Feedback Control Systems
Single Input Single Output (SISO) Systems
Prof. Tarek Abdel-Rahman, Ph.D., P.Eng
4) Block Diagram, Transfer Function, Routh
Hurwitz, Steady-State Error
For Linear Time Invariant (LTI) Systems
4.1) Block Diagram & Transfer Function (TF)
Introduction
A Block Diagram is a shorthand pictorial representation of
the cause-and-effect relationship of a system.
The interior of the rectangle representing the block usually
contains a description of or the name of the element, or the
symbol for the mathematical operation to be performed on
the input to yield the output.
The arrows represent the direction of information or signal
flow.
d
x y
dt
Introduction
The operations of addition and subtraction have a special
representation.
The block becomes a small circle, called a summing point, with the
appropriate plus or minus sign associated with the arrows entering
the circle.
The output is the algebraic sum of the inputs.
Any number of inputs may enter a summing point.
Some books put a cross in the circle.
Introduction
In order to have the same signal or variable be an input
to more than one block or summing point, a takeoff
point is used.
This permits the signal to proceed unaltered along
several different paths to several destinations.
Example-1
Consider the following equations in which x1, x2, x3, are variables,
and a1, a2 are general coefficients or mathematical operators.
x3 a1 x1 a 2 x 2 5
Example-1
Consider the following equations in which x1, x2, x3, are variables,
and a1, a2 are general coefficients or mathematical operators.
x3 a1 x1 a 2 x 2 5
Example-2
Consider the following equations in which x1, x2,. . . , xn, are
variables, and a1, a2,. . . , an , are general coefficients or
mathematical operators.
xn a1 x1 a 2 x2 a n 1 x n 1
Canonical Form of a FB Control System
Characteristic Equation
• The control ratio is the closed loop transfer function of the system.
C( s ) G( s )
R( s ) 1 G( s )H ( s )
• The denominator of closed loop transfer function determines the
characteristic equation of the system.
• Which is usually determined as:
1 G( s ) H ( s ) 0
Example-3
B( s )
1. Open loop transfer function G( s ) H ( s )
E( s )
C( s )
G( s )
2. Feed Forward Transfer function E( s )
G(s )
C( s ) G( s )
3. control ratio R( s ) 1 G ( s ) H ( s )
B( s ) G( s ) H ( s )
4. feedback ratio R( s ) 1 G( s )H ( s )
E( s ) 1 H (s )
5. error ratio R( s ) 1 G( s )H ( s )
C( s ) G( s )
6. closed loop transfer function R( s ) 1 G ( s ) H ( s )
1 G( s ) H ( s ) 0
7. characteristic equation
8. closed loop poles and zeros if K=10.
Reduction techniques
1. Combining blocks in cascade
G1 G2 G1G2
2. Combining blocks in parallel
G1
G1 G2
G2
Reduction techniques
3. Moving a summing point behind a block
G G
G
4. Moving a summing point ahead of a block
G G
1
G
5. Moving a pickoff point behind a block
G G
1
G
6. Moving a pickoff point ahead of a block
G G
G
7. Eliminating a feedback loop
G
G
1 GH
H
G
G
1 G
H 1
8. Swap with two neighboring summing points
A B B A
Example-4: Reduce the Block Diagram to Canonical Form
Example-4: Continue
However in this example step-4 does not apply.
However in this example step-6 does not apply.
Example-5
For the system represented by the block diagram determine:
1. Open loop transfer function
2. Feed Forward Transfer function
3. control ratio
4. feedback ratio
5. error ratio
6. closed loop transfer function
7. characteristic equation
8. closed loop poles and zeros if K=10.
