Performance of Feedback Control

Systems

Prof. Marian S. Stachowicz
Laboratory for Intelligent Systems
ECE Department, University of Minnesota Duluth

February 25 March 2, 2010

ECE 3151 - Spring 2010







Outline
Introduction
Test Input Signals
Performance of a second-order system
Effects of a Third Pole and a Zero on the Second-
Order System Response
Estimation of the Damping Ratio
The s-plane Root Location and the Transient
Response
2 Control Systems
References for reading

1. R.C. Dorf and R.H. Bishop, Modern Control Systems,
11th Edition, Prentice Hall, 2008,
Chapter 5.1 - 5.12

2. J.J. DiStefano, A. R. Stubberud, I. J. Williams,
Feeedback and Control Systems, Schaum's Outline
Series, McGraw-Hill, Inc., 1990
Chapter 9

3 Control Systems
Test Input Signal
Since the actual input signal of the system
is usually unknown, a standard test input
signal is normally chosen. Commonly
used test signals include step input, ramp
input, and the parabolic input.
4 Control Systems
General form of the standard test
signals
r(t) = t
n
R(s) = n!/s
n+1

5 Control Systems
Test signals r(t) = A t
n

n = 0
n = 1
n = 2
r(t) = A r(t) = At r(t) = At
2

R(s) = 2A/s
3


R(s) = A/s
R(s) = A/s
2

6 Control Systems
Table 5.1 Test Signal Inputs
Test Signal r(t) R(s)
Step
position
r(t) = A, t > 0
= 0, t < 0
R(s) = A/s


Ramp
velocity
r(t) = At, t > 0
= 0, t < 0
R(s) = A/s
2
Parabolic
acceleration
r(t) = At
2
, t > 0
= 0, t < 0
R(s) = 2A/s
3

7 Control Systems
Test inputs vary with target type
parabola
ramp
step
8 Control Systems
Steady-state error
Is a difference between input and the
output for a prescribed test input as


t
9 Control Systems
Application to stable systems
Unstable systems represent loss of
control in the steady state and are
not acceptable for use at all.
10 Control Systems
Steady-state error:
a) step input, b) ramp input
11 Control Systems
Time response of systems

c(t) = c
t
(t) + c
ss
(t)

The time response of a control system is divided
into two parts:
c
t
(t) - transient response

c
ss
(t) - steady state response


12 Control Systems
Transient response
All real control systems exhibit transient
phenomena to some extend before steady
state is reached.


lim c
t
(t) = 0 for t
13 Control Systems
Steady-state response
The response that exists for a long time
following any input signal initiation.
14 Control Systems
Poles and zeros of a first order system
C
ss
(t) C
t
(t
)
15 Control Systems
Poles and zeros
1. A pole of the input function generates the form of the
forced response ( that is the pole at the origin generated
a step function at the output).
2. A pole of the transfer function generate the form of the
exponential response
3. The zeros and poles generate the amplitudes for both the
transit and steady state responses ( see A, B in partial
fraction extension)
16 Control Systems
A pole on the real axis generate an exponential response
of the form Exp[-ot] where -o is the pole location on real axis.
The farther to the left a pole is on the negative real axis,
the faster the exponential transit response will decay to zero.
Effect of a real-axis pole upon transient
response
17 Control Systems
Evaluating response using poles


C(s) =
K
1
s
+
K
2
s + 2
+
K
3
s + 4
+
K
4
s + 5
C
ss
(t) C
t
(t
)

c(t) = K
1
+ K
2
e
2t
+ K
3
e
4t
+ K
4
e
5t
18 Control Systems

c(t) =1e
at
First order system
19 Control Systems

C(s) = R(s) G(s) =
a
s(s + a)
First-order system response to a unit step
Transient response specification:
1. Time-constant, 1/a
2. Rise time, T
r

3. Settling time, T
s

20 Control Systems
Transient response specification
for a first-order system

1. Time-constant, 1/a
Can be described as the time for (1 - Exp[- a t])
to rise to 63 % of initial value.

1. Rise time, T
r
= 2.2/a

The time for the waveform to go from 0.1 to 0.9
of its final value.

3. Settling time, T
s
= 4/a

The time for response to reach, and stay within,
2% of its final value



21 Control Systems
Transfer function via laboratory testing

G(s) =
K
(s + a)
C(s) =
K
s(s + a)
=
K
a
s

K
a
(s + a)
22 Control Systems
Identify K and a from testing

The time for amplitude to reach 63% of its final value:
63 x 0.72 = 0.45, or about 0.13 sec , a = 1/0.13 = 7.7

From equation, we see that the forced response reaches
a steady-state value of K/a =0.72 .
K= 0.72 x 7.7= 5.54

G(s) = 5.54/(s+7.7) .
23 Control Systems
Exercise
A system has a transfer function

G(s)= 50/(s+50).

