Fcs 02 08

Feedback Control System
DYNAMIC RESPONSE
Dr.-Ing. Erwin Sitompul
Chapter 3
http://zitompul.wordpress.com
2/2 Erwin Sitompul Feedback Control System
The Block Diagram
Block diagram is a graphical tool to visualize the model of a
system and evaluate the mathematical relationships between
its components, using their transfer functions.
In many control systems, the system equations can be written
so that their components do not interact except by having the
input of one part be the output of another part.
The transfer function of each components is placed in a box,
and the input-output relationships between components are
indicated by lines and arrows.
The Block Diagram
1 1 1
( ) ( ) ( ) U s G s Y s =
Using block diagram, the system equations can be
simplified graphically, which is often easier and more
informative than algebraic manipulation.
Elementary Block Diagrams
Blocks in series Blocks in parallel with
their outputs added
2
1 2
1
( )
( )
Y s
GG
U s
=
1 2
( )
( )
Y s
G G
U s
= +
Summing
point
Pickoff
point
Single loop
negative feedback
1
1 2
( )
( ) 1
G Y s
R s GG
=
+
{ }
2 1
( ) ( ) ( ) Y s R s Y s G G =
1 1 2
( ) ( ) ( ) Y s G R s GG Y s =
{ }
1 2 1
( ) 1 ( ) Y s GG GR s + =
1
1 2
( )
( ) 1
G Y s
R s GG
=
+
What about single loop
with positive feedback?
?
Negative
feedback
Elementary Block Diagrams
Block Diagram Algebra
Block Diagram Algebra
Example:
Find the transfer function of the system shown below.
( )
( )
( )
Y s
T s
R s
=
2
2
2 4
2 4
1
s
s
s
s
+
=
+
+
2
2 4
2 4
s
s s
+
=
+ +
Transfer Function from Block Diagram
Example:
Find the transfer function of the system shown below.
1 2 5 1 6
1 3 1 2 4
1
GG G GG
GG GG G
+
=
+
1 2
1 3
1 2 4
1 3
1
6
5
2
1
( )
( )
( ) 1
G G
G G
G G G
G G
G Y s
T s G
R s G
| |
= = +
|
+
\ .
?
1 2
1 2
( )
( ) 1
R
Y s GG
R s GG H
=
+
When D(s) = 0,
When R(s) = 0,
2 2
1 2 1 2
( )
( ) 1 ( ) 1
D
Y s G G
D s G G H GG H
= =
+
Example:
Find the response of the system Y(s) to simultaneous
application of the reference input R(s) and disturbance D(s).
( ) ( ) ( )
R D
Y s Y s Y s = +
1 2 2
1 2 1 2
( ) ( ) ( )
1 1
GG G
Y s R s D s
GG H GG H
= +
+ +
( )
2
1
1 2
( ) ( ) ( )
1
G
Y s G R s D s
GG H
= +
+
Definition of Pole and Zero
Consider the transfer function F(s):
The system response is given by:
The poles are the values of s for which
the denominator A(s) = 0.
The zeros are the values of s for which
the numerator B(s) = 0.
( )
( )
( )
Y s
F s
U s
=
( )
( ) ( ) ( ) ( )
( )
B s
Y s F s U s U s
A s
= =
( )
( )
( )
B s
F s
A s
=
Numerator polynomial
Denominator polynomial
Effect of Pole Locations
Consider the transfer function:
( ) 1
( )
( )
Y s
H s
U s s o
= =
+
The impulse response will be an
exponential function:
( ) 1( )
t
y t e t
o
=
1
( ) ( ) Y s U s
s o
=
+
When o > 0, the pole is located at s < 0,
The exponential expression y(t) decays.
Impulse response is stable.

When o < 0, the pole is located at s > 0,
The exponential expression y(t) grows with time.
Impulse response is referred to as unstable.
A form of first-order
transfer function
How?
PFE
2
2 1
( )
3 2
s
H s
s s
+
=
+ +
1 1
1 1
( ) 3
1 2
h t
s s

