Performance of Feedback

Control Systems
 The Performance of Feedback Control Systems
✓ The ability to adjust the transient and steady-state response of a feedback control
system is a beneficial outcome of the design of control systems.

✓ One of the first steps in the design process is to specify the measures of
performance.

✓ In this lecture we introduce the common time-domain specifications such as

percent overshoot, settling time, time to peak, time to rise, and steady-state tracking
error.

✓ We will use selected input signals such as the step and ramp to test the response of
the control system.

✓ The correlation between the system performance and the location of the system
transfer function poles and zeros in the s-plane is discussed.

✓ We will develop valuable relationships between the performance specifications and

the natural frequency and damping ratio for second-order systems.

✓ Relying on the notion of dominant poles, we can extrapolate the ideas associated
with second-order systems to those of higher order.
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✓ The time-domain specifications just given are quite important, since
most control systems are time-domain systems; that is, they must
exhibit acceptable time responses.
✓ This means that, the control system must be modified until the
transient response is satisfactory.

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These specifications are defined in what follows and are shown graphically below.

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These specifications are defined in what follows and are shown graphically below.

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These specifications are defined in what follows and are shown graphically below.

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 First Order System

1  (1 − e −t  )

First-order system response to a unit step 9

Step Response is c (t ) = 1 − e −at  u (t )
 
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 Transient Response Specifications
• Time constant, 
– The time for e-at to decay 37% of its 1
initial value.
=
a

• Rise time, tr
– The time for the waveform to go 2.2
from 0.1 to 0.9 of its final value.
tr =
a

• Settling time, ts
– The time for the response to reach, 4
ts =
and stay within 2% of its final value. a

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 Second Order System
n2
H (s ) = 2
s + 2 n s + n2
n : Undamped natural frequency
 : Damping ratio
n : Damping factor ( )
d = 1 −  2 n : Damped natural frequency
1
Q= : Quality factor
2

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 Second Order System
n2
H (s ) = 2
s + 2 n s + n2

 = 1 : Critically damped
  1 : Over damped
0    1 : Under damped p1,2 = −n  jn 1 −  2
= −  jd


  0 : Unstable Don't consider
 = 0 : Oscillating

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 Prototype 2nd Order System
n2
H (s ) = 2
s + 2n s + n
2

Useful case :
Under damped :
target
0   1

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16
Unit step response:
u (t ) = u s (t ) → U (s ) =
1
s
n
2
Y (s ) = 2
1

s + 2 n s + n s
2

Let d = n 1 −  2 ,  = n

s + 2 n s +  = (s +  n ) + n2 −  2n2

2 2 2
n

= (s +  ) + d2
2

n2 s + 
Y (s ) =
1 1
 = − −
(s +  ) + d s s (s +  ) + d (s +  )2 + d2
2 2 2 2
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 
y (t ) = u s (t ) − e −σ t cos(d t )u s (t ) − e −σ t sin (d t )u s (t )
 d
Steady
State
           18
Transient
p1,2 = −n  jn 1 −  2
= −  jd

cosq =  =-Re/|root|
q= cos-1(Re/|root|)

q= tan-1(-Im/Re)

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The effect of the characteristic equation roots on
the damping of the second-order system

s 2 + 2n s + n2 = 0

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Performance of a Second-Order System

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Performance of a Second-Order System

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Performance of a Second-Order System

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 Second-Order Systems
R(s) G(s) C(s)

n2
G (s ) = 2
s + 2n s + n2
0    1: Underdamped

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0    1: Underdamped

p1,2 = −n  jn 1 −  2

= −  jd
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 Second-Order Systems
• Delay time: (td) time required for response to reach
half the final value for the first time

• Rise time: (tr) time required for response to rise from

10% to 90% (or 0% to 100%)
– Wouldn’t want to use 0% to 100% definition for
overdamped systems

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 Second-Order Systems
• Settling time: (ts) time required for response to reach
and stay within 2% of final value