Example-6
First we will reduce the given block diagram to canonical form
K
s 1
Example-6
K
s 1
K
G
s 1
1 GH K
1 s
s 1
Example-6
B( s )
1. Open loop transfer function G( s ) H ( s )
E( s )
C( s )
G( s )
2. Feed Forward Transfer function E ( s )
C( s ) G( s ) G(s )
3. control ratio R( s ) 1 G( s ) H ( s )
B( s ) G( s ) H ( s )
4. feedback ratio
R( s ) 1 G ( s ) H ( s )
E( s ) 1 H (s )
5. error ratio R( s ) 1 G( s )H ( s )
C( s ) G( s )
6. closed loop transfer function R( s ) 1 G ( s ) H ( s )
7. characteristic equation 1 G( s ) H ( s ) 0
8. closed loop poles and zeros if K=10.
Example-7
Determine:
1. Open loop transfer function
2. Feed Forward Transfer function
3. control ratio
4. feedback ratio
5. error ratio
6. closed loop transfer function
7. characteristic equation
8. closed loop poles and zeros if K=100.
Example-8
H2
R _ C
+_ + G1 + G2 G3
+
H1
Example-8
H2
G1
R _ C
+_ + + G1 G2 G3
+
H1
Example-8
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
Example-8
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
block diagram: reduction example
H2
G1
R _ G1G2 C
+_ + G3
1 G1G2 H1
block diagram: reduction example
H2
G1
R _ G1G2G3 C
+_ +
1 G1G2 H1
block diagram: reduction example
R G1G2G3 C
+_ 1 G1G2 H1 G2G3 H 2
Example-8
R G1G2G3 C
1 G1G2 H1 G2G3 H 2 G1G2G3
Example 9
Find the transfer function of the following block diagrams
G4
R (s ) Y (s )
G1 G2 G3
H2
H1
I
G4
R(s ) B A
Y (s )
G1 G2 G3
H2
H1 G2
Solution:
1. Moving pickoff point A ahead of block G2
2. Eliminate loop I & simplify
B
G4 G2G3
G4
R(s )
GG4
B A G2 G3
Y (s )
G1 2 G 3
H2
H1G2
3. Moving pickoff point B behind block G4 G2G3
II
R(s ) B C Y (s)
G1 G4 G2G3
H2
H1G2 1 /(G4 G2G3 )
4. Eliminate loop III
R(s ) Y (s )
G1 GG4 4GG2G2G3 3
C C
1 H 2 (GH4 2 G2G3 )
G2 H1
G4 G2G3
Using rule 6
R(s ) G1 (G4 G2G3 ) Y (s)
1 G1G 2 H1 H 2 (G4 G2G3 )
Y (s) G1 (G4 G2G3 )
T (s)
R ( s ) 1 G1G 2 H1 H 2 (G4 G2G3 ) G1 (G4 G2G3 )
Example 10
Find the transfer function of the following block diagrams
R(s ) Y (s )
G1 G2
H1 H2
H3
Solution:
1. Eliminate loop I
R(s ) A
G2 I
B
Y (s )
G1 G2
H1
1 GH2 H
2
2
H3
G2
2. Moving pickoff point A behind block
1 G2 H 2
R(s ) A G2 B
Y (s )
G1
1 G2 H 2
1 G2 H 2 II
H1 1 G2 H 2
G2 H 3 H1 ( )
G2
H3 Not a feedback loop
3. Eliminate loop II
R(s ) G1G2 Y (s )
1 G2 H 2
H1 (1 G2 H 2 )
H3
G2
Using rule 6
Y (s) G1G2
T ( s)
R( s ) 1 G2 H 2 G1G2 H 3 G1 H1 G1G2 H1 H 2
Example 11
Find the transfer function of the following block diagrams
H4
R (s ) Y (s )
G1 G2 G3 G4
H3
H2
H1
Solution:
1. Moving pickoff point A behind block G4
I
H4
R(s ) Y (s )
A B
G1 G2 G3 G4
H3 1
H3 G4 G4
H2 1
H2
G4 G4
H1
2. Eliminate loop I and Simplify
R(s ) II Y (s )
G2G3G4 B
G1
1 G3G4 H 4
H3
G4
H2
G4 III
H1
II feedback III Not feedback
G2G3G4 H 2 G4 H1
1 G3G4 H 4 G2G3 H 3 G4
3. Eliminate loop II & IIII
R(s ) G1G2G3G4 Y (s )
1 G3G4 H 4 G2G3 H 3
