Chapter 3 (page#201)

3.4.3 Unity Feedback Systems

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Introduction Control System respond in some controlled manner to applied inputs and initial condition. Exact model of physical system is never available.

Stability: For Un-stable system we require a control system to be stable when operated in prescribed manner.
Sensitivity: The closed-loop physical systems characteristics to be insensitive to change in time, temperature, humidity, and altitude. Disturbance: All physical systems have unwanted inputs, called disturbances, in addition to the inputs used to control the systems. The system must have the disturbances rejection capabilities. Steady-state accuracy: some control systems Steady state errors are important in
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Closed-loop control system

R(s) Input +_ r(t)

Compensator A(s) a(t)

Plant

Gc(s)
Sensor

GP(s)

Output C(s)

c(t)

H(s)
Closed-loop control system

Using Masons Gain Formula

Gc (s)GP (s) C(s) T(s) G(s) ...( 5.1) R(s) 1 Gc (s)GP (s)H(s)
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Closed-loop control system

R(s) Input +_ r(t)

Compensator A(s) a(t)

Plant

Gc(s)
Sensor

GP(s)

Output C(s)

c(t)

H(s)

Sensors responds much faster than the plant In other words

The sensors bandwidth is much wider than that of the plant. The sensor is modeled as pure gain (constant)
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Example Heating System

R(s) Input +_ r(t)

Compensator A(s) a(t)

Plant

Gc(s)
Sensor

GP(s)

Output C(s)

c(t)

Output in Degree H(s) centigrade 0C If the sensor is a Thermistor then the Input to sensor Degree output is in Volts centigrade 0C Transfer function of the sensor is For 50mV for change in 10C

output volts H ( s) 0 input C

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H(s)

50mV 1 0C

0,05V / 0 C

50mV

H(s)

10 C

R(s) Input +_ r(t)

Compensator A(s) a(t)

Plant

Gc(s)
Sensor

GP(s)

Output C(s)

c(t)

Desired Value in Volts

Error = e(t) in Volts

Plant output in 0C

H(s)

Sensor output in Volts

The units of input & output are not the same

Sensor input in 0C

To make the units same of input and output the feedback system is transformed into a UNITY FEEDBACK system UNITY FEEDBACK: In which the feedback path is unity. The system can be transformed to UNITY FEEDBACK is the transfer Dr. Fida function of H(s) is a pure gain

R(s) Input +_ r(t)

Compensator

Plant

A(s)
a(t)

Gc(s)
Sensor

GP(s)

Output C(s)
c(t)

H(s) Transform to UNITY FEEDBACK

R(s) Ru(s)

1/Hk(s)

+_

Eu(s)

Hk(s)

Gc(s)

GP(s)

Output C(s) c(t)

System having unity feedback Dr. Fida

Volts
R(s) Ru(s)

1/Hk(s) Input in Degree centigrade 0C

+_

Eu(s)

Hk(s)

Gc(s)

GP(s)

Output C(s) c(t)

Error Degree centigrade 0C

Output in Degree centigrade 0C

1. The units of the input, ru(t), are the same as those of the output, Cu(t).
2. The input signal, ru(t), is also the desired value of the output, Cd(t) 3. Hence the system error is also the actuating signal, that is, eu(t)=ru(t)-Cu(t)

Input to the unity feedback is Ru(s)=R(s)/Hk The transfer function of the system remains the same with unity transformation

The unity-feedback to the system cannot be applied if the sensor cannot be Dr. modeled as a pur gain Hk Fida

Plant R(s) +_
E(s) =Error

Gc(s)

GP(s) Required 60 0C

How much reference input is required to get zero error?

Volts 3V

H(s) = 50mV/ 10C

=0.05V/0C Input to sensor 60 0C

3 Volts
Output from the sensor = H(s)x.Input (0.05V/0C)x600C=3V
R(s) Ru(s)

1/Hk(s) 3V

+_

Eu(s)
0C

Hk(s)

Gc(s)

GP(s) Required 60 0C

Ru = 1/H(s)x.Input (1/0.05V/0C)x3V=600C

E(s)=H(s)x.Input (V/0C)x0C=Volts Dr. Fida

Feedback 60 0C