1

CONTROL SYSTEM I
System Characteristics
Disturbance Rejection
Open Loop Control
+
B/A
Controller
Reference
Speed, R
) 1 )( 1 (
2 1
+ + s s
A

Va
Output, Y
Load, DC Motor
Speed Control
2
2
Example
Open Loop Speed Control of DC Motor
Find K, Va, yss with and without disturbance
+
5
K
Input
r=100 rad/s
) 1 600 / )( 1 60 / (
10
+ + s s
Va
Output, y
-0.1 Nm
3
Solution: Open Loop Control
Assume no load condition, i.e., disturbance = 0, let
open loop DC gain =1 (from r to y), then
If disturbance = 0.1 Nm, as the DC gain of the
plant A is 10, we could find
The system variation is 5%.
4
( )
( ) s rad Kr y
s rad V y
volt Kr V
s rad volt K
ss
a ss
a
/ 95 10 5 1 . 0 10
/ 100 10
10 100 1 . 0
/ / 1 . 0
10
1
= + =
= =
= = =
= =
3
Example
5
Closed- Loop Speed Control of DC Motor
Find yss with and without disturbance if
K = 10 volt/(rad/s);
+
5
K
Reference
Speed,
r=100
rad/s
|

\
|
+
|

\
|
+ 1
600
1
60
10
s s
Va
Load = -0.1Nm
+
_
Output y
Solution: Closed-Loop Control
As no load condition, i.e., disturbance = 0
6
( )
s rad
K
s s
K
s
s s
K
s s
K
s R
KG
KG
s s sY y
s
s s s
ss
/ 99 100
100 1
100
100
10 1
600
1
60
10
lim
100
1
600
1
60
10
1
1
600
1
60
10
lim
1
lim lim
0
0 0 0
=
+

+ |

\
|
+ |

\
|
+
=

\
|
+ |

\
|
+
+
|

\
|
+ |

\
|
+
=
+
= =

4
Solution
Closed Loop Control
Note: 5% speed change (100rad/s95rad/s) in
open loop vs. 0.05% (99rad/s98.96rad/s) in
closed loop, improvement by a factor of (1+AK)
7
( )
s rad
s s
s
s s
K
s s
s
s s
K
s s
K
s
s KG
G
R
KG
KG
s s sY y
s
s
s s
ss
/ 96 . 98
100 1
600
1
60
5 100 10 10
lim
1 . 0
1
600
1
60
10
1
1
600
1
60
50
100
1
600
1
60
10
1
1
600
1
60
10
lim
1 . 0
1
5
1
lim lim
0
0
0 0
=
+ |

\
|
+ |

\
|
+

=
|
|
|
|
|
|
|

\
|

\
|
+ |

\
|
+
+
|

\
|
+ |

\
|
+
+
|

\
|
+ |

\
|
+
+
|

\
|
+ |

\
|
+
=
|

\
|

+
+
+
= =

Basic Properties of Feedback
Why feedback control?
Stabilize systems
Decrease sensitivity to parameter variations
Reject disturbance
Reduce steady-state error
8
5
Closed-Loop Characteristics
- Steady-State Error Analysis
The steady-state gain of a transfer function is found
using the final value theorem to the unit step response.
Now consider the steady-state error for the closed-
loop system
) (
lim
1
) (
lim
0 0
s G
s
s G s g
s s
ss

=
)
`

=
G(s)
H(s)
E(s) R(s) C(s)
+

) ( 1
) (
) (
s GH
s R
s E
+
=
) ( ) ( ) ( ) ( s E s GH s R s E
=
Closed-Loop Characteristics
- Steady-State Error Analysis
Applying the final value theorem
Now consider the steady-state error for different inputs,
assuming H(s) = 1 (if H(s) is not one, the steady-state
error is the control error and not the output error) .
)
`

+
=

) ( 1
) (
lim
0 s GH
s R
s e
s
ss
6
Closed-Loop Characteristics
- Steady-State Error Analysis
a) For a step input with amplitude, A units (position
error)
The percent error may then be expressed in terms of
the position error constant,
Position error
constant
s
s G

) ( lim
0
p K
P
=
( ) ( )
p
s
s
ss
K
A
s G
A
s G
s
A
s e
+
=
+
=
|
|
|
|

\
|
+
=

1 lim 1 1
lim
0
0
% 100
1
1
% 100 %
+
= =
p
ss
K A
e
error
Closed-Loop Characteristics
- Steady-State Error Analysis
b) For a ramp input of A units per second (velocity error)
Velocity error
constant
ss
ss GG ss

)) (( lim lim
00
vv
K ==
Time (sec.)
A
m
p
l
i
t
u
d
e
Linear Simulation Results
0 2 4 6 8 10
0
1
2
3
4
5
6
7
8
9
e
ss
( ) ( )
v
s
s
ss
K
A
s sG
A
s G
s
A
s e = =
|
|
|
|

\
|
+
=

0
2
0
lim 1
lim
7
Closed-Loop Characteristics
- Steady-State Error Analysis
c) For a parabolic input of A/2 units per second
2
(acceleration)
As before, the percent error is
acceleration
error constant
s
s G s
2

