FUNDAMENTALS OF

CONTROL SYSTEMS

LECTURE 5:
FEEDBACK CONTROL SYSTEM
CHARACTERISTICS
 OPEN-AND CLOSED-LOOP
CONTROL SYSTEMS

An open-loop system operates without

feedback and directly generates the output in
response to an input signal.

A closed-loop system uses a measurement of
the output signal and a comparison with the
desired output to generate an error signal that
is applied to the actuator.
 R(s) + Ea(s)
R(s) C(s) G(s) C(s)
G(s)

Open-loop control H(s)

system
Closed-loop control
C(s)=G(s)R(s) system

C ( s ) = G ( s ) Ea ( s) = G ( s)[ R( s ) − H ( s )C ( s )]
G (s)
C (s) = R( s)
1 + G ( s) H ( s)
1
Ea ( s ) = R( s)
1 + G (s) H (s)
 Sensitivity to
Parameter Variations
•A process, represented by G(s), is subject to a changing
environment, aging, ignorance of the exact values of the process
parameters. In the open-loop system, all these errors and changes
result in a changing and inaccurate output.
•However, a closed-loop system senses the changes in the output
due to process changes and attempts to correct the output.
•Consider a change in the process as: G ( s ) + ∆G ( s )

In the open-loop case, the change in the

output is: ∆C ( s ) = ∆G ( s ) R( s )
G ( s ) + ∆G ( s )
In the closed-loop C ( s ) + ∆C ( s ) = R( s )
1 + (G ( s ) + ∆G ( s )) H ( s )
system:
∆G ( s )
∆C ( s ) = R( s)
(1 + G ( s ) H ( s ) + ∆G ( s ) H ( s ))(1 + G ( s ) H ( s ))
If G ( s ) H ( s )

∆G ( s ) H ( s ), The change in the output of the
∆G ( s ) closed-loop system is reduced by a
∆C ( s ) = R ( s )
(1 + G ( s ) H ( s )) 2 factor [1+G(s)H(s)]2, which is
greater than one over the range of
frequencies of interest.
System Sensitivity: Ratio of the percentage change in
the system transfer function to the percentage change of
the process transfer function.
∆T ( s ) ∂T
C (s) T ( s) In the limit, for
S = T = ∂T ⋅ G
T ( s) = ⇒ S= small incremental ∂G ∂G T
R( s) ∆G ( s ) G
G ( s ) changes

Clearly, sensitivity of the open-loop system is equal

to one.
 G ∂T G 1 G 1
T ( s) = ⇒ SGT = ⋅ = ⋅ =
1 + GH ∂G T (1 + GH ) 2 G 1 + GH
(1 + GH )
Result: Sensitivity of the system may be reduced below
that of the open-loop system by increasing G(s)H(s) over
the frequency range of interest.
The sensitivity of the feedback system to changes in
the feedback element H(s) is
2
∂T H  G  −H − GH
S HT = ⋅ =  ⋅ =
∂H T  1 + GH  G 1 + GH
(1 + GH )
When GH is large, the sensitivity approaches unity and the
changes in H(s) directly affect the output. Therefore it is
important to use feedback components that will not vary with
environmental changes.
 DISTURBANCE SIGNALS IN A
FEEDBACK CONTROL SYSTEM
A disturbance signal is an unwanted input signal that
affects the system’s output signal. As a steel bar
approaches the rolls, the rolls turn unloaded. However,
when the bar engages with the rolls, the load on the rolls
increases immediately to a large value. This loading effect
can be approximated by a step change of disturbance
torque.
Td(s)
Rolls
Va(s + 1 Ia(s) Tm(s) TL(s) Spee
K 1 d
Steel bar ) Ra m
Js+B
+ W(s)

Conveyor
Motor back emf Kb

Open-loop speed control system

The error for the system is E(s)= R(s)-w(s) and
R(s)=wd(s). For simplicity in calculation, let R(s)=0, and
examine E(s)=-w(s).
The change in speed due to the load
disturbance is