Find the transit response specifications
such as Tc, Tr, Ts.
24 Control Systems

25 Control Systems
Steady-state response
If the steady-state response of the output does not
agree with the steady-state of the input exactly, the
system is said to have a steady-state error.

It is a measure of system accuracy when a specific type
of input is applied to a control system.


26 Control Systems
Y(s) = R(s) G(s)
27 Control Systems
Steady-state error
T(s) = 9/(s + 10)
Y(s) = 9/s(s+10)
y(t) = 0.9(1- e
-10t
)
y() = 0.9
E(s) = R(s) - Y(s)
e
ss
= lim
s 0
s E(s) = 0.1

28 Control Systems

E(s) =
R(s)
1+ K

E(s) =
R(s)
1+
K
s

e(t) =
1
1+ K

e(t) = e
K t
29 Control Systems

30 Control Systems

Control Systems 31


Performance of a second-order system

32 Control Systems
Numerical example of the second-
order system
33 Control Systems
Overdamped

C(s) =
9
s(s
2
+ 9s + 9)
=
9
s(s + 7.854)(s +1.146)

c(t) =1+0.171e
7.854t
+1.17e
1.146t
34 Control Systems
Underdamped

C(s) =
9
s(s
2
+ 2s + 9)
=
9
s(s +1 j 8)(s +1+ j 8)

c(t) =1e
t
(cos 8t +
8
8
sin 8t)
35 Control Systems

c(t) =1e
t
(cos 8t +
8
8
sin 8t)
36 Control Systems
Undamped

C(s) =
9
s(s
2
+ 9)

c(t) =1cos3t
37 Control Systems
Critically damped


C(s) =
9
s(s
2
+ 6s + 9)
=
9
s(s + 3)
2

c(t) =13te
3t
e
3t
38 Control Systems
Step response for second order system
damping cases
39 Control Systems
fig_04_11
40 Control Systems
Summary
Overdamped
Poles: Two real at - o
1
, - o
2

Underdamped
Poles: Two complex at - o
d
+ je
d
, - o
d
- je
d

Undamped
Poles: Two imaginary at + je
1
, - je
1

Critically damped
Poles: Two real at - o
1
,

41 Control Systems
Performance of a second-order system
42 Control Systems
Response to unit step input

Y(s) =
G(s)
1+ G(s)
R(s)
) (
2
) (
2
2
2
s R
s s
s Y
n n
n
e ,e
e
+ +
=
) 2 (
) (
2
2
2
n n
n
s s s
s Y
e ,e
e
+ +
=
) sin(
1
1 ) ( u | e
|
,e
+ =

t e t y
n
t
n
2
1 , | =
, u
1
cos

=
43 Control Systems
Natural frequency e
n
- the frequency of natural
oscillation that would occur for two complex
poles if the damping were equal to zero

Damping ratio , - a measure of damping for
second-order characteristic equation


44 Control Systems

s
2
+ 2,e
n
s +e
n
2
= 0
s
1
= ,e
n
+e
n
,
2
1
s
2
= ,e
n
e
n
,
2
1
Characteristic equation
45 Control Systems
Finding e
n
and , for a second-order
system

G(s) =
e
n
2
s
2
+ 2,e
n
s +e
n
2
e
n
2
= 36
2,e
n
= 4.2
e
n
= 6
, = 0.35

s
2
+ 2,e
n
s +e
n
2
= 0
s
1
= ,e
n
+e
n
,
2
1
s
2
= ,e
n
e
n
,
2
1

G(s) =
36
s
2
+ 4.2s + 36
46 Control Systems
Second-order responses for ,
underdamped
47 Control Systems
48 Control Systems
Transit response
For step input as
a function of ,
For step input as
a function of , and e
n
t

49 Control Systems
Unit impulse response

Y(s) =
e
n
2
(s
2
+ 2,e
n
s +e
n
2
)
R(s)

y(t) =
e
n
|
e
e
n
t
sine
n
|t
R(s)=1
T(s)=Y(s)
50 Control Systems
51 Control Systems
52 Control Systems
Constant real part
Constant imaginary part
Constant damping ratio
Standard performance measures

T
s
(s) = 4t =
4
,e
n
2
1 , e
t

=
n
p
T

Peak time


M
pt
=1+ e
,t
1,
2

P.O. =100e
,t
1,
2
Settling time
Percent overshoot
Peak response
53 Control Systems
fig_04_14
54 Control Systems
Settling time
The settling time is defined as the time
required for a system to settle within a
certain percentage of the input amplitude.