H 2 G4 H1
G4
Using rule 6
Y (s) G1G2G3G4
T (s)
R( s) 1 G2G3 H 3 G3G4 H 4 G1G2G3 H 2 G1G2G3G4 H1
Example 12
Find the transfer function of the following block diagrams
H2
R(s ) A Y (s )
G1 G2 G3
B
H1
G4
Solution:
1. Moving pickoff point A behind block G3
I
H2
R(s ) A B Y (s)
G1 G2 G3
1
H1 G3
1
H1 G3
G4
2. Eliminate loop I & Simplify
H2
B
G2 G3 B G2G3
1 H1
H2
H1 G3 G3
II
R(s ) G2G3 Y (s )
G1
1 G2 H1 G2G3 H 2
H1
G3
G4
3. Eliminate loop II
R(s ) G1G2G3 Y (s )
1 G2 H1 G2G3 H 2 G1G2 H1
G4
Y (s) G1G2G3
T (s) G4
R(s) 1 G2 H1 G2G3 H 2 G1G2 H1
Example-13: Simplify the Block Diagram
Example-13: Continue
Example-14: Reduce the Block Diagram
Example-14: Continue
Example-15: Reduce the Block Diagram. (from Nise: page-242)
Example-15: Continue
Practice Problem 1: Reduce the system to a single transfer function. (from
Nise:page-243)
Practice Problem 2: Simplify the block diagram then obtain the close-loop
transfer function C(S)/R(S). (from Ogata: Page-47)
Example-16: Multiple Input System. Determine the output C due to
inputs R and U using the Superposition Method
Example-16: Continue
Example-16: Continue
Example-17: Multiple-Input System. Determine the output C due to inputs R,
U1 and U2 using the Superposition Method
Example-17: Continue
Example-17: Continue
Example-17: Multi-Input Multi-Output System. Determine C1 and C2 due to R1 and R2
Example-17: Continue
Example-17: Continue
When R1 = 0,
When R2 = 0,
Block Diagram of Armature Controlled D.C
Motor
Ra La
c
ia
eb T J
Va
t
st an
n
=co
Vf
La s Ra I a(s) K b(s) Va(s)
Js c (s) K ma I a(s)
Block Diagram of Armature Controlled D.C
Motor
La s Ra I a(s) K b(s) E a(s)
Block Diagram of Armature Controlled D.C
Motor
Js c (s) K ma I a(s)
Block Diagram of Armature Controlled D.C
Motor
Block Diagram of liquid level system
h1 h2 dh1
q1 C1 q q1
R1 dt
h2
q2 dh2
R2 C2 q1 q 2
dt
Block Diagram of liquid level system
h1 h2 dh1
q1 C1 q q1
L R1 dt L
H1( s ) H 2 ( s )
Q1 ( s ) C1sH 1 ( s ) Q( s ) Q1 ( s )
R1
h2
q2 dh2
R2 C2 q1 q 2
L dt L
H 2 (s) C 2 sH 2 ( s ) Q1 ( s ) Q2 ( s )
Q2 ( s )
R2
Block Diagram of liquid level system
H1 ( s ) H 2 ( s ) C1sH 1 ( s ) Q( s ) Q1 ( s )
Q1 ( s )
R1
H 2 (s) C 2 sH 2 ( s ) Q1 ( s ) Q2 ( s )
Q2 ( s )
R2
Block Diagram of liquid level system
4.2) Steady-State Error
Introduction
Any physical control system inherently suffers steady-state error in response to
certain types of inputs.
A system may have no steady-state error to a step input, but the same system may
exhibit nonzero steady-state error to a ramp input.
Whether a given system will exhibit steady-state error for a given type of input
depends on the type of open-loop transfer function of the system.
Classification of Control Systems
Control systems may be classified according to their ability to follow step inputs,
ramp inputs, parabolic inputs, and so on.