• Approximated from the exponential decay,

calculated value is often conservative

− t 
y (t ) = c(t ) = 1 − e (cos d t + sin d t ), t  0
d
4
since e-4 ≈ 0.02, ts = 4 

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 Second-Order Systems

y (t ) = c(t ) = 1 − e − t (cos d t + sin d t ), t  0
d

• Peak time: (tp) time required for response to

reach first peak of the overshoot
− t − t 
y(t ) = −e (−d sin d t +  cos d t ) +  e (cos d t + sin d t )
d
− t   2

=e  + d  sin d t = 0
 d 

sin d t = 0 d t =   t p =
d
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 Second-Order Systems

y (t ) = c(t ) = 1 − e− t (cos d t + sin d t ), t  0
d
• Maximum overshoot: (Mp) maximum peak value
measured from ss value (often as %)
 
at t = t p , y   = 1+ M p
 d  
−
d     
= 1− e  cos d + sin d 
 d d d 
 
− −n
d
 1+ M p = 1+ e = 1+ e n 1− 2

− / 1− 2
 Mp =e
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 Second-Order Systems
• Summary

4
– 2% Settling time ts = 4 


– Peak time tp =
d
− / 1− 2
– Maximum overshoot Mp =e

(relations only hold for a canonical 2nd-order

underdamped step response) 36
 The transient response of the system may be described in terms of two factors:

1. The swiftness of response, as represented by the rise time and the peak time.
2. The closeness of the response to the desired response, as represented by the
overshoot and settling time.
These are contradictory requirements, thus, a compromise must be obtained.
To obtain an explicit relation for Mpt and Tp as a function of  , one can
differentiate the step response equation and set it equal to zero.

n
h (t ) = e − t sin (d t ) = 0
1− 2
( )
which is equal to zero when sin dT p = 0 or dT p =  .

Thus, we find that the peak time relationship for this second-order system is

And the peak response is

− ln( P.O. /100) − ln(%OS /100)
 = =
 + ln ( P.O. /100)
2 2
 2 + ln 2 (%OS /100)
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PERFORMANCE OF A SECOND-ORDER SYSTEM

REVIEW

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Standard performance measures are usually defined in terms of the step response
of a system as shown in Figure. The swiftness of the response is measured by the
rise time Tr and the peak time Tp. For underdamped systems with an overshoot,
the 0-100% rise time is a useful index. If the system is overdamped, then the peak
time is not defined, and the 10-90% rise time Tr1 is normally used. The similarity
with which the actual response matches the step input is measured by the percent
overshoot and settling time Ts . The percent overshoot is defined as:
𝑴𝑷𝒕 − 𝒇𝒗
𝑷. 𝑶. = × 𝟏𝟎𝟎%
𝒇𝒗

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The settling time, Ts , is defined as the time required for the system to settle within
a certain percentage  of the input amplitude. This band of ± is shown in Figure.
For the second-order system with closed-loop damping constant n and a step
response, we seek to determine the time Ts for which the response remains within
2% of the final value. This occurs approximately when:

e −nT s  0.02
Or
nT s  4
Therefore, we have
4
T s = 4 =
n

Hence, we will define the settling time as four time constants (where,  = 1
n ) of the
dominant roots of the characteristic equation.

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The Settling time, Ts

 0.01 100
 
e −nts = 0.02  ents =  50
0.05  20
 
ln100  4.6 / n  5
 
or nts =  ln 50  ts = 3.91/ n  4
 ln 20  3 /   3
  n

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The Rise time, Tr ,

1
c ( tr ) = 1 − e − tr sin (d tr + q ) = 1

 −q
i.e. when d tr + q =  or tr =
d 42
The Rise time, Tr

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Performance of a Second-Order System

Percent overshoot versus damping ratio

− / 1− 2
Mp =e

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Performance of a Second-Order System

From slide 42

1− 2
tan d tr = tan n tr 1 −  2
=−


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 Performance of a Second-