Closed-loop control systems ‘Any system in which the output quantity is monitored and compared with the input, any difference being used to actuate the system until the output equals the input is called a closed-loop ot feedback control system. ‘The elements of a closed-loop control system are represented in block diagram form using the transfer function approach. The general form of such a system is shown in Figure 4.1 The transfer function relating R(s) and C(s) is termed the closed-loop transfer function From Figure 4.1 GSE) G1) HNC) 42) RG) ~ Bs) 43) Substituting (4.2) and (4.3) into (4.1) Cls) = G(){R(S) — H(S)C(s)} (8) = GRE) ~ GHC) CIN + GH} = GEIR) Gis) T+ G9H@) c RO 44) The closed-loop transfer function is the forward-path transfer function divided by one plus the open-loop transfer function,64 Advanced Control Engineering Forward Path een Summing Pint Tako-ot Ae _t/SD)89. Laced oa os) Bs) 4) -—_____. Feedback Path Fig. 4.1 Block diagram ofa closed-loop conta system. Rs) = Laplace transform of reference input rt); (CG) = Laplace transform of contoled output cit); Bs) = Primary feedback signal of value MIs)C() 0 = Acting or evr spo ae A — B.) = Proto wae Anton dong te ‘transfer function; @ = summing point symbol, used to denote algebraic summation; pont; = Direction of ntoemation flow. 4.2.1 Control systems with multiple loops A control system may have several feedback control loops. For example, with a ship autopilot, the rudder-angle control loop is termed the minor loop, whereas the heading control loop is referred to as the major loop. When analysing multiple loop systems, the minor loops are considered first, until the system is reduced to a single overall closed-loop transfer function. To reduce complexity, in the following examples the function of s notation (s) used for transfer functions is only included in the final solution. Example 4.1 Find the closed-loop transfer function for the system shown in Figure 4.2 Solution In Figure 4.2, the first minor loop to be considered is Gs Hs. Using equation (4.4), this may be replaced by 4.5)‘Closed-loop control systems 65 A Fig. 4.2 Mutiple oop conto system. Now Gai is multiplied by, or in cascade with G>. Hence the combined transfer function is GGs 2601 = 46) ‘The reduced block diagram is shown in Figure 4.3. Following a similar process, the second minor loop Gaz may be written Gm = Gan 1+ Multiplying numerator and denominator by 1 + G34 GxGs Go) TECH + GOT But Gao is in cascade with G;, hence GiGun = Ge 47) 1+ GH + GG, Transfer function (4.7) now becomes the complete forward:-path transfer function as shown in Figure 4.4