Chapter 5 The Performance of Feedback Control

Systems
• The performance of the control system is specified in terms
of both the transient response and stead-state response.

- The transient response is the response that disappears

with time.
- The steady-state response is that which exists a long time
following any inputs signal initiation.

1
Chapter 5 The Performance of Feedback Control
Systems

• The ability to adjust the transient and steady-state performance

is a distinct advantage of feedback control system.

• The design specifications for control systems normally include

several time-response indices for a specified input command
as well as a desired steady-state accuracy.

2
 Engineering, or the Art of Achieving the Optimal
Compromise
The specifications of the system are often results of a compromise.

p p

3
 Test Input Signals
•The time-domain performance specifications are important
because the control systems are inherently time-domain system.
• In general, a standard test input signals are used. The standard
test input signals commonly used are:

Y(s)=T(s)R(s)
Step input Ramp input Parabolic input
Ec ( s ) = (1 − T ( s )) R( s )
r (t ) = A r (t ) = At r (t ) = At 2
A A
R( s) = R( s) = 2 2A
R( s) = 3
s s s 4
 A Unit Impulse Function
A unit impulse function δ (t ) is also useful for test signal purpose.

For unit impulse function: r (t ) = δ (t ) R( s) = δ ( s ) = 1

The unit impulse function δ (t ) has the following properties:

∞ ∞
∫−∞
δ (t )dt = 1 ∫
−∞
δ (t − a ) g (t )dt = g (a )

Why?

5
 A Unit Impulse Function
The unit impulse function is based on a rectangular function
fε
1 ε ε (ε → 0, t → 0)
 , − ≤t≤ ; 1/ε
f ε (t ) =  ε 2 2
 0, otherwise, fε (t ) ≈ δ (t ) -ε/2 ε/2
t

∞ ∞ 1 ε /2
∫−∞ δ (t )dt lim
= =∫
ε → 0 −∞
f ε (t )dt lim
= ∫
ε → 0 − ε /2 ε
dt 1
fε
1 ε ε (ε → 0, t → a ) 1/ε
 , − ≤t −a ≤ ; a
f ε (t − a ) =  ε 2 2
 0, otherwise, f ε (t − a ) ≈ δ (t − a) t
-ε/2 ε/2

6
 A Unit Impulse Function
1 ε ε
 , − ≤t −a ≤ ; (ε → 0, t → a ) fε
f ε (t − a ) =
a
ε 2 2 1/ε
 0, otherwise f ε (t − a ) ≈ δ (t − a) -ε/2 ε/2 t

∞
∫− ∞ δ (t − a ) g (t )dt = lim ∫−∞∞ f ε (t − a ) g (t )dt
ε →0
= lim [ ∫−a∞−ε / 2 0 ⋅g (t )dt + ∫aa−+εε //22 f ε (t − a ) g (t )dt + ∫a∞+ε / 2 0 ⋅g (t )dt ]
ε →0
a +ε / 2 1 a +ε / 2 1
= lim ∫
ε →0 a −ε / 2 ε
g (t ) dt = g (a ) lim ∫
ε → 0 a −ε / 2 ε
dt = g (a)

∞
∫− ∞ δ ( t − a ) g (t )dt = g ( a )
7
A Unit Impulse Function
t
y (t ) = ∫ g (t − τ )r (τ )dt =  −1{G ( s ) R ( s )}.
−∞

r (τ ) ⇒ δ (τ )
t
∫−∞ g (t − τ )δ (τ )dt =g (t ) {if τ =0}
t
=
y (t ) ∫
−∞
g (t − τ )δ ( τ )dt =

For R(s)=δ(s)=1 Y ( s) = G ( s) R( s) = G ( s)

8
 Response of a second-order system

ωn2
G( s) s ( s + 2ζωn )
Y ( s) = R( s) = R( s) for a step input R(s)=1/s
1 + G( s) ωn 2
1+
s ( s + 2ζωn )
ωn2 ωn2 1
= 2 R( s) = 2
s + 2ζωn s + ωn
2
s + 2ζωn s + ωn2 s

