LCS 6th Lab Manual

Experiment
Investigation and analysis of feedback

control system properties
Objectives
The objective of this lab is the introduction to the basic principles and tools
for design and analysis of feedback systems. Some of the properties of feed-
back would be investigated along with applications in designing the control
for specific system.
Theory
Feedback is a powerful idea which is used extensively in natural and techno-
logical systems. The principle of feedback is:
Correcting actions on the difference between desired and actual
performance.
The term feedback is used to refer to a situation in which two (or more) dy-
namical systems are connected together such that each system influences the
other and their dynamics are thus strongly coupled. By dynamical system,
we refer to a system whose behavior changes over time, often in response to
external force.
When talking about control systems it is important to keep in mind that
engineers typically are given existing systems such as actuators, sensors, mo-
tors, and other devices with set parameters, and are asked to adjust the
performance of those systems. In many cases, it may not be possible to open
the system (the plant) and adjust it from the inside: modifications need to be
made external to the system to force the system response to act as desired.
34
This is performed by adding controllers, compensators, and feedback
structures to the system.
Figure 6.1 illustrates in block diagram form of feedback. We often use the
terms open loop and closed loop when referring to such systems. A system is
said to be a closed loop system if the systems are interconnected in a cycle.
as shown in Figure 6.1a. If we break the interconnection, we refer to the
configuration as an open loop system, as shown in Figure 6.1b. Feedback
Figure 6.1: Open and closed loop systems
or closed loop control is used. instead of feedforward or open loop control,

because of uncertainties in the plant and its environment.
Properties of Feedback
Feedback has many interesting properties that can be exploited in designing
systems. Feedback can make a system resilient towards external influences.
It can also be used to create linear behavior out of nonlinear components, a
common approach in electronics. More generally, feedback allows a system
to be insensitive both to external disturbances and to variations in its
individual elements.
Changing the Dynamics, Automatically

A key feedback property, that transcends all applications and all choices
for the controller, is the ability of feedback to completely alter the plant
dynamic behavior when the loop closes no matter what the particular plant
dynamics are. This property is independent and distinct and separate from
the ability to assign new dynamics by selecting the controller appropriately
for stabilization and performance.
Fe.r.dback is ii u ‹iy to ch‹inge. be.h,avior ‹is if vie. me.re. chtin.gin,y th,e
pl‹int Use//, flout iuiI,h,oui ociun//p doin,q so. By behavior we mean the
observed response of the system to stimulus such as an input or initial
condition.
In what way does feedback alter the behavior of a system ?
Consider the system consisting of the car and the control fuel input set at
certain level that corresponds to the desired speed (here the output) when
the road is horizontal. When there is a positive road incline and no correc-
tive action is applied, the car normally will start slowing down, as its normal
behavior dictates.
Consider now having as input the desired speed with its corresponding fuel
rate and adding to this an appropriate additional positive fuel rate when the
incline is positive (and the error is positive). Now the system can be seen as
having the same reference input (desired speed ) as before but with feedback
it exhibits a different behavior since now the car does not slow down. So
with the same desired speed as input, feedback makes it possible for the car
to have a different dynamic behavior!
The amazing thing is that with feedback the change of behavior is auto-
matic. When feedback information is available the driver maintains the de-
sired speed, without intimate knowledge of the slope of the incline or of the
engine of the car, by just observing the speedometer and adding fuel when
the error is positive, and reducing fuel when the error is negative.
High Gains in the Feedback Loop

