1 + 2 ) (1 + 2 )2 41 2 (1 + AKcl )
.
s=
21 2
So feedback moves poles.
Chapter 4
15 / 34
Dynamic tracking
Figure: Step responses for the DC motor model
Chapter 4
16 / 34
Dynamic tracking
System may have faster/slower response.

System may be more/less damped.
System may become unstable!!!
Often a high gain Kcl results in instability.
We need tools to help us design the dynamic response of the
closedloop system.
Chapter 4
17 / 34
Steady state error with respect to reference input
System error is any difference between r (t) and y (t).

Two sources that can cause steady state error are:
Imprecise tracking of r (t),
Disturbance affecting the system output.
Chapter 4
18 / 34

We start with a general closedloop control structure.
The closedloop transfer function of the system is given as

Y (s)
.
T (s) =
R (s)
The error is
E (s) = R (s) Y (s)
= R (s) T (s) R (s)
= [1 T (s)] R (s) .
After assuming that the conditions of final value theorem are satisfied
(i.e., assuming that T (s) is stable), we obtain
ess = lim e (t) = lim s [1 T (s)] R (s) .
t
s0
Chapter 4
19 / 34

We use test reference inputs of the type
r (t) =
1
tk
1 (t) or R (s) = k+1 .
k!
s
As k increases, tracking is progressively harder
0,
type > k
1 T (s)
constant,
type = k
=
ess = lim
s0
sk
,
type < k
Chapter 4
20 / 34

If system type is 0:
constant steady state error for step reference input.
infinite steady state error for ramp or parabolic reference inputs.
no steady state error for step reference input.
constant steady state error for ramp reference input.
infinite steady state error for parabolic reference input.
no steady state error for step or ramp reference inputs.
constant steady state error for parabolic reference inputs.
And so forth, for higher system types.
Chapter 4
21 / 34
Figure: Ramp responses of different system types
Note that, higher system types sounds better but they are harder to
stabilize and design, and their transient response may be poor.
Chapter 4
22 / 34
Special case: Unity feedback
Note that, the following method is a special case of the above general
method where there is unity feedback.
Be careful to use the appropriate method for the problem at hand.
Chapter 4
23 / 34

Output to reference input transfer function is obtained as
Gol (s)
1 + Gol (s)
Gol (s)
1
1 T (s) = 1
=
.
1 + Gol (s)
1 + Gol (s)
T (s) =
So
E (s) =
1
R (s) .
1 + Gol (s)
For test reference inputs of the form R (s) =

ess
=
=
1
,
s k+1
we obtain
lim sE (s)
s0
lim
s0
1
[1 + Gol (s)] s k
.
Chapter 4
24 / 34

For type 0,
1
1
=
s0 1 + Gol (s)
1 + Kp
ess = lim
where Kp = lims0 Gol (s).
For type 1,
1
1
1
1
= lim
=
s0 sGol (s)
s0 1 + Gol (s) s
Kv
ess = lim
where Kv = lims0 sGol (s).

For type 2,
ess = lim
s0
1
1
1
1
= lim
=
1 + Gol (s) s 2 s0 s 2 Gol (s)
Ka
where Ka = lims0 s 2 Gol (s).

Chapter 4
25 / 34

Note that, these formulas are only meaningful for unity feedback.
Kp = lims0 Gol (s): position error constant
Kv = lims0 sGol (s): velocity error constant
Ka = lims0 s 2 Gol (s): acceleration error constant
Steady state error ess for unity feedback case only
System type
0
1
2
Reference inputs
Unit step
Unit ramp Unit parabola
1/ (1 + Kp )
0
1/Kv
0
0
1/Ka
Key result:
Openloop transfer function Gol (s) tells us about closedloop steady
state response.
Chapter 4
26 / 34

Example
What is the system type of Gol (s) =

Note that
Gol (0) =
s+1
(s+2)(s+3) ?
1
1
=
23
6
therefore, the system type is 0 with Kp = 61 .