) ( lim
0
a
K =
( ) ( )
% 100 %
lim 1
lim
2
0
3
0
=
= =
|
|
|
|

\
|
+
=

A
e
e
K
A
s G s
A
s G
s
A
s e
ss
ss
a
s
s
ss
Classification of Systems by Type
The general form of a factored transfer function
is
The term 1/s is often referred to as a free pole
or a pole at the origin.
The type of the system depends upon the order
of the free poles.
) ( ) )( (
) ( ) )( (
) (
2 1
2 1
n
i
m
p s p s p s s
z s z s z s K
s G
+ + +
+ + +
=
L
L
8
Classification of Systems by Type
For i = 0, 1 ,2 type = 0, 1, 2
With i = 0, the steady state gain of G(s) is
With i = 1 or greater, g
ss
and e
ss
0 .
Therefore, the steady-state error directly
depends upon the system type.
n
m
ss
P p p
z z Kz
g
L
L
2 1
2 1
=
System Type and Steady-State Error
System
Type
Step Input Ramp
Input
Parabolic
Input
0
e
ss
=

e
ss
=

1
e
ss
= 0 e
ss =
A
K
v
e
ss
=

2
e
ss
= 0 e
ss
= 0
A
+ K
p
=
1
e
ss =
A
K
a
e
ss
9
System Type and Steady-State Error
17
CONTROL SYSTEM I
System Stability
10
Stability Definitions
Bounded Input Bounded Output Stability:
A system is BIBO stable if, for every bounded input,
the output remains bounded with increasing time (all
system poles must lie in the left half of the s-plane).
Stability Determination
Must we first find all roots of the characteristic
equation in order to determine the stability of the
system?
19
Routh-Hurwitz Stability Criterion
A quick method for checking BIBO stability.
Assume the characteristic polynomial is
where a
0
0 .
A necessary (but not sufficient) condition for all
roots to have non-positive real parts is that all
coefficients have the same sign.
For the necessary and sufficient conditions, first
form the Routh array.
0 1
1
1 ) ( a s a s a s a s Q
n
n
n
n
+ + + + =

L
20
11
Routh Array
s
n
a
n
a
n-2
a
n-4
a
n-6

s
n-1
a
n-1
a
n-3
a
n-5
a
n-7

s
n-2
b
1
b
2
b
3
b
4

s
n-3
c
1
c
2
c
3
c
4

: : : :
s
2
k
1
k
2
s
1
l
1
s
0
m
1
1
5 4 1
2

=
n
n n n n
a
a a a a
b
1
3 2 1
1

=
n
n n n n
a
a a a a
b
In Row 3
etc.
In Row 4
0 1
1
1
) ( a s a s a s a s Q
n
n
n
n
+ + + + =

L
21
1
3 1 5 1
2
1
2 1 3 1
1
b
b a a b
c
b
b a a b
c
n n
n n

=
The elements in all subsequent rows are
calculated in the same manner.
Routh-Hurwitz Stability Criterion
Necessary and sufficient conditions:
If all elements in the first column of the Routh array
have the same sign, then all roots of the characteristic
equation have negative real parts.
If there are sign changes in these elements, then the
number of roots with non-negative real parts is equal
to the number of sign changes.
Elements in the first column which are zero define a
special case.
Example 6.2
22
12
Example
10 5 3 2 ) (
2 3 4
+ + + + =
s s s s s Q
s
4
2 3 10 0
s
3
1 5 0 0
s
2
b
1
b
2
0
s
1
c
1
0
s
0
d
1
10
43 . 6
0 ) 43 . 6 ( 10
43 . 6
7
10 35
10
1
0 10
7
1
10 3
1
1
2 1
=

=
=

=
=

= =

=
d
c
b b
The characteristic equation has two roots with positive real parts
since the elements of the first column have two sign changes.
(2,1,-7,6.43,10)
23
Routh-Hurwitz Stability Criterion
Special Case 1:
A zero in the first column but some other elements
nonzero:
To proceed:
substitute a small positive number for the zero element
finish the Routh array,
let 0
+
and check 1
st
column
No sign change some roots on Imaginary axis
Sign change some roots in RHP
24
13
Example
If , build the Routh array as follow
s
3
1 -3 0 0
s
2
0(

)
2 0
s
1
b
1
0
s
0
c
1
2 3 ) (
3
+ =
s s s Q
2
2
2 2 3
1
1
1
1
=

=
b
b
c
b

(negative)
There are two roots with positive
real parts (1, , -2/ , 2)
25
Exercise
Use Routh-Hurwitz Stability Criterion to answer:
Are all roots of the following polynomial in LHP?
10 11 4 2 2 ) (
2 3 4 5
+ + + + + = s s s s s s Q
14
Routh-Hurwitz Stability Criterion
Special Case 2:
An all zero row in the Routh array which corresponds
to pairs of roots with opposite signs.
To proceed:
form an auxiliary polynomial from the coefficients in the
row above.
Replace the zero coefficients from the coefficients of the
differentiated auxiliary polynomial.
Complete the array and check 1
st
column
No a sign change the roots of the auxiliary equation define
the roots of the system on the imaginary axis.
Sign change a(s) has factors of the form
27
( )( ) + s s
Example
1 ) (
3 4
+ =
s s s s Q
2 s
) 1 (
2
=

ds
s d
1
2

s
Auxiliary polynomial
then
d
1
= 1
The system has one root with a positive real part ( 1, 1, 1, 2, -1).
The root is found from the auxiliary eq. s
2
1 = 0 , s = 1
s
4
1 0 -1 0
s
3
1 -1 0 0
s
2
1 -1 0
s
1
0 0
s
0
d
1
22
28
Example 6.4
Example 6.5
15
Assignment
29
Textbook (5
th
edition)
5.22
6.1 a iii, iv, and vii
Due on 11/18