Classical Negative Feedback Control System

𝐸 𝑠 =𝑅 𝑠 −𝑌 𝑠 𝐻 𝑠
𝑌 𝑠 = 𝐸 𝑠 𝐺1 𝑠 + 𝐿 𝑠 𝐺2 𝑠
𝑌 𝑠 = [{𝑅 𝑠 − 𝑌 𝑠 𝐻 𝑠 }𝐺1 𝑠 +𝐿 𝑠 ] 𝐺2 𝑠
𝑌 𝑠 + 𝑌 𝑠 𝐻 𝑠 𝐺1 𝑠 𝐺2 𝑠 = 𝑅 𝑠 𝐺1 𝑠 𝐺2 𝑠 + 𝐿 𝑠 𝐺2 𝑠
𝐺1 𝑠 𝐺2 𝑠 𝐺2 𝑠
𝑌 𝑠 = 𝑅 𝑠 + 𝐿 𝑠
1+𝐻 𝑠 𝐺1 𝑠 𝐺2 𝑠 1+𝐻 𝑠 𝐺1 𝑠 𝐺2 𝑠

Please go through the derivation of this control system.

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 Block Diagram Reduction
Combining series blocks

Combining parallel blocks

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 Block Diagram Reduction
Moving a branch point ahead of the block

Moving a branch point behind the block Very helpful simplifications but not quite intuitive

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 Block Diagram Reduction
Moving a summing point ahead of the block

Moving a summing point behind the block Very helpful simplifications but not quite intuitive

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 Block Diagram Reduction
Eliminating a feedback loop

Results in greater simplifications – knock out punch!

Pay special attention to +/-

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 Bode Plots
Bode Plot shows gain and phase response of Linear Time Invariant System for different frequencies.
Helps in visualizing magnitude and phase response of the system for a wide range frequencies.
Magnitude Plot - Magnitude |𝐺𝑣 𝑗𝜔 |𝑑𝐵 (y-axis) is plotted against logarithmic frequency scale (x-axis)

Helps visualize transfer function

𝑃2 𝑉2
𝑑𝐵 = 10 log10 𝑑𝐵 = 20 log10
𝑃1 𝑉1
Phase Plot – Phase angle ∠𝐺𝑣 𝑗𝜔 (y-axis) is plotted against logarithmic frequency scale (x-axis)

Helps understand system stability – phase/gain margin

We will revisit this shortly.

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 Open-loop control system
❑ A control system in which system the output is directly controlled by the input.
❑ Input is not dependent on the plant output.
❑ They do not contain any feedback and are also called as non-feedback control systems.
❑ Open-loop control system are like feed-forward control system.
❑ Feed-forward control systems require sophisticated plant models

Advantages – simple, cheap, easy to develop and implement, stable

Disadvantages – error prone, not suitable for dynamic plants
Applications – simple processes - washing machine, dishwasher, sprinkler system etc.

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 Closed-loop control system
❑ A control system in which input is adjusted according to plant output.
❑ They contain a feedback and are also called as feedback control systems.
❑ Designed to attain and maintain desired output level by means of error signal.
Advantages – accurate, resilient to noise
Disadvantages – expensive, complicated, unstable
Applications – complex processes such as cruise control.

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 First-Order Control System
Standard form of 1st order control system transfer function is given as follows:

𝑌 𝑠 1
=𝐾
𝑅 𝑠 𝜏𝑠 + 1

𝐾 − Steady-state gain
𝜏 − Time constant

Is there any feedback in this control system?

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 Time Delay
Standard form of 1st order control system transfer function with time delay is given as follows:

𝑌 𝑠 𝑒 −𝜃𝑠
=𝐾
𝑅 𝑠 𝜏𝑠 + 1

𝐾 − Steady-state gain
𝜏 − Time constant
𝜃 − Delay

𝑡−𝜃 𝑡−𝜃
− 𝜏 − 𝜏
𝑦 𝑡 = 𝑦0 𝑒 + 𝐾𝑀 1 − 𝑒 𝑢 𝑡−𝜃

Derived using following Laplace Transform pair: Time-shifting property of Laplace Transform
𝑓 𝑡 − 𝜏 𝑢(𝑡 − 𝜏) ↔ 𝑒 −𝜏𝑠 𝐹(𝑠)

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 Gain Margin
The amount of gain that can be increased without making the system unstable.
Gain margin can be considered a buffer zone that separates a stable system from becoming an unstable system.
It’s a relative measure of stability – systems with large margins are more stable than ones with less margins.
Imagine you are planning to go on a vacation.
Will you carry exact cash that you expect to spend, or will you add some margin for unplanned expenses/outings?
Margins are designed into control systems in order to account for uncertainties.
Step # 1 – Calculate 𝜔180 frequency as shown below.
∠𝐺 𝑗𝜔180 = −1800
Step # 2 – Calculate the gain margin using following formula.
𝐺𝑀 = −20 log10 𝐺 𝑗𝜔180

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 Phase Margin
The amount of phase that can be increased without making the system unstable.
Phase margin can be considered a buffer zone that separates a stable system from becoming an unstable system.
It’s a relative measure of stability – systems with large margins are more stable than ones with less margins.
Step # 1 – Calculate the 𝜔0𝑑𝐵 frequency.
|𝐺 𝑗𝜔0𝑑𝐵 | = 1
Step # 2 – Calculate the phase angle at 𝜔0𝑑𝐵 frequency.
∠𝐺 𝑗𝜔0𝑑𝐵
Step # 3 – Calculate the phase margin using following formula.
𝑃𝑀 = 1800 + ∠𝐺 𝑗𝜔0𝑑𝐵

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 Second-Order Control System
Standard form of 2nd order control system transfer function is given as follows:
𝑌 𝑠 𝐾𝜔𝑛2
= 2
𝑅 𝑠 𝑠 + 2𝛾𝜔𝑛 𝑠 + 𝜔𝑛2
Important to bring the function into standard form.
𝜸 − Damping ratio
𝛾 < 1 underdamped system
𝛾 = 1 critically damped system
𝛾 > 1 overdamped system
𝝎𝒏 − Undamped natural frequency when 𝛾 = 0
𝝎𝒅 − Damped natural frequency = 𝜔𝑛 1 − 𝛾 2

𝝎𝒓 − Damped resonant frequency = 𝜔𝑛 1 − 2𝛾 2

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 Key parameters of underdamped 2nd Order System
Peak Time
𝜋
𝑡𝑝 =
𝜔𝑛 1 − 𝛾 2
Peak Value
1−𝛾 2
𝑀𝑝 = 1 + 𝑒 −𝜋𝛾/

% Overshoot
1−𝛾2
% 𝑂𝑆 = 100𝑒 −𝜋𝛾/
Logarithmic Decrement
2𝜋𝛾
𝛿=
1 − 𝛾2
2% settling time
4
𝑇𝑠 =
𝛾𝜔𝑛
Period of oscillation
2𝜋
𝜏=
𝜔𝑑

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 Final value theorem
According to the final-value theorem: lim 𝑓(𝑡) = lim 𝑠𝐹(𝑠) Where did we see this before?
𝑡→∞ 𝑠→0
𝑅 𝑠
𝑒𝑠𝑠 = lim 𝑒(𝑡) = lim 𝑠𝐸(𝑠) = lim 𝑠
𝑡→∞ 𝑠→0 𝑠→0 1+𝐺 𝑠
Feedback control systems are more expensive as compared to feedforward control systems due to overhead.
But we allow us to minimize the steady-state error which should ideally be 0.

FVT is easier than the Type-Table provided in the handbook

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