T
s
(s) = 4t =
4
,e
n
55 Control Systems
Settling time

T
s
(s) = 4t =
4
,e
n
56 Control Systems
Rise time
The time it takes for a signal to go from
10% of its value to 90% of its final value

T
r
(s) =
2.16, + 0.60
e
n
0.3 s, s 0.8
57 Control Systems
Rise time
58 Control Systems
Peak time
Peak time is the time required by a signal
to reach its maximum value.
2
1 , e
t

=
n
p
T
59 Control Systems
Peak time
2
1 , e
t

=
n
p
T
60 Control Systems
Percent overshoot
Percent Overshoot is defined as:

P.O. = [(M
pt
fv) / fv] * 100%

M
pt
= The peak value of the time response
fv = Final value of the response


P.O. =100e
,t
1,
2
61 Control Systems
Percent overshoot
62 Control Systems
Percent overshoot and normalized
peak time versus ,
63 Control Systems
Finding transient response

G(s) =
25
s(s + 5)
64 Control Systems

T(s) =
25
s
2
+ 5s + 25
A = s
2
+ 5s + 25
A = s
2
+ 2,e
n
s +e
n
2
e
n
= 25 = 5
2,e
n
= 5, , = 0.5

T
p
=
t
e
n
1,
2
= 0.726 sec

P.O. =100e
,t
1,
2
=16.3%

T
s
(s) =
4
,e
n
=1.6 sec
65 Control Systems
Gain design for transient response

G(s) =
K
s(s + 5)
66 Control Systems


T(s) =
K
s
2
+ 5s + K
A = s
2
+ 5s + K
A = s
2
+ 2,e
n
s + e
n
2
e
n
= K
2,e
n
= 5, , =
5
2 K

for P.O. =10%
P.O. =100e
,t
1,
2
=10.0%
, = 0.591, K =17.9
67 Control Systems
Performance Indices


Elevator

Control Systems 68

Simplified description of a control
system
69 Control Systems

Elevator input and output
When the fourth floor button is pressed on the first
floor, the elevator rises to the fourth floor with a
speed and floor level accuracy designed for
passenger comfort.
70 Control Systems
Push of the fourth-floor button is an input that
represent a desired output, shown as a step
function.
71 Control Systems
Transient response
Passenger comfort and passenger patience are
dependent upon the transient response.
If this response is too fast, passenger comfort
is sacrificed; if too slow, passenger patience is
sacrificed.
72 Control Systems
Steady-state error
Passenger safety and convenience would be
sacrificed if the elevator is not properly level.

73 Control Systems
Performance Indices
A performance index is a quantitative
measure of the performance of a
system and is chosen so that
emphasis is given to the important
system specifications.
74 Control Systems
Response of the system
75 Control Systems
ISE - Integral of Square of Error


I
1
= e
2
(t)
0
T
}
dt
76 Control Systems
The Integral Squared Error

I
1
= e
2
(t)
0
T
}
dt
77 Control Systems
IAE - Integral of the Absolute
Magnitude of the Error


I
2
= e(t)
0
T
}
dt
78 Control Systems
ITAE - Integral of Time Multiplied by
Absolute Error


I
3
= t e(t)
0
T
}
dt
79 Control Systems
ITSE - Integral of Time Multiplied by
Squared Error


I
4
= te
2
(t)
0
T
}
dt
80 Control Systems
General form of the performance
integral


I = f [e(t), r(t), c((t), t]
0
T
}
dt
81 Control Systems
Section 5.9
}
=
T
dt t e ISE
0
2
) (
}
=
T
dt t e IAE
0
| ) ( |
}
=
T
dt t e t ITAE
0
| ) ( |
}
=
T
dt t te ITSE
0
2
) (
}
=
T
dt t t y t r t e f I
0
) ), ( ), ( ), ( (
82 Control Systems
Performance criteria

T(s) =
1
s
2
+ 2,s +1
83 Control Systems
84 Control Systems
Optimum system
A control system is optimum when the
elected performance index is minimized.

The optimum value of the parameters
depends directly upon the definition of
optimum, that is, the performance index.
85 Control Systems
The coefficients that will minimize the
ITAE performance criterion for a step
input and a ramp input have been
determined for the general closed-loop
transfer function.
86 Control Systems
General closed-loop T(s)

T(s) =
Y(s)
R(s)
=
b
0
s
n
+ b
n1
s
n1
+ ...+ b
1
s + b
0
The T(s) has n poles and no zeros.

This T(s) has a steady-state error equal zero for a step input.


