Notes On Control Systems 02
Notes On Control Systems 02
[Ans]
(a) (b)
[Answer]
{Answer}
……………………………………………. (1)
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For input R2:
……………………………………………. (2)
{Answer}
X a Y
where ‘a’ is called transmittance or transmission function.
Definitions in SFG
Node – A system variable, the value of which equals the sum of all incoming signals at the node.
Branch – A directed line segment joining two nodes.
Input/ Output node – node having only one outgoing/ incoming branch.
Path – A traversal of connected branches in the direction of branch arrows.
Forward path – A path from input to output node.
Loop – A closed path that originates and terminates on the same node.
Self-loop – A loop containing one branch.
Non-touching loops – Loops which do not have a common node.
Gain – Transmittance of a branch.
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Construction of SFGs
The SFG of a system can be constructed from the describing equations:
x2 =
a12x+
1 a32x3
x3 =
a13x+
1 a2+
3x2 a33x3
x4 =
a24x+
4 a34x3
Each variable in the block diagram becomes a node, and each block becomes a branch.
Mason’s Gain Formulae
It is possible to write the overall transfer function of a system through inspection of SFG using
Mason’s gain formulae given by, T = (∑ Pi ∆i ) / ∆ .
i
where T = overall gain of the system, Pi = path gain of ith forward path, ∆ = determinant of SFG,
∆ i = value of ∆ for that part of the graph not touching the ith forward path.
∆ = 1 − ∑ Pj1 + ∑ Pj 2 − ∑ Pj 3 + L = 1 – [sum of loop gain of all individual loops] + [sum of all
j j j
; ;
∆ 3 = ∆4 = ∆5 = ∆6 =1
P ∆ + P2 ∆2 + P3 ∆3 + P4 ∆4 + P5 ∆5 + P6 ∆6
Thus, T = 1 1 , where P1 , ∆1 , ∆ etc. are derived before.
∆
Example
Draw the SFG and determine C/ R for the block diagram shown in Figure below.
{Answer}
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Example
For the system represented by the following equations, find the transfer function X(s)/U(s) by
SFG technique.
x = x1 + α3u
We need to Laplace transform the given sets of equations
x&1 = − β1 x1 + x2 + α2 u in order to represent differentiated variables.
x2 = − β 2 x1 + α1u
&
X = X 1 + α3U
1 α
X1 = X2 + 2 u
s + β1 s + β1
β2 α
X2 = − X1 + 1 u
s s
X ( s) α1 + α 2 s + α 3 ⋅[ s 2 + β1s + β 2 ]
= {Answer}
U ( s) s2 + β1 s + β 2
Example
Using Mason’s gain formulae find C/R of the SFG shown in Figure below.
T ∆µ H T ∆µ ∆H G (1 + GH ) 2
1 + GH
It is seen that, the magnitude of two sensitivities are nearly equal for the variation of parameter
in the feedback path. Thus, feedback does not reduce the sensitivity to variation in the parameter
in feedback path.
Therefore, we can conclude that, G(s) in a closed-loop system may be less rigidly specified. On
the other hand, we must be careful in accuracy of H(s) in the feedback loop.
The impulse response for the non-feedback system would be, c(t ) = Ke− µ t u (t ) = Ke− t /τ1 u (t ) .
K
The closed-loop transfer function of the above system is, T ( s ) = .
s+µ+K
The impulse response of the closed-loop system is, c ( t ) = Ke− ( µ +K )t u ( t ) = Ke− t /τ 2 u (t ).
The location of the pole and the dynamic response of the non-feedback and feedback system are
shown in Figure below.
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It is seen that the time-constant of open-loop system is τ 1 = 1/ µ and that of closed-loop system
is τ 2 = 1/ ( µ + K ) . As the time-constant of closed-loop system is less, its dynamic response is
faster than the same of the open-loop system.
Cd ( s ) −G2 ( s ) −1 −Td ( s )
= ≅ ; or, Cd ( s) =
Td ( s) 1 + G1 ( s )G2 ( s ) H ( s ) G1 ( s ) H ( s) G1 ( s) H ( s )
If G1 ( s ) is made very large, the effect of disturbance on the output will be very small.
B. Disturbance in the feedback path
Cn ( s ) −G1 ( s )G2 ( s) H 2 ( s) −1
= ≅
N ( s ) 1 + G1 ( s)G2 ( s ) H1 ( s) H 2 ( s) H1 ( s )
−1
Therefore, the effect of noise on output is, Cn ( s ) ≅ ⋅ N (s) .
H1 ( s )
Thus, for the optimum performance of the system, the measurement sensor should be designed
such that H1 ( s) is maximum. This is equivalent to maximizing the SNR of the sensor.
4. Regenerative Feedback
The regenerative feedback is sometimes used for increasing the loop gain of the feedback
system. Figure in the following shows a feedback system where regenerative feedback occurs in
the inner loop.
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G(s)
The open-loop gain is, Go ( s ) = .
1 − Ga ( s)
R ( s) ⋅ G ( s) /1 − Ga ( s ) R( s) ⋅ G ( s)
The system response is obtained as, C ( s ) = =
1 + Ga ( s )G ( s ) /1 − Ga ( s ) 1 − Ga ( s ) + G ( s ) H ( s)
R( s )
When, Ga ( s ) ; 1 , C ( s ) ≅ . Due to high loop gain provided by the inner regenerative
H (s)
feedback loop, the closed-loop transfer function becomes insensitive to G(s).
Example
A position control system is shown below. Assume, K=10, α = 2 , β = 1 . Evaluate: S K , Sα , S β .
T T T
For r (t ) = 2 cos 0.5t and a 5% change in K , evaluate the steady-state response and the change in
steady-state response. K
Here, G ( s ) = , and H ( s ) = β
s(s + α )
K dG 1
S KG = ⋅ = s(s + α ) ⋅ = 1;
G dK s( s + α )
α dG −α −2 β dH
; Sβ = ⋅ =1
H
SαG = ⋅ = =
G dα s + α s + 2 H dβ
S KG s( s + α ) s 2 + 2s
S KT = = = 2
1 + G ( s ) H ( s ) s ( s + α ) + K s + 2 s + 10
SαG −α s(s + α ) −2 s
Therefore, Sα = = ⋅ = 2
T
1 + G ( s) H ( s ) s + α s( s + α ) + K s + 2 s + 10
− S βH ⋅ G ( s ) H ( s) −K −10
S = T
β = = 2
1 + G ( s) H ( s ) s ( s + α ) + K s + 2 s + 10
K 10
Now, T ( s ) = = 2 ; At s = j 0.5 , T ( j 0.5) = 1.02e − j 0.102
s + α s + K β s + 2 s + 10
2
K ∆T ∆T ∆K s 2 + 2s
Again, S KT = ⋅ ⇒ = SKT ⋅ = 2 ⋅ 0.05
T ∆K T K s + 2 s + 10
s 2 + 2s 10 0.5s ( s + 2)
⇒ ∆T ( s ) = 2 × 0.05 × 2 = 2 2 ;
⇒ ∆T ( j 0.5) = 0.005e − j 4.672
s + 2 s + 10 s + 2 s + 10 ( s + 2 s + 10)
Thus, ∆css (t ) = ∆T ( j 0.5) × 2 cos 0.5t = 0.01cos(0.5t − 4.672) {Answer}