Session 5

Introduction to controller design

and simulation
by

Ian K Craig

24-08-98

Ian K Craig

S5w-1

Single-input-single-output (SISO)
feedback systems
u(s)

e(s)

r(s)
+

k(s)

y(s)
g(s)

Closed-loop system
y(s) = c(s) r(s)
g(s)k(s)
c(s) = 1 + g(s)k(s)

Stability (FDLTI systems)

Closed-loop system is stable if and only if the poles
of c(s) lie in the left-half of the s-plane.
Need other tools to test stability of time-delay
systems
- Pade approximations with Routh-Hurwitz
- Nyquist stability criterion

24-08-98

Ian K Craig

S5w-2

Performance of SISO feedback systems

I
d(s)
r(s)

e(s)
-

u(s)

k(s)

g(s)

y(s)

+
+

n(s)

Control objective: want the plant output y(s) to

follow the set-point r(s) by manipulating the plant
input u(s). This must be done in spite of
disturbances d(s) and sensor noise n(s).
Output signal behaviour: want
y(s) =

g(s)k(s)
1 + g(s)k(s)

1
1 + g(s)k(s)

g(s)k(s)
1 + g(s)k(s)

d(s)

n(s)

r(s)

y(t) r(t)

: contribution of set-point

: contribution of disturbance

: contribution of sensor noise

Note: y(s) = c(s)r(s) + s(s)d(s) - c(s)n(s)

24-08-98

Ian K Craig

S5w-3

Performance of SISO feedback systems

II
Important transfer functions
Loop transfer function: t(s)
t(s) = g(s)k(s)

Sensitivity transfer function: s(s)

s(s) = [1 + t(s)]-1 =

1
1 + g(s)k(s)

Closed-loop transfer function: c(s)

c(s) = [1 + t(s)]-1t(s) =

24-08-98

Ian K Craig

g(s)k(s)
1 + g(s)k(s)

S5w-4

Performance of SISO feedback systems

III
True error signal: ereal(s) = r(s) - y(s)
Error signal behaviour: want e(t) 0
e(s) =

1
g(s)k(s)
[r(s) - d(s)] +
n(s)
1 + g(s)k(s)
1 + g(s)k(s)

Performance equation:
e(s) = s(s)[r(s) - d(s)] + c(s)n(s)

Want: s(s) = 0

and

c(s) = 0

Fundamental limitation:
s(s) + c(s) = 1
or
1
g(s)k(s)
=1
+
1 + g(s)k(s) 1 + g(s)k(s)

24-08-98

Ian K Craig

S5w-5

Set-point following
Performance equation:
e(s) = s(s)[r(s) - d(s)] + c(s)n(s)

For good set-point following make

s(j ) << 1
r

Frequency range in which the set-point

signal contains energy

or
g(j )k(j ) = t(j ) >> 1 r

24-08-98

Ian K Craig

S5w-6

Disturbance rejection
Performance equation:
e(s) = s(s)[r(s) - d(s)] + c(s)d(s)

For good disturbance rejection make

s(j ) << 1 d
or

g(j )k(j ) >> 1

d

24-08-98

Frequency range in which the disturbance

signal contains energy

Ian K Craig

S5w-7

Comment
Good set-point following and good disturbance
rejection are obtained by fulfilling similar
requirements
p = r d

Large loop gain

t(j) >> 1

Small sensitivity
s(j) << 1

Flat closed-loop response

c(j) 1

24-08-98

Ian K Craig

S5w-8

Insensitivity to sensor noise

Performance equation:
e(s) = s(s)[r(s) - d(s)] + c(s)n(s)

For good sensor noise rejection make

c(j ) << 1
n

Frequency range in which the noise input

signal contains energy

Conflict with performance

large sensitivity n

Bad set-point following and disturbance rejection

in the frequency region n
Follow from
s(s) + c(s) = 1

24-08-98

Ian K Craig

S5w-9

Implications for design

Need a wide frequency separation between
the sets p = r d and n
Can not do good disturbance rejection and setpoint following with sensors that generate low
frequency error signals (drift, bias)
Robust stability in the face of:
- unmodeled high frequency dynamics
- far-away non-minimum phase zeros
- neglected small time-delays
influence design the same as the region n

24-08-98

Ian K Craig

S5w-10

Ideal case I
Loop transfer function
40

20

dB

-20

-40

-60
-2
10

-1

10

10
frequency in rad/sec

10

10

Sensitivity transfer function

0

dB

-10

n
p

-20

-30

-40
-2
10

-1

10

10
frequency in rad/sec

10

10

Closed-loop transfer function

p
0

p
n

dB

-10

-20

-30

-40
-2
10

24-08-98

10

-1

10
frequency in rad/sec

10

10

Ian K Craig

S5w-11

Ideal case II
close loop around integrator

e(s)

r(s)
+

y(s)

k
g ( s )k ( s ) =
s

Loop transfer function

t ( s ) = g ( s )k ( s ) =

k
s

k ( s) =

1 k
g( s ) s

Sensitivity transfer function

s( s ) =

1
s
=
1 + g( s )k ( s ) s + k

Closed-loop transfer function

c( s ) =

1
g ( s )k ( s )
=1
1 + g( s )k ( s ) k s + 1

Question: What prevents perfect plant inversion?

24-08-98

Ian K Craig

S5w-12