9
 Response of a second-order system
ωn2
Transfer function: T ( s) = 2
s + 2ζωn s + ωn2
Characteristic equation: s 2 + 2ζωn s + ωn2 = 0

s1, 2 = −ζωn ± jωn 1 − ζ

Im(s )
Poles: 2

ωn 1−ζ 2

− ζω n Re(s )
cos −1 ζ

Time domain response requirements

can be translated into pole positions
Oscillation
frequency
10
Response of a second-order system for a step input
ωn2
Transfer function: T ( s) = 2
s + 2ζωn s + ωn2
Laplace transform of step response (assuming zero states at t=0):
1 ωn2 1
=
Y ( s ) T=
(s)
s ( s 2 + 2ζωn s + ωn2 ) s
By the inverse Laplace transform one can get the step
response in time: ( or we can use the Table 2.3, directly)
1 − e −ζωnt sin(ωn 1 − ζ 2 t + cos −1 ζ ) / 1 − ζ 2
y (t ) =

natural frequency oscillation/vibration

frequency
damping ratio 11
12
Influence of Damping Ratio on Step Response

e −ζω nt sin(ω n βt + θ ),
1
y (t ) = 1 −
β
Figure 5.5 (a) Transient response of a second-order system for a step input.
(b) The transient response of a second-order system for a step input as a
13
function of ζ and ωn t .
 Natural Frequencies
• For an under-damped system, the step response will be:
1 −ζω nt 0 <ζ <1
y (t ) = 1 − e sin(ω n βt + θ ),
β
β
= 1− ζ 2 , θ = cos −1 ζ ⇒ cos θ = ζ
θ
sin θ = 1 − cos 2 θ = 1 − ζ 2 = β
1
τ = (time constant)
ζωn
ωn 1 − ζ 2 (oscillation/vibration frequency)

14
Performance specifications of a second-order system to
a sept input 1 −ζω t
y (t ) = 1 − e n sin(ω n βt + θ ), (0 < ζ < 1)
β
M p − fv
Percent Overshoot = × 100
fv

(usually corresponding
response within 2%)

16
 Setting Time
e −ζω nt sin(ω n βt + θ ),
1
y (t ) = 1 −
β
corresponding to 2% of input
e−ζωnt sin(ωn β t + θ ) ≤ 0.02
1
y (t ) − 1
β
−ζωnTs sin(ωn βt + θ )
e ≤ 0.02 β = 1 − ζ 2 = 1 − cos 2 θ = sin θ
β
sin(ωn βt + θ ) 0 sin x
( β → 0,sin θ → 0, θ → 0 ⇒ = ⇒ lim =
1)
β 0 x → 0 x
−ζω nTs
e < 0.02 ⇒ ζωnTs ≅ 4.
4
Ts = 4τ = . {τ = 1 /(ζω n )}
ζω n
17
 Peak Time and Peak Value
1
1 − e − ζωnt sin(ωn βt + θ ),
y (t ) = β=
1− ζ 2 , (0<ζ < 1)
β
dy (t ) ωn −ζωnt
= e sin ωn β t 0 t =T ?
dt β p

dy (t ) ζωn −ζωn t ωn β −ζωnt

= e sin(ωn βt + θ ) − e cos (ωn βt + θ )
dt β β
ω
= n e −ζωn t [ζ sin(ωn βt + θ ) − β cos (ωn βt + θ )]
β
θ = cos −1 ζ ⇒ cos θ = ζ sin θ = 1 − cos 2 θ = 1 − ζ 2 = β
dy (t ) ωn −ζωn t
= e [ sin(ωn βt + θ )cosθ − sin θ cos (ωn βt + θ )]
dt β
ωn −ζωnt ωn −ζωnt
= e [ sin(ωn βt + θ − θ )] = e sin ωn βt
β β
18
 Peak Time and Peak Value
dy (t ) ωn −ζωnt
= e sin ωn β t 0 t =T
dt β p

sin ωn β T p = 0 ⇒ ωn β T p = nπ , n = 0,1, 
π π
=
for n 1 =
Tp =
ωn β ωn 1 − ζ 2
πωn β
1 −ζωnT p ωn β
T p= = π
Mp =
y (T p ) =
1− e sin(ωn β T p + θ ), ωn β
β
−ζωnT p sin (π + θ ) −ζωnT p sin θ θ = cos −1 ζ ⇒ cos θ = ζ
= 1− e = 1+ e ,
β −ζπ
β sin θ = 1 − cos 2 θ = 1 − ζ 2 = β
−ζωnT p 1−ζ 2
M pt = 1 + e = 1+ e −ζπ
M pt − fV 1−ζ 2
P.O. = × 100% P .O . = 100e
fV 19
Transient performance of a second-order system to sept input
Characteristic equation: s 2 + 2ζωn s + ωn2 = 0 Poles: s1, 2 = −ζωn ± jωn 1 − ζ 2
• Swiftness of response: rise time and peak time
π π
Tp = , Tpωn =
ωn 1−ζ 2 1−ζ 2
• Closeness of response: overshoot and settling time
−ζπ / 1−ζ 2
M pt = 1 + e
δ = 4
With 0.02 f v then Ts = 4τ = .
ζω n Note e - 4 ≈ 0.02

Thus the damping determines the overshoot, and

the real part of the root sets the settling time.