It is well known that feedback control can be seen as a mechanism that
approximately inverts the plant dynamics, producing an approxi-
mate inverse of the plant at its control input. This can be seen for
example using the simple error feedback control systems in Figure 6.2 When
H = 1,
Figure 6.2: Feedback control systems
If |GGc| > > 1 then
36
and
U 1
= M =
e G
That is, at the control input u of the plant, the external input r acts
through an inverse of the plant G (U p) so to cancel all plant dynamics
and produce an output y, which is approximately equal to the reference input
In other words, the input to the plant u, generated by the external

input r, is such that when applied to the pGlan t causes the plant
output y to be (approximately) equal to the externally applied
input r.
Note that in the case when G = k, o real gain, this effect can also be
seen from the Root Locus where as the gain increases the closed-loop poles
go towards the open-loop finite and infinite zeros along the asymptotes and
so for high gain, pole-zero cancellations do occur and the overall transfer
function is approximately 1.
If, in addition, there is a controller H, in the feedback path, then again
the plant and its inverse cancel, however the overall gain in this case is
(approximately) independent of the plant and equals H
Decreased Sensitivity to Parameter Variations

A process, represented by the transfer function G(s), whatever its nature, is
sub ject to a changing environment (aging, etc.). In the open loop system,
all these errors and changes result in a changing and inaccurate output. A
closed-loop system senses the change in the output due to the process changes
and attempts to correct the output.
A primary advantage of a closed-loop feedback control system is
its ability to reduce the system's sensitivity. In the previous prop-
erty, we have seen that if closed loop gain |GGc| >> 1 the output becomes
approximately equal to the input.
However, the condition | cJ >> 1 may cause the system response to
be highly oscillatory and even unstable. But the fact that increasing the
magnitude of the loop gain reduces the effect of variation of the parameters
of the process G(s) on the output is an exceedingly useful result. Therefore,
the first advantage of a feedback system is that the effect of the variation of
the parameters of the process, G(s), is reduced.
Suppose the process (or plant) G(s) undergoes a change such that the true
plant model is G(s) -1- (s). The change in the plant may be due to a changing
external environment or natural aging, or it may just represent the uncer-
tainty in certain plan parameters.
We consider the effect on the tracking error E(s) due to fiG(s).
To approximate the change in the tracking error, following relation is used
Hence, larger amplitude of loop gain L(s) translates into smaller changes in
the tracking error (that is, reduced sensitivity to changes in fiG(s) in the
process). Also, larger L(s) implies smaller sensitivity, S(s)
Disturbance Rejection
An important effect of feedback in a control system is the control and partial
elimination of the effect of disturbance signals. A disturbance signal is an
unwanted input signal that affects the output signal. Many control systems
are subject to extraneous disturbance signals that cause the system to
provide an inaccurate output. Electronic amplifiers have inherent noise
generated within the integrated circuits or transistors; radar antennas are
subjected to wind gusts; and many systems generate unwanted distortion
signals due to nonlinear elements.
38
Lab Tasks
1. For the following transfer function with 1 K 10 and take p as your
roll number
• For unit step input, compare input and output

• Is the output following the input exactly\
• Repeat it with sinusoidal input now
• Take the Inverse of system G(s) and connect it in series with
G(s), now repeat the above steps
1. Unit step input

#Roll number: 22-ee-51
clc
clear all
for k=2:9
num=k;
den=[1 51]
sys=tf(num,den)
step(sys)
end
2. No, the output is not following the input exactly.

3. Sinusoidal Input
39
t=0:0.1:15;
ip=sin(2*pi*0.1*t)
for k=2:9
num=k;
den=[1 51]
sys=tf(num,den)
hold on
lsim(sys,ip,t)
end
4. Series Connection of original system and it’s inverse

Step Response
for k=2:9
num=k;
den=[1 51]
sys=tf(num,den)
inv=tf(den,num)
series=sys*inv
hold on
step(series)
end
40
Sinusoidal response
t=0:0.1:15;
ip=sin(2*pi*0.1*t)
for k=2:9
num=k;
den=[1 51]
sys=tf(num,den)
inv=tf(den,num)
series=sys*inv
hold on
lsim(series,ip,t)
end
41
2. For the system G(s), connect it in feedback with gain N = 1,
• Does this value of K stabilize the system ?

• Find the value/condition of K to stabilize the above system
#Roll number : 22-ee-51

clc
clear all
k=1
num=k;
den=[1 -51]
sys=tf(num,den)
pzmap(sys)
 Does this value of K stabilize the system?