Steady state error ess to unit step reference input is equal to
1
1+ 61
Chapter 4
= 76 .
27 / 34

Example
What is the system type of Gol (s) =
(s+1)(s+10)(s5)
?
(s 2 +3s)(s 4 +s 2 +1)
Note that
1 10 (5)
=
01
so the system type is greater than 0.
Gol (0) =
So we check
sGol (s) =
sGol (s) |s=0 =
(s + 1) (s + 10) (s 5)
(s + 3) (s 4 + s 2 + 1)
50
1 10 (5)
=
31
3
therefore, the system type is 1 with Kv = 50

3 .
3
.
Steady state error ess to unit ramp reference input is equal to 50
Chapter 4
28 / 34

Example
2
+2s+1
What is the system type of Gol (s) = s 4s+3s
3 +2s 2 ?
Note that
1
Gol (0) = =
0
So we check
sGol (s) =
1
s 2 + 2s + 1
sGol (s) |s=0 = =
3
2
s + 3s + 2s
0

So we check
s 2 Gol (s) =
1
s 2 + 2s + 1
s 2 Gol (s) |s=0 =
2
s + 3s + 2
2
therefore, the system type is 2 with Ka = 21 .

Steady state error ess to unit parabola reference input is equal to 2.
Chapter 4
29 / 34

Example
Consider the DC motor with controller D (s) = K without

disturbance.
So
AK
(1 s + 1) (2 s + 1)
lim D (s) G (s) = AK
D (s) G (s) =
s0
therefore, the system type is 0 with Kp = AK .

Steady state error ess to unit step reference input is equal to
1
1+AK .
Chapter 4
30 / 34

Example

Consider the DC motor with controller D (s) = K 1 +
1
TI s
So
D (s) G (s) =

AK 1 +
1
TI s
(1 s + 1) (2 s + 1)
lim D (s) G (s) = .
AK (TI s + 1)
TI s (1 s + 1) (2 s + 1)
s0
So, we check
sD (s) G (s) =
lim sD (s) G (s) =
s0
AK (TI s + 1)
TI (1 s + 1) (2 s + 1)
AK
TI
therefore, the system type is 1 with Kv =
AK
TI .
Steady state error ess to unit ramp reference input is equal to

TI
AK .
Chapter 4
31 / 34

Example

Consider the DC motor with controller D (s) = K 1 +
1
TI s
1
TI s 2
So
D (s) G (s) =
lim s 2 D (s) G (s) =
s0

AK TI s 2 + s + 1
TI s 2 (1 s + 1) (2 s + 1)
AK
TI
therefore, the system type is 2 with Ka =
AK
TI .
Steady state error ess to unit parabolic reference input is equal to
Chapter 4
TI
AK .
32 / 34
Steady state error with respect to disturbance input
Recall that, system error is any difference between r (t) and y (t).
One source of system error is disturbance input.
Output can be written in terms of reference input and disturbance
input as
Y (s) = T (s) R (s) + Tw (s) W (s)
where
Tw (s) =
Y (s)
.
W (s)
We can find system type with respect to disturbance input.
Chapter 4
33 / 34
Steady state error with respect to disturbance input
Since we do not wish the output to have any disturbance input in it,
the output error due to disturbance input is equal to the output due
to the disturbance input
ess = lim sTw (s) W (s) .
s0
Type 0 system with respect to disturbance input has constant

lims0 Tw (s).
lims0 Tws(s) .
lims0 Tws 2(s) .
Chapter 4
34 / 34

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Basic Properties of Feedback

Assoc. Prof. Enver Tatlicioglu

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Types of control systems

EE362 Feedback Control Systems

Recall the DC motor model with a load torque

where the dynamics are

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

From the second expression, we obtain

Substituting this into the first expression results in

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

If ea (t) = ea 1 (t) and w (t) = w 1 (t) with ea and w being

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Design a simple controller for the openloop system

EE362 Feedback Control Systems

When there is no disturbance (i.e., w = 0)

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Is closedloop any better?

Lets design a similar controller for the closedloop system

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

When there is no disturbance (i.e., w = 0)

We need to choose Kcl so that there wont be steady state error.

EE362 Feedback Control Systems

For closedloop with disturbance, we have

which is much better than openloop case since AKcl 1.

EE362 Feedback Control Systems

For example, a 10% change in A results in 10% change in gain, i.e.,

EE362 Feedback Control Systems

When the motor constant A changes to A + A

From calculus, we obtain

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

EE362 Feedback Control Systems

Figure: Step responses for the DC motor model

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

System may have faster/slower response.

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Steady state error with respect to reference input

System error is any difference between r (t) and y (t).

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Steady state error with respect to reference input

The closedloop transfer function of the system is given as

Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)

EE362 Feedback Control Systems

Steady state error with respect to reference input

As k increases, tracking is progressively harder

EE362 Feedback Control Systems

Steady state error with respect to reference input

EE362 Feedback Control Systems

Steady state error with respect to reference input