20
Transient performance of a second-order system to sept input
When 0 < ζ < 1
π
T pωn =
1−ζ 2

−ζπ / 1−ζ 2
M pt = 1 + e

21
Transient performance of a second-order system to sept input

Fixed damping ratio ζ= 0.2 22

Transient performance of a second-order system to sept input

The step response for ωn = 5 with ζ = 0.7 and ζ = 1.

23
Transient performance of a second-order system to sept input
Normalized rise time

24
Step response of a second-order system
1 −ζωnt
y (t ) =
1− e sin(ωn β t + cos −1 ζ ), β=
1 − ζ 2 0<ζ < 1
β
M p − fv
Percent Overshoot = fv
× 100

25
Step Response of Second Order Systems -Summary
1 ωn2
(S-domain) Y ( s) = T ( s) =
s s ( s 2 + 2ζωn s + ωn2 )
1 −ζωnt
(Time-domain) y (t ) =
1− e sin(ωn β t + cos −1 ζ ), β=
1 − ζ 2 (0<ζ < 1)
β

4 Settling time
Ts = 4τ = ( for δ = 2% )
ζωn Percentage overshoot
−ζπ / 1−ζ 2
PO = 100e
π
Tp = Peak time
ωn 1 − ζ 2

Rise time (10% - 90%)

2.16ζ + 0.6
Tr1 ≅
ωn
26
 Example 5.1 Parameter Selection
Find K and p such that
overshoot<5%,
2% settling time<4s.
4
Ts = ( for δ = 2%) −ζπ / 1−ζ 2
ζωn P .O . = 100e
ζ = 0.707 gives overshoot of 4.3%
4
Ts = <4 ⇒ ζωn > 1 ?
ζωn
θ = cos−1 ζ = cos−1 0.707 = 450 ?
?

27
Transient performance of a second-order system to sept input
π
T pωn =
PO = 100e −ζπ / 1−ζ 2
1−ζ 2

overshoot<5%

28
 Example 5.1 Parameter Selection
Find K and p such that
overshoot<5%,
2% settling time<4s.
4
Ts = ( for δ = 2%) −ζπ / 1−ζ 2
ζωn P .O . = 100e
ζ = 0.707 gives overshoot of 4.3%
4
Ts = < 4 ⇒ ζω > 1 ?
ζωn n
θ = cos−1 ζ = cos−1 0.707 = 450 ?

29
 Example 5.1 Parameter Selection
K=? p=?

Choosing the poles at 1±j , means 4 and √

overshoot of 4.3%.
1
ζ 0.707
= ωn 1/=
= 1/ 2 and = ζ 2 ζωn = 2 =1
2
The closed-loop transfer function is then
G( s) = K ωn2 ∞ solutions
T ( s) = = 2
1 + G ( s ) s + ps + K s + 2ζωn s + ωn2
2

The specifications are then met by choosing

K = ωn2 = 2 and p = 2ζωn = 2 (Proposed design)
30
 Dominant Closed-loop Poles
1 4
Im τ = Ts = 4τ =
×
×
ζωn ζωn
× Which poles are more
o Re
− ζω n
× × important than others?
• The closed-loop poles nearest the jω axis will dominate
in the transient-response behavior because these poles
correspond to transient-response terms that decay slowly.
• Those closed-loop poles are called dominant closed-loop
poles occur in the form of a complex-conjugate pair.
• They are most important among all closed-loop poles.
• For higher order system if it have a pair of dominant roots
(or poles), it can be approximated as a second order system. 33
Effect of a Third Pole
ωn2
T ( s) =
( s 2 + 2ζωn s + ωn2 )(γs + 1) 3rd system
(ωn = 1)
Experiments show as far as
percent overshoot and settling
time are concerned, it can be
approximated by second-order
1/ γ when
ζωn
1 / γ ≥ 10 ζωn

34
 Effect of a Third Pole
ωn2
T ( s) = (5.15)
( s + 2ζωn s
2
+ ωn2 )(γs + 1)
R ( s ) = 1 / s ζ = 0.45 ωn = 1 | ζωn |= 0.45 0.45

For 2rd system: −ζπ / 1−ζ 2 4

P .O . = 100e , Ts =
ζωn
If the complex poles are
P .O . = 20% Ts = 8.9 sec .
dominant, we will have

36
 S-Plane and Transient Response

Y ( s ) ∑ Pi ( s )∆ i ( s )
T (s) = = , R( s) =
1
R( s) ∆( s) s
1 M Ai N Bk s + C k
Y (s) = + ∑ + ∑ 2 ,
s i =1s + σ i k =1 s + 2α k s + (α k + ω n )
2 2