= +
` `
+ +
) )
L L
2
( ) ( 3 ) 1( )
t t
h t e e t

= +
The terms e
t
and e
2t
, which are stable,
are determined by the poles at s = 1
and 2
This is true for more complicated cases as well.
In general, the response of a transfer function is determined
by the locations of its poles.
Time (sec)
0 1 2 3 4
-0.5
0
0.5
1
1.5
2
( ) h t
Example:
Find the impulse response of H(s),
2 1
( 1)( 2)
s
s s
+
=
+ +
1 3
1 2 s s
= +
+ +
Time function of impulse response assosiated
with the pole location in s-plane
LHP RHP
LHP : left half-plane
RHP : right half-plane
Representation of a Pole in s-Domain
The position of a pole (or a zero)
in s-domain is defined by its real
and imaginary parts, Re(s) and
Im(s).
In rectangular coordinates, the
complex poles are defined as
(o j
d
).
Complex poles always come in
conjugate pairs.
A pair of
complex
poles
The denominator corresponding to a complex pair will be:
2 2
( ) ( )( )
( )
d d
d
A s s j s j
s
o e o e
o e
= + + +
= + +
On the other hand, the typical polynomial form of a second-
order transfer function is:
2
2 2
( )
2
n
n n
H s
s s
e
,e e
=
+ +
Comparing A(s) and denominator of H(s), the
correspondence between the parameters can be found:
2
1
n d n
o ,e e e , = = and
: damping ratio
n
: undamped natural frequency
d
: damped frequency
Previously, in rectangular coordinates,
the complex poles are at (o j
d
).
In polar coordinates, the poles are at
(
n
, sin
1
), as can be examined from
the figure.
d
o
,
e
=
2 2
n d
e o e = +
n
o ,e =
2
1
d n
e e , =
Unit Step Resonses of Second-Order System
( ) y t
n
t e
Example:
Find the correlation between the poles and the impulse
response of the following system, and further find the exact
impulse response.
2
2 1
( )
2 5
s
H s
s s
+
=
+ +
Since
2
2 2
( ) ,
2
n
n n
H s
s s
e
,e e
=
+ +
2 2 0.447
n
,e , = =
2
5 5 2.24 rad sec
n n
e e = = =
The exact response can be otained from:
2
2 1
( )
2 5
s
H s
s s
+
=
+ +
2 2
2 1
( 1) 2
s
s
+
=
+ +
1 2 s j = poles at
Time (sec)
( ) h t
0 1 2 3 4 5 6
-1
-0.5
0
0.5
1
1.5
2
To find the inverse Laplace transform, the righthand side of
the last equation is broken into two parts:
2 2
2 1
( )
( 1) 2
s
H s
s
+
=
+ +
2 2 2 2
1 1 2
2
( 1) 2 2 ( 1) 2
s
s s
+
=
+ + + +
( )
1
( ) ( ) h t H s
= L
1
2 cos 2 sin 2 1( )
2
t t
e t e t t

| |
=
|
\ .
Damped
sinusoidal
oscillation
Time Domain Specifications
Specification for a control system design often involve certain
requirements associated with the step response of the system:
1. Delay time, t
d
, is the time required for the response to reach
half the final value for the very first time.
2. Rise time, t
r
, is the time needed by the system to reach the
vicinity of its new set point.
3. Settling time, t
s
, is the time required for the response curve
to reach and stay within a range about the final value, of
size specified by absolute percentage of the final value.
4. Overshoot, M
p
, is the maximum peak value of the response
measured from the final steady-state value of the
response (often expressed as a percentage).
5. Peak time, t
p
, is the time required for the response to reach
the first peak of the overshoot.
Time Domain Specifications
,10% 90% ,5% 95% ,0% 100%
, ,
r r r
t t t

, 1% , 2% , 5%
, ,
s s s
t t t

( ) ( )
% 100%
( )
p
p
y t y
M
y

=

1
( )
1
H s
s t
=
+
The step response of the first-order system in the typical form:
is given by:
1 1
( )
1
Y s
s s t
=
+
1 1
(1 ) s s t
=
+
1
1 1
( )
(1 )
y t
s s t

=
`
+
)
L
( ) (1 ) 1( )
t
y t e t
t
=
t : time constant
For first order system,
M
p
and t
p
do not apply
First-Order System
Second-Order System
The step response of the second-order system in the
typical form:
2
2 2
( )
2
n
n n
H s
s s
e
,e e
=
+ +
is given by:
2
2 2
1
( )
2
n
n n
Y s
s s s
e
,e e
=
+ +
2 2 2 2
1
( ) ( )
n n
n d n d
s
s s s
,e ,e
,e e ,e e
+
=
+ + + +
{ }
1
( ) ( ) y t Y s
= L
2
( ) 1 cos sin
1
n
t
d d
y t e t t
,e
,
e e
,
| |
| = +
|
\ .
2
1 cos sin
1
n n
t t
d d
e t e t
,e ,e
,
e e
,

=

Second-Order System
Time domain specification
parameters apply for most
second-order systems.
Exception: overdamped
systems, where > 1
(system response similar to
first-order system).
Desirable response of a
second-order system is
usually acquired with
0.4 < < 0.8.
2
( ) 1 cos sin
1
n
t
d d
y t e t t
,e
,
e e
,
| |
| = +
|
\ .
Rise Time
The step response expression of the second order system
is now used to calculate the rise time, t
r,0%100%
:
Since , this condition will be fulfilled if:
2
( ) 1 1 cos sin
1
n r
t
r d r d r
y t e t t
,e
,
e e
,
| |
| = +
|
\ .
0
n r
t
e
,e
=
2
cos sin 0
1
d r d r
t t
,
e e
,
+ =
Or:
2
1
tan
d r
t
,
e
,
=
d
e
o
=
2
1
n
d n
o ,e
e e ,
=
=
1
1
tan
d
r
d
t
e
e o
| |
=
|
\ .
( )
d
t |
e
=

tan
d
e
o
=
t
r
is a function of
d

Settling Time
Using the following rule:
sin cos cos( ), A B C o o o | + =
The step response expression
can be rewritten as:
2 2 1
, tan
A
C A B
B
|