The magnitudes of the steady-state errors due to these individual inputs are indicative
of the goodness of the system.
Classification of Control Systems
Consider the unity-feedback control system with the following open-loop transfer
function
• It involves the term sN in the denominator,
representing N poles at the origin.
• A system is called type 0, type 1, type 2, ... , if
N=0, N=1, N=2, ... , respectively.
Classification of Control Systems
As the type number is increased, accuracy is improved.
However, increasing the type number aggravates the stability problem.
A compromise between steady-state accuracy and relative stability is always
necessary.
Steady State Error of Unity Feedback
Systems
Consider the system shown in following figure.
The closed-loop transfer function is
Steady State Error of Unity Feedback Systems
The transfer function between the error signal E(s) and the
input signal R(s) is
E( s ) 1
R( s ) 1 G( s )
• The final-value theorem provides a convenient way to find
the steady-state performance of a stable system.
• Since E(s) is
• The steady state error is
Static Error Constants
The static error constants are figures of merit of control systems. The higher the
constants, the smaller the steady-state error.
In a given system, the output may be the position, velocity, pressure, temperature, or the
like.
Therefore, in what follows, we shall call the output “position,” the rate of change of the
output “velocity,” and so on.
This means that in a temperature control system “position” represents the output
temperature, “velocity” represents the rate of change of the output temperature, and so
on.
Static Position Error Constant (Kp)
The steady-state error of the system for a unit-step input is
• The static position error constant Kp is defined by
• Thus, the steady-state error in terms of the static position
error constant Kp is given by
Static Position Error Constant (Kp)
For a Type 0 system
For Type 1 or higher systems
For a unit step input the steady state error ess is
Static Velocity Error Constant (Kv)
The steady-state error of the system for a unit-ramp input is
The static position error constant Kv is defined by
Thus, the steady-state error in terms of the static velocity
error constant Kv is given by
Static Velocity Error Constant (Kv)
For a Type 0 system
For Type 1 systems
For type 2 or higher systems
Static Velocity Error Constant (Kv)
For a ramp input the steady state error ess is
Static Acceleration Error Constant (Ka)
The steady-state error of the system for parabolic input is
The static acceleration error constant Ka is defined by
Thus, the steady-state error in terms of the static acceleration error
constant Ka is given by
Static Acceleration Error Constant (Ka)
For a Type 0 system
For Type 1 systems
For type 2 systems
For type 3 or higher systems
Static Acceleration Error Constant (Ka)
For a parabolic input the steady state error ess is
Summary
Example#1
For the system shown in figure below evaluate the static
error constants and find the expected steady state errors
for the standard step, ramp and parabolic inputs.
100( s 2)( s 5)
R(S) C(S)
2
s ( s 8)( s 12)
-
Example#1 (Steady Sate Errors)
Kp Kv K a 10.4
0
0
0. 09
Example#1 (evaluation of Static Error Constants)
100( s 2)( s 5)
G( s )
s 2 ( s 8)( s 12)
K p lim G( s )
s 0 K v lim sG( s )
s 0
100( s 2 )( s 5)
K p lim 2 100s( s 2 )( s 5)
s 0 s ( s 8)( s 12) K v lim 2
s 0 s ( s 8)( s 12)
Kp
Kv
K a lim s 2 G( s ) 100s 2 ( s 2)( s 5)
K a lim 2
s 0
s 0
s ( s 8 )( s 12 )
100( 0 2 )( 0 5)
K a 10. 4
( 0 8)( 0 12)
Example#2
Figure (a) shows a mechanical vibratory system. When 2 lb of force
(step input) is applied to the system, the mass oscillates, as shown in
Figure (b). Determine m, b, and k of the system from this response
curve.
Example#2
Figure (a) shows a mechanical vibratory system. When 2 lb of force
(step input) is applied to the system, the mass oscillates, as shown in
Figure (b). Determine m, b, and k of the system from this response
curve.