M N
−σ i t
y (t ) = 1 + ∑ Ai e + ∑ Dk e −αk t sin(ωk t + θ k )
i =1 k =1
37
S-Plane and Transient Response

− ζω n

38
 Steady State Error
The steady state error is the steady state value of
the difference between the desired and the actual
output of the control system:
ess = e( ∞) = lim e(t )
t →∞
Using the final value theorem of Laplace transforms
(see The Laplace transform table), we can calculate
the steady state error based on the Laplace transform
of the error:
ess = lim sE (s )
s →0

39
 Steady State Error
ess = lim sE (s )
s →0
Steady State Error of an Open Loop System

E ( s ) = R( s ) − Y ( s ) = (1 − G ( s )) R ( s )
If the input was a unit step:
1
ess = lim sE ( s ) = lim s(1 − G ( s )) = 1 − G (0)
s →0 s →0 s

G (0) is the dc gain.

40
 Steady State Error
Steady State Error of a Closed-Loop System

For H (s ) = −1
1
E ( s ) = (1 − T ( s ))R( s ) = R( s)
1 + Gc ( s )G ( s )
the steady state error of the closed-loop
system

sR( s )
lim e(t ) = ess = lim sE ( s ) = lim
t →∞ s →0 s→0 1 + G ( s )G ( s )
c

41
Relationship between Steady State Error and System Type
sR( s )
ess = lim sE ( s ) = lim ( for H ( s ) = −1)
s →0 s→0 1 + G ( s )G ( s )
c
M
The general form of the open loop transfer K ∏ ( s + zi )
i =1
function of a system is given by Gc ( s )G ( s ) = Q
s N ∏ ( s + pk )
We can calculate ess k =1
for different types of N System type
standard signals Here N is known as
M
0 Type zero the system type, and
K ∏ (s + zi ) corresponds to the
1 Type 1 number of integrators
Ex: Gc (s )G (s ) = i =1
Q
in the system, or the
s 2 ∏ (s + pk ) 2 Type 2
number of poles at
k =1
origin.
Type ? 42
 Relationship between Steady State Error and System Type
sR( s )
ess = lim sE ( s ) = lim
s →0 s→0 1 + G ( s )G ( s )
c

A) Step Input A s( A / s ) A
R( s) = ess = lim =
s s→0 1 + Gc ( s )G ( s ) 1 + lim Gc ( s )G ( s )
M s →0
K ∏ ( s + zi )
i =1 A A A
Gc ( s )G ( s ) = For N=0 ess = = =
1 + Gc (0)G (0) 1+ K p
Q M Q
s ∏ ( s + pk )
N
1 + K ∏ zi / ∏ p k
k =1
i =1 k =1
Here K p is known as the position error constant.
M
K ∏ zi A
M Q ess =
=K P lim Gc (s )G=
s →0
(s) Gc (s)G (s)=
=
N =
0, s 0
=Q
i =1
K ∏ zi / ∏ pk 1+ Kp
∏ k
N =0 =i 1 = k 1
p
k =1 43
Relationship between Steady State Error and System Type
A sR( s )
A) Step Input R( s) = ess = lim sE ( s ) = lim
s s →0 s→0 1 + G ( s )G ( s )
c
M
K ∏ ( s + zi ) s( A / s ) A
ess = lim =
Gc ( s )G ( s ) = i =1 s→0 1 + Gc ( s )G ( s ) 1 + lim Gc ( s )G ( s )
Q
s →0
s N ∏ ( s + pk )
k =1 A
ess = M Q

For N≥1 1 + K ∏ zi / ( lim s N ∏ pk )

s →0
=i 1 = k 1

A lim s N A lim s N
= s →0
M Q
= M
s →0
Q =0
lim s + K ∏ zi / (∏ pk )
N
K ∏ zi / (∏ pk )
s →0 =i 1 =
=i 1 =k 1 k 1

44
Relationship between Steady State Error and System Type
A
B) Ramp Input R ( s ) = 2
s
M
K ∏ ( s + zi ) s( A / s 2 ) A A
i =1
ess = lim = lim = lim
Gc ( s )G ( s ) = s→0 1 + Gc ( s )G ( s ) s→0 s + sGc ( s )G ( s ) s→0 sGc ( s )G ( s )
Q
s N ∏ ( s + pk ) A A
k =1 ess = lim M Q
= lim M Q
s →0 s →0 N −1
sK ∏ ( s + zi ) / [ s ∏ ( s + pk )]
N
K ∏ ( s + zi ) / [ s ∏ ( s + pk )]
i =1 k =1 i =1 k =1