87 Control Systems
Table 5.6 The Optimum
Coefficients of T(s) Based on the
ITAE Criterion for a Step Input
s +
n

s
2
+ 1.4
n
s +
n
2

s
3
+ 1.75
n
s
2
+ 2.15
n
2
s

+
n
3

s
4
+ 2.1
n
s
3
+ 3.4
n
2
s
2
+ 2.7
n
3
s +
n
4

s
5
+ 2.8
n
s
4
+ 5.0
n
2
s
3
+ 5.5
n
3
s
2
+ 3.4
n
4
s +
n
5

s
6
+ 3.25
n
s
5
+ 6.60
n
2

s
4
+ 8.60
n
3
s
3
+ 7.45
n
4
s
2
+ 3.95
n
5
s
+
n
6
88 Control Systems
Step response for optimum coefficients
89 Control Systems
90 Control Systems
Table 5.7 The Optimum Coefficients
of T(s) Based on the ITAE Criterion
for a Ramp Input
s
2
+ 3.2
n
s +
n
2

s
3
+ 1.75
n
s
2
+ 3.25
n
2
s

+
n
3

s
4
+ 2.41
n
s
3
+ 4.93
n
2
s
2
+ 5.14
n
3
s +
n
4

s
5
+ 2.19
n
s
4
+ 6.50
n
2
s
3
+ 6.30
n
3
s
2
+ 5.24
n
4
s +
n
5



91 Control Systems

T(s) =
Y(s)
R(s)
=
b
1
s + b
0
s
n
+ b
n1
s
n1
+ ...+ b
1
s + b
0
T(s) has a steady-state error equal to zero for a
ramp input.
T(s) has two or more pure integrations as
required to provide zero steady-state error.
92 Control Systems
A: Simplification of linear system

G(s) =
K
s(s + 2)(s + 30)

G(s) =
K/ 30
s(s + 2)
We can neglect the impact of the pole at s = - 30 ,
however we must retain the steady-state response
and reduce the system to
93 Control Systems
Impulse response

94 Control Systems


95 Control Systems
B: Simplification of linear systems

H(s) = K
a
m
s
m
+ a
m1
s
m1
+ + a
1
s +1
b
n
s
n
+ a
n1
s
n1
+ + b
1
s +1
, m s n

L(s) = K
c
p
s
p
+ + c
1
s +1
d
g
s
g
+ + d
1
s +1
, p s g < n
96 Control Systems
) ( ) (
) (
s M
ds
d
s M
k
k
k
=
) ( ) (
) (
s
ds
d
s
k
k
k
A = A
)! 2 ( !
) 0 ( ) 0 ( ) 1 (
) 2 (
2
0
2
k q k
M M
M
k q k q k
q
k
q

=
+
=

M
2q
= A
2q
q =1,2...
97 Control Systems
Simplified model
3 2 2 3
) 6 / 1 ( ) 6 / 11 ( 1
1
6 11 6
6
) (
s s s s s s
s H
+ + +
=
+ + +
=

L(s) =
6
1+ d
1
s + d
2
s
2
2
2 1
1 ) ( s d s d s M + + =
3 2
) 6 / 1 ( ) 6 / 11 ( 1 ) ( s s s s + + + = A
2
2 1
) 0 (
1 ) ( s d s d s M + + =

M
(0)
(0) =1
98 Control Systems
Example 5.9
s d d s d s d
ds
d
s M
k
2 1
2
2 1
) (
2 ) 1 ( ) ( + = + + =
1 ) 0 (
) 0 (
= M
1
) 1 (
) 0 ( d M =
2
) 2 (
2 ) 0 ( d M =
1 ) 0 (
) 0 (
= A
6 / 11 ) 0 (
) 1 (
= A
2 ) 0 (
) 2 (
= A
1 ) 0 (
) 3 (
= A
0 ) 0 (
) 3 (
= M
99 Control Systems
Example 5.9
2
) 0 ( ) 0 (
) 1 (
1
) 0 ( ) 0 (
2
) 0 ( ) 0 (
) 1 (
0 2 1 1 2 0
2
M M M M M M
M + + =
2
1 2 2
2
1 2 2
2 d d d d d M + = + =
36
49
2
) 0 ( ) 0 (
) 1 (
1
) 0 ( ) 0 (
2
) 0 ( ) 0 (
) 1 (
0 2 1 1 2 0
2
=
A A
+
A A
+
A A
= A
100 Control Systems
Example 5.9
18
7
2
= d
2 2
584 . 2 60 . 1
60 . 1
625 . 0 165 . 1 1
1
) (
s s s s
s L
+ +
=
+ +
=
36
49
2
2
1 2
= + d d
101 Control Systems
Example 5.9
6 11 6
6
) (
2 3
+ + +
=
s s s
s H

L(s) =
1.60
1.60+ 2.584s + s
2
102 Control Systems

103 Control Systems
Impulse response

104 Control Systems

105 Control Systems
Dominant poles of transfer function
It has been recognized in practice and in
the literature that if the magnitude of the
real part of a pole is at least 5 to 10 times
of a dominant pole or pair of complex
dominant poles, than the pole may be
regarded as insignificant insofar as the
transient response is concerned.
106 Control Systems

Control Systems 107
Thank You.