No, K=1 does not stabilize the system as the pole ends up on the right half plane.
 Find the condition of K to stabilize the system.

42
In order to stabilize the system, I have to choose the value of K which should be atleast 1
greater than my roll number which is 51 in this case so I have to choose K to be atleast 52
or higher.
k=52
num=k;
den=[1 1]
sys=tf(num,den)
pzmap(sys)
43
3. For the system transfer function G(s)
• Taking o = 3, compute step response

• Now suppose n = • + o, with • = o = A0.6, for new
transfer function N(cs), compute step response for both values of
• Fill the table 6.1 and give your comments

Parameter G(s) G(s) Percent change
Percent Overshoot
Rise time
Settling time
Table 6.1: Task 3
clc
clear all
s=tf('s')
num=[1 1]
den=[1 3 5]
sys=tf(num,den)
step(sys)
44
∆a = +0.6
num=[1 1]
den=[1 3.6 5]
sys=tf(num,den)
step(sys)
∆a = -0.6
num=[1 1]
den=[1 2.4 5]
sys=tf(num,den)
step(sys)
45
4. Now add the disturbance with id( ) 1
= G(.s) o f Lab Task 3 us .sfiovvn tn Fi,g at the output of the system
6.3
Figure 6.3: Effect of Disturbance
• Fill the following Table 6.2 and give your comments
Input type Parameter c(s) ^›—d(•) cv—•i(")

Step Percent Overshoot
Step Rise time
Step Settling time
Sinusoidal Percent Overshoot
Sinusoidal Rise time
Sinusoidal Settling time
Pulse Percent Overshoot
Pulse Rise time
Pulse Settling time
Table 6.2: Task 4
 For G(s)
clc
clear all
t=0:0.1:10;
ip=square(2*pi*1*t)
in=sin(2*pi*1*t)
num=[1 1]
den=[1 3 5]
sys=tf(num,den)
hold on
subplot(3,1,1)
step(sys)
hold on
46
subplot(3,1,2)
lsim(sys,in,t)
hold on
subplot(3,1,3)
lsim(sys,ip,t)
47
 For Gd-open loop
t=0:0.1:10;
ip=square(2*pi*1*t)
in=sin(2*pi*1*t)
n=[2 11 12]
d=[1 10 26 35]
Gd=tf(n,d)
hold on
subplot(3,1,1)
step(Gd)
hold on
subplot(3,1,2)
lsim(Gd,in,t)
hold on
subplot(3,1,3)
lsim(Gd,ip,t)
48
 For Gd-closed loop
H=1;
t=0:0.1:10;
ip=square(2*pi*1*t)
in=sin(2*pi*1*t)
n=[2 11 12]
d=[1 10 26 35]
Gd=tf(n,d)
F=feedback(Gd,H);
hold on
subplot(3,1,1)
step(F)
hold on
subplot(3,1,2)
lsim(F,in,t)
hold on
subplot(3,1,3)
lsim(F,ip,t)
49
50
Student's Comments
Lesson Learnt
51

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Experiment

Investigation and analysis of feedback

Figure 6.1: Open and closed loop systems

or closed loop control is used. instead of feedforward or open loop control,

Changing the Dynamics, Automatically

High Gains in the Feedback Loop

Figure 6.2: Feedback control systems

If |GGc| > > 1 then

In other words, the input to the plant u, generated by the external

Decreased Sensitivity to Parameter Variations

• For unit step input, compare input and output

1. Unit step input

2. No, the output is not following the input exactly.

4. Series Connection of original system and it’s inverse

• Does this value of K stabilize the system ?

#Roll number : 22-ee-51

 Does this value of K stabilize the system?

 Find the condition of K to stabilize the system.

• Taking o = 3, compute step response

• Fill the table 6.1 and give your comments

Figure 6.3: Effect of Disturbance

• Fill the following Table 6.2 and give your comments

Input type Parameter c(s) ^›—d(•) cv—•i(")

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