For a type 0 system, A

ess = lim
s →0 M Q = ∞
sK ∏ zi / (s 0 ∏ pk )
=i 1 =k 1

45
Relationship between Steady State Error and System Type
A
B) Ramp Input R( s) =
s2 A A
ess = lim M Q
= lim M Q
s →0 s →0 N −1
sK ∏ ( s + zi ) / [ s ∏ ( s + pk )]
N
K ∏ ( s + zi ) / [ s ∏ ( s + pk )]
i =1 k =1 i =1 k =1

For a type 1 system,

A A A
ess = lim M Q
= M Q
=
s →0
sK ∏ ( s + zi ) / [ s ∏ ( s + pk )] K ∏ zi / ∏ pk Kv
i =1 k =1 i =1 k =1
M Q
velocity constant
K v = lim sGc ( s )G ( s ) = K ∏ zi / ∏ pk
s →0 i =1 k =1
For N≥2 system,
A As N −1
ess = lim M Q = lim =0
s →0 s →0 M Q
sK ∏ (s + zi ) / [s N ∏ (s + pk )] K ∏ zi / ∏ pk
=i 1 =k 1 =i 1 =k 1 46
Relationship between Steady State Error and System Type
C) Parabolic Input A
R(s ) = 3 (r (t )=At 2 / 2)
s( A / s 3 ) A
ess = lim = lim 2
s s→0 1 + G ( s )G ( s ) s→0 s G ( s )G ( s )
c c
Q
N −2
s A ∏ ( s + pk )
s( A / s 3 ) k =1
ess = lim M
= lim Q M
s →0 s →0
K ∏ ( s + zi ) s ∏ ( s + pk ) + K ∏ ( s + zi )
N
i =1
1+ Q
k =1 i =1

s N ∏ ( s + pk )
k =1

For type 0 and type 1 systems, the steady state error is infinite.
For type 2 systems the steady state error is given by
A A
ess = M = M Q
Q K a = lim s Gc ( s )G ( s ) = K ∏ zi / ∏ pk
2
K ∏ zi / ∏ pk K a s →0 i =1 k =1
i =1 k =1 acceleration error
47
constant
Relationship between Steady State Error and System Type
System Type Input
(number of pure
integrators) step ramp parabola
0 ess =
A
∞ ∞
1+ Kp

1 ess = 0
A
∞
Kv
A
2 ess = 0 0 Ka
Conclusions:
1. Adding integrators (increasing system type) eliminates steady state error.
2. If steady state error is finite and not zero, then increasing the system dc
gain (increasing controller proportional gain), reduces steady state error.
48
Error Constants For Unit Feedback System
K p = lim Gc ( s )G ( s ) K v = lim sGc ( s )G ( s ) K a = lim s 2Gc ( s )G ( s )
s →0 s →0 s →0

Then for
A
Step input ess =
1+ Kp
A
Ramp input ess =
Kv
A
Parabolic input ess =
Ka

49
Mobile Steering Robot Gc ( s ) = K1 + K 2 / s
Proportional and Integral controller
(PI controller)

K1K K2 K
Gc ( s )G ( s ) = +
K p = lim Gc ( s )G ( s ) K v = lim sGc ( s )G ( s ) τs + 1 s(τs + 1)
s →0 s →0

When K 2 = 0 , we have a type-zero system and for a step input,

A A
ess = =
1 + K p 1 + KK1
When K 2 > 0 , we have a type-one system and for a step input,
A A
ess = = ess = 0
1+ K p 1+ ∞
for a ramp input, A A
ess = =
K v KK 2 50
Mobile Steering Robot

A A
ess = =
K v KK 2

51
 Steady-State Error For Non-Unity Feedback

E ( s ) = R ( s ) − Y ( s ) = [1 − T ( s )]R ( s )
1
For a step input ess = lim s[1 − T ( s )] = [1 − T (0)]
s →0 s
G( s) K ( s + 4) 4K
T ( s) = = T ( 0) =
1 + G ( s ) H ( s ) ( s + 2)( s + 4) + 2 K 8 + 2K

Achieving ess = 0 requires T(0)=1. This is obtained when K=4.