 1 

E ( s ) = −ω ( s ) =  Td ( s )
 Js + B + (K m K b Ra ) 

D D
Td ( s ) = ⇒ lim E (t ) = lim sE ( s) = = −ω o (∞)
s t → ∞ s → 0 B + (K m K b Ra )
 Td(s)
Amplifie
Va(s)+ r + Km Tm(s) TL(s) Spe
Ka 1 ed
Ra + Js+B W(s)

Kb
Tachomet
er
Kt

Closed-loop speed control

system
G2 ( s)
E ( s) = −ω ( s ) = Td ( s)
1 + G1 ( s )G2 ( s ) H ( s )
K K 1
G1 ( s ) = a m , G2 ( s ) = , H ( s ) = K t + (K b K a )
Ra Js + B
 D
If Td ( s) = and R ( s) = 0
s
−1 D
ω (s) =
Js + B + (K m Ra )(K t K a + K b ) s
−1
lim ω (t ) = lim sω ( s ) = D
t →∞ s →0 B + (K m Ra )(K t K a + K b )

When the amplifier gain Ka is sufficiently

high,
− Ra
ω (∞ ) ≅ D = ω c (∞ )
Ka K m Kt
ω c (∞) Ra B + K m K b
=
ω 0 (∞ ) K a K m Kt
 The Cost of Feedback

Increased number of components and complexity.

Loss of gain: Open-loop gain is G(s) and is reduced to
G(s)/(1+G(s)) in a unity negative feedback system. We may need
an amplifier to increase the gain of the feedforward path.

Possibility of instability. Whereas the open-loop system is stable,
the closed-loop system may not be always stable.
 EXAMPLE
D(s) Plot the unit-step input
R(s) + + 1 response and response to
E(s C(s)
) K + s( s + 12) unit-step disturbance of
the system
For i) K=50 and
ii)K=100.
C ( s ) = T ( s ) R( s ) + Td ( s) D( s )
Compare the results.
KG ( s ) G ( s)
= R( s) + D( s )
1 + KG ( s) 1 + KG ( s )
K 1
= 2 R( s) + 2 D( s)
s + 12s + K s + 12s + K
Disturbance response for both K values is acceptable, but
step-input response has less overshoot for K=50 and the
settling time is one second. For K=100, overshoot is
greater and settling time is about 0.65 seconds.
 D(s)
+ Compare the open-
K (s +1)(s + 3) 1 C(s)
loop and closed-loop
s 2 + 4s + 5 + (s +1)(s + 3)
control systems for
i) sensitivity relative
Open-loop control of Mars to K ii) Unit-step
Rover D(s) disturbance
+
R(s)+ 1 C(s)
K K
+ (s +1)(s + 3) To ( s ) = 2
s + 4s + 5
K
Tc ( s ) = 2
Closed-loop control of Mars s + 4s + 3 + K
Rover
For K=2, T ( s ) = To ( s ) = Tc ( s ) = 2
s2 + 4s + 5
Hence we can compare the sensitivity of the open-
loop and closed-loop systems for the same transfer
function.
dT K
S KT0 = o =1 To examine the effect of the
dK To
sensitivity at low frequencies,
dTc K s + 4s + 3
2
let s=jw
SK =
Tc
= 2 ( 3 − ω 2
) + 4 jω
dK Tc s + 4s + 3 + K SK =
Tc

(3 + K − ω 2 ) + 4 jω

K ≅ 0.6 is
Tc
For K=2, the sensitivity at low frequencies, Sw<0.1
The effect of disturbance can be determined by setting
R(s)=0 and letting D(s)=1/s. For the open-loop
system, the steady-state value is
 1 1 1
y ( ∞ ) = lim s  =
s→0
 ( s + 1)( s + 3)  s 3
The output of the closed-loop system with a unit step
disturbance is
 1 1 1
y ( ∞ ) = lim s 2  =
s→0
 ( s + 4 s + 3 + K )  s 3+ K
For 1
y( ∞ ) =
K=2, 5