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Set point problem reference value is constant (Does not change frequently) Stability Primary requirement
y (t ) yr (t ); t t0
Input amplitude constraints Linearity assumption will be invalid if amplitude
Settling time should be less Speed of response will be better of various signals go beyond certain value
Steady state accuracy
Disturbance rejection Effects of disturbance should be properly filtered out
w N(s) Noise filtering Sensor introduces high frequency noise into the system
u +
r + + y Shaping the dynamic response
D(s) G(s)
Very less value of damping ratio is not allowed due to input amplitude
- constraints
b
System may become non-linear or may damage some components
H(s)
High damping ratio is also not allowed due to large settling time
3 4
FEEDBACK CONTROL SYSTEM
CONTROL OBJECTIVES
CHARACTERISTICS
Sensitivity and Robustness
Sensitivity
System has modelling errors because it is assumed to be linear model
Let J be system performance measure
Test your design for various possibilities of modelling errors which can
be system parameter
occur
More complex model Design algorithm will be more complex
n
Parameters changes with time Test your design under parameter changes
Robustness design works satisfactorily for finite amount of changes in Jn J( n)
model (whether they are due to modelling errors or due to parameter
J
variations) J( ) J( n ) J( n) n
..........
Sensitivity If changes are differentially small, system has good
sensitivity i.e., it is insensitive to parameter variations Sensitivity is the ratio of % change in J(system performance) to the %
change in (system parameter)
J / Jn J
SJ n
/ n n
Jn
5 6
9 10
Y ( s) DG
1
V ( s) 1 DG v
(high frequency signal)
11
FEEDBACK CONTROL SYSTEM FEEDBACK CONTROL SYSTEM
CHARACTERISTICS CHARACTERISTICS
Shaping the dynamic response We can shape the dynamic response as we like in open loop system also
First cancel the poles of G(s) and then keep the prescribed poles
Y (s) D( s )G ( s )
Let
R(s) 1 D( s )G ( s ) H ( s )
1 1
D( s) * 2 2
Let D1 ( s ) G1 ( s ) H1 ( s) G ( s) ( s 2 n s n )
D( s ) , G ( s) , H (s) r D(s) G(s) y
D2 ( s) G2 ( s ) H 2 (s) Y ( s) 1
Y ( s) D1G1 H 2 R(s) (s 2 2 n s n
2
)
R( s) D2 G2 H 2 D1G1 H1 We never go for this solution because D(s) can cancel the poles of G(s) model,
Open loop dynamics is guided by G2(s) because it will give poles of G(s) not the actual plant
Since pole locations of G(s) is not acceptable, we are trying to reshape the So, there exists an error b/w actual output and reference output because of
dynamic response imperfect cancellation
By suitable design of D1 and D2, pole locations of closed loop system can be Since D(s) is not intelligent in open loop, errors will keep on building and
changed and hence dynamic response of the system can be reshaped as per causes instability
requirement