52
 Steady-State Error For Non-Unity Feedback

Y ( s) Gc ( s )G ( s ) Z (s ) Gc (s )G (s )
T ( s) = = = Z (s ) =
R( s ) 1 + H ( s )Gc ( s )G ( s ) 1 + Z (s) 1 + Gc (s )G (s )(H (s ) − 1)
The loop transfer function of the equivalent unity feedback
system is Z(s). The error constants for non-unity feedback
system are given by:
K p = lim Z ( s ) K v = lim sZ ( s ) K a = lim s 2 Z ( s )
s →0 s →0 s →0

Noted that: H ( s ) = 1 Z ( s ) = Gc ( s )G ( s ) K p = lim

s →0
Z ( s ) = lim Gc ( s )G ( s )
s →0 53
Performance Indices For Elevator
A simplified description of a control system for a elevator

Ex: When the fourth floor button is pressed on the first

floor, the elevator rises to the fourth floor with a speed
and floor level accuracy designed for passenger comfort.

54
Performance Indices For Elevator

Push of the fourth-floor button is an input that represent a

desired output, shown as a step function.

55
Performance Indices For Elevator
Transient response
• Passenger comfort and passenger patience are dependent
upon the transient response.
• If this response is too fast, passenger comfort is sacrificed;
if too slow, passenger patience is sacrificed.

56
Performance Indices For Elevator
Steady-state error

Passenger safety and convenience would be

sacrificed if the elevator is not properly level.
57
 MECH3610 HOMEWORK 6
P 6.1 A second-order system has the closed-loop transfer function
𝑌𝑌(𝑠𝑠) 𝜔𝜔𝑛𝑛 2 7
T s = = 2 2
= 2
𝑅𝑅(𝑠𝑠) 𝑠𝑠 + 2𝜉𝜉𝜔𝜔𝑛𝑛 𝑠𝑠 + 𝜔𝜔𝑛𝑛 𝑠𝑠 + 3.175𝑠𝑠 + 7
a) Determine the percent overshoot P.O., the time to peak 𝑇𝑇𝑝𝑝 and the settling
1
time 𝑇𝑇𝑠𝑠 of the unit step response, 𝑅𝑅 𝑠𝑠 = . (Note: To compute the settling
𝑠𝑠
time, use a 2% criterion.)
b) Obtain the system response to a unit step and verify the results in part (a).
4 π
Hints: a) PO = 100e −ζπ / 1−ζ 2 Ts = 4τ = ( for δ = 2% ) Tp =
ζωn ωn 1 − ζ 2
If ωn and ξ are known, P.O., Ts and Tp can be solved.

b) Plot y(t): Y-axis for amplitude X-axis for time (seconds)

Verifying the settling time and overshoot.
P 6.2 The final value of step response of a second order system is
unity and percentage overshoot is 9%. If the step response settled in
2s, find the transfer function of the system. Also find the poles of the
system.
4
Ts = 4τ = ( for δ = 2% )
Hints: PO = 100e −ζπ / 1−ζ 2
ζωn

Solving ζ and ωn , referee to slides 29-30 of lecture notes chapter 5.

ωn2
T (s) = 2
s + 2ζωn s + ωn2

s1, 2 = −ζωn ± jωn 1 − ζ 2

P 6.3Astronaut Bruce McCandless II took the first untethered walk in space on
February 7, 1984, using the gas-jet propulsion device. The controller can be
represented by a gain K 2 as shown in Figure P 6.3 (a). The moment of inertia
of the equipment and man is I = 25 kgm .
2

a) Determine the necessary gain K3 to maintain a steady-state error equal to 1 cm

when the input is a ramp r(t)=t (meters),
b) With this gain K3 , determine the necessary gain K1 K 2 in order to restrict the
percent overshoot to 10%.
c) The proportional controller, P-controller, (only gain can be adjusted), is given
by: 𝐺𝐺𝑐𝑐 𝑠𝑠 = 𝐾𝐾𝑝𝑝 with only P-controller (no rate feedback i.e. K3 = 0 ), shown as in
Figure P 5.4 (b). If K p = 100 , with K1 = 1 . What will be steady state error and
percent overshoot for step input?

(a) (b)
Hints:
a) Obtain the closed-loop transfer function T(s)
1
=ess =
lim sE ( s ) lim s (1 - T=
( s )) R( s ) lim s (1 -=
T ( s )) 2 f ( K 3 )
s →0 s →0 s →0 s
ess = 0.01=f ( K 3 ), What is the value of K 3 ?
b) PO = 100e −ζπ / 1−ζ 2
P.O = 10% find ζ

ωn2
Using standard second system T ( s ) = 2 and closed-loop transfer
s + 2ζωn s + ωn
2

fucntion T ( s ) = f ( K1 K 2 K 3 )and with find ωn and K 3 from a) find K1 K 2

c) Obtain the new closed-loop transfer function T(s) with K3 = 0

What is the type system in this case?
−ζπ / 1−ζ 2
PO = 100e
Performance Indices & Optimal Control
• A Performance index is a quantitative measure of the
performance of a system and is chosen so that emphasis is
give to the important system specifications.
• A system is considered an optimal control when the
system parameters are adjusted so that the index reaches
an extreme value commonly a minimum value.
• A performance index, to be useful, must be a number that
is always positive or zero. Then the best system is defined
as the system that minimizes this index.
62
 Performance Indices-Example
A suitable performance index is the integral of the square
of the error, ISE, which is defined as T
ISE = ∫ e (t ) dt
2
0
The upper limit T is a finite time, usually convenient to
choose T as the settling time Ts .