| |
= + =
|
\ .
with:
( )
2
( ) 1 cos( )
1
n
t
d
e
y t t
,e
e |
,
1
2
tan
1
,
|
,
| |
| =
|
\ .
where:
t
s
is a function of
1
n
t
,e
=
Settling Time
The time constant of the envelope curves shown previously is
1/
d
, so that the settling time corresponding to a certain
tolerance band may be measured in term of this time constant.
, 2%
4
4
s
n
t t
,e
= =
, 1%
5
5
s
n
t t
,e
= =
, 5%
3
3
s
n
t t
,e
= =
Peak Time
2
2
( ) cos sin
1
sin cos
1
n
n
t
n d d
t
d
d d d
y t e t t
e t t
,e
,e
,
,e e e
,
,e
e e e
,
| |
'
| = + +
|
\ .
| |
|
|
\ .
When the step response y(t) reaches its maximum value
(maximum overshoot), its derivative will be zero:
2
( ) 1 cos sin
1
n
t
d d
y t e t t
,e
,
e e
,
| |
| = +
|
\ .
2
2
( ) sin
1
n
t
n
d d
y t e t
,e
, e
e e
,
| |
'
| = +
|
\ .
Peak Time
2
2
( ) sin
1
n p
t
n
p d d p
y t e t
,e
, e
e e
,
| |
'
| = +
|
\ .
0
0
0, , 2 ,3 ,
d p
t e t t t =
At the peak time,
Since the peak time corresponds to the first peak overshoot,
p
d
t
t
e
=
t
p
is a function of
d
Maximum Overshoot
Substituting the value of t
p
into the expression for y(t),

2
( ) 1 cos sin
1
n p
t
p d p d p
y t e t t
,e
,
e e
,
| |
| = +
|
\ .
2
( ) 1 cos sin
1
n d
p
y t e
,e t e
,
t t
,

| |
| = +
|
\ .
2
1
1 e
,t ,
= +
( ) ( )
% 100%
( )
p
p
y t y
M
y

=
2
1
( ) ( )
(1 ) 1
p p
M y t y
e
,t ,
=
= +
2
1
p
M e
,t ,
=
2
1
% 100%
p
M e
,t ,
=
if y() = 1

Example 1: Time Domain Specifications
Example:
Consider a system shown below with = 0.6 and
n
= 5 rad/s.
Obtain the rise time, peak time, maximum overshoot, and
settling time of the system when it is subjected to a unit step
input.
2
2 2
( )
( ) 2
n
n n
Y s
R s s s
e
,e e
=
+ +
After block diagram simplification,

Standard form of
second-order system

1
1
tan
d
r
d
t
e
e o
| |
=
|
\ .
1
1 4
tan
4 3
| |
=
|
\ .
p
d
t
t
e
=
0.6, 5 rad/s
n
, e = =
2 2
1 1 0.6 5 4 rad/s
d n
e , e = = =
0.6 5 3 rad/s
n
o ,e = = =
In second quadrant

1
( 0.927)
4
t = 0.554 s =
4
t
=
0.785 s =
, 2%
4 4
1.333 s
0.6 5
s
n
t
,e
= = =
, 5%
3 3
1 s
0.6 5
s
n
t
,e
= = =
2
1
% 100% 9.48%
p
M e
,t ,
= =
2
1
( ) ( ) (1 ) 1
p p
M y t y e
,t ,
= = +
( )
2
0.6 0.8 1
0.0948
p
M e e
t ,t ,
= = =
2
2 2
( )
( ) 2
n
n n
Y s
R s s s
e
,e e
=
+ +
Check for unit step
input, if

( ) y
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.2
0.4
0.6
0.8
1
1.2
Time (sec)
A
m
p
l
i
t
u
d
e
0.554 s, 0.785 s
9.48%, 1.333 s
r p
p s
t t
M t
= =
= =
Example:
For the unity feedback system shown below, specify the
gain K of the proportional controller so that the output y(t)
has an overshoot of no more than 10% in response to a
unit step.
( 2)
( 2)
( )
( ) 1
K
s s
K
s s
Y s
R s
+
+
=
+
2
2
K
s s K
=
+ +
2 2
n
,e =
0.592 , >
2
n
K e =
2
1
% 10% 0.1
p
M e
,t ,
s s
1 1
1.689
0.592
n
e
,
= s =
2 2
1.689 2.853
n
K e = s =
0 2.853 K < s
0 1 2 3 4 5 6
0
0.2
0.4
0.6
0.8
1
1.2
Time (sec)
A
m
p
l
i
t
u
d
e
: K = 2
: K = 2.8
: K = 3
Homework 2
No.1
Obtain the overall transfer function of the system given below.
Deadline: 17.05.2011, 7:30 am.
No.2, FPE (5
th
Ed.), 3.20.
Note: Verify your design using MATLAB and submit also the
printout of the unit-step response.
+
+

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Feedback Control System

2/25 Erwin Sitompul Feedback Control System

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