A step input and

response for ISE
is shown here:

63
More Performance Indices
T
ISE = ∫ e 2 (t )dt Integrated squared error
0

T
IAE = ∫ | e(t ) | dt Integrated absolute error
0

T
ITAE = ∫ t | e(t ) | dt Integrated time-multiplied
0 absolute error
T
ITSE = ∫ te 2 (t )dt Integrated time-multiplied
0
squared error

64
 Example 5.6 Performance Criteria

1
Gc ( s )G ( s ) =
s ( s + 2ζ )

System type =? 1
T ( s) = 2
One s + 2ζs + 1
The ITAE tends to have better selectivity
(i.e. minimum more discernible) than the
others T
ITAE = ∫ t | e(t ) | dt For step input
0

For second order system resulting a swift response and 5% overshot.

65
Optimum T(s) for Step Input ITAE
(characteristic equation)
Y ( s) b0
T ( s) = = n
R ( s ) s + bn −1s n −1 + bn −2 s n −2  + b1s + b0

66
Normalized Responses

67
Normalized Responses

68
Normalized Responses

The best
among
ISE,IAE
and ITAE

69
Design Example: Hubble Telescope Positioning Control

Hubble is known for showing that the recessional

velocity of a galaxy increases with its distance from the
earth, implying the universe is expanding. Known as
"Hubble's law“. (Red Shifting) 70
Design Example: Hubble Telescope Positioning Control
• The orbiting Hubble space telescope is the most complex expensive
scientific instrument that has ever been built
• Launched to 380 miles above earth on April 24,1990.
• The telescope’s 2.4-mter mirror has the smoothest surface of any
mirror made, and its pointing system center it on a dime 400 miles
away. The mirror has a spherical aberration that was largely
corrected during space mission in 1993 and 1997.
• Considering the model of the telescope-positing system shown in Fig (a)

Design Goal:
select K,K1,
so that:

1) Overshoot less than 10% for step input, 2) minimizing SS error

71
for a ramp input, and 3) reducing the effect of a step disturbance.
Design Example: Hubble Telescope Positioning Control
Using block diagram reduction we have System Type=?
One
Td(s)=0
+
K G(s)
R(s) Y ( s) KG ( s ) L( s )
- = T ( s) = =
R( s) T 1 + KG ( s ) 1 + L( s )
d ( s ) =0

R(s)=0 Y ( s) G( s) G( s)
Td(s) + = TTd ( s) = = = T ( s) / K
-
G(s) Td ( s) R ( s )=0 1 + KG( s) 1 + L( s )

K E (s ) = R(s ) − Y (s ) = R(s ) − T (s )R(s ) − [T (s )/K ]Td (s )

1 G (s )
=E (s ) R (s ) − Td (s ).
1 + L (s ) 1 + L (s )
72
Design Example: Hubble Telescope Positioning Control
First, let us select K and K1 to meet the overshoot (<10%)
requirement for a unit step input, R(s)=1/s. Setting Td(s)=0,
we have KG ( s ) G (s) =
1
Y (s) = R( s) s ( s + K1 )
1 + KG ( s )
K 1 K 1
= =    .
s ( s + K1 ) + K  s  s + K1s + K  s 
2

(second order system: s 2 + 2ζωn s + ωn2 =

0)
K1 = 2ζω n K = ω n2 P.O. = 10% ⇒ ζ = 0.6.

P .O . = 100e −ζπ / 1−ζ 2 ζ = 0.6 ⇒ O.P % = 9.5%

Goals: 1) Overshoot less than 10% for step input,

73
Design Example: Hubble Telescope Positioning Control
Goal: 2) minimizing SS error for a ramp input,
KG ( s ) 1
Y (s) = R( s) G (s) =
1 + KG ( s ) s ( s + K1 )

Next, for ramp input requirement,

r (t ) = Bt ,t ≥ 0 , R ( s ) = B / s 2

we have
K v = lim sG ( s )
s →0
B  B  B B
=
e = lim  =  lim = .
 sKG ( s )  s →0 sK  
ss
Kv s →0 1 ( K / K1 )
 
 s ( s + K1 ) 
74
Design Example: Hubble Telescope Positioning Control
Goal: 3) reducing the effect of a step disturbance.
To reduce the step disturbance, by setting R(s)=0, and
Td(s)=1/s, we have
G( s) − G( s)
E ( s) = − Td ( s ) = Td ( s )
1 + L( s ) 1 + KG ( s )
−G (s ) 1
=
eTd (∞) lim= sE (s ) lim s
s →0 s → 0 1 + KG (s ) s

1 −1
= − lim =
s → 0 s (s + K ) + K K
1

75
Design Example: Hubble Telescope Positioning Control
K 1
In summary: Y ( s) = 2  .
s + K1s + K  s 

ζ = 0.6 ⇒ O.P % = 9.5%

B  B  B
ess = = lim  = .
Kv s → 0
 sKG ( s )  ( K / K1 )
− G ( 0) −1
eTd ( ∞) = lim sE ( s ) = =
s →0 1 + KG (0) K

We seek a large K and a large K/K1 to obtain a low steady-state

error for the ramp input and a step disturbance.
76
Design Example: Hubble Telescope Positioning Control
We seek a large K and a large K/K1 to obtain a low steady-state
error for the ramp input and a step disturbance.
s 2 + 2ζω n s + ωn2 = s 2 + 2(0.6)ωn s + K = s 2 + k1s + K .
K1 = 2(0.6)ω n ω n = K K1 = 1.2ωn = 1.2 K
K K K
= = . B  B  B
K1 1.2 K 1.2 ess = = lim  = .
Kv s → 0
 sKG ( s )  ( K / K1 )
K 25 B B
= = 4.17 , ess |k = 25 = = = 0.24 B .
K1 K = 25 1.2 K / K1 4.17
K 100 B B
= = 8.33. ess |k =100 = = = 0.12 B .
K1 K =100 1.2 K / K1 8.33

K=100 is selected as the final design. 77

 Design Example: Hubble Telescope Positioning Control
Realistically, we must limit K so that system operation remains
linear. Using K=100, K1=12 we obtain the system as:

The responses of the system to a

unit step input and a unit step
Disturbance are shown in Fig (d)
Note that the effect of the disturbance is
relatively insignificant and
B
ess |k =100 = = 0.12 B.
8.33
78
This design, using K=100 is an excellent system.
Sequential Design Example: Disk Drive Read System
In chapter 4, we consider the response of
the closed-loop read head control system.
The results are:

We will attempt to adjust the

amplifier gain Ka, in order to
obtain the best performance
possible.

79
 Sequential Design Example: Disk Drive Read System
Goal: to achieve the fastest response to a step input r(t) while
(1) limiting the overshoot and oscillatory
(2) reducing the effect of a disturbance on the
output position of the read head.
Specifications: Percentage overshoot Less than 5%
Setting time Less than 50ms
Max. value of response Less than 0.005
to a unit step disturbance

5000 5
G1 = = τ 1 = 1 / 1000 = 0.001 G1 ≈ 5 Dominate poles
s + 1000 τ 1s + 1 80
Sequential Design Example: Disk Drive Read System
System Type=?

Type one

5K a 5K a ω n2
Y (s) = R( s) = 2 R( s) = 2 R ( s ),
s ( s + 20) + 5 K a s + 20 s + 5 K a s + 2ζω n s + ω n
2

ωn
2
= 5K a , and 2ζωn = 20.
K a =20 5 K a =ωn2 ⇒ ωn =10 2ζωn =20 ⇒ ζ =1
or ζ = 1 ⇒ 2ωn = 20 ωn = 10 ⇒ 5K a = ω 2
n K a = 20
K a > 20 ⇒ ζ < 1 81
Sequential Design Example: Disk Drive Read System

• Thebest compromise (Ka=40) still does not meet all the specifications. (Ts=400ms)
82
• What to do?
Sequential Design Example: Disk Drive Read System
•The best compromise (Ka=40) still does not meet all the
specifications. (Ts=400ms) 4
Ts = 4τ = ( for δ = 2% )
• What to do? ζωn
5K a
Y ( s) = 2 R( s ) ,
s + 20 s + 5K a

Kv
Using PD (proportional and derivative G (=s)
c K p + Kv s ) controller, or using
velocity feedback to increase 2ζωn .

83
 Summary
• In this chapter, we have concerned with the definition and
usefulness of quantitative measures of the performance of
feedback systems.

• Transient response: (for a unit step input signal:) in terms:

overshoot, peak time, and settling time

• Steady state errors for different standard test signals.

• Optimal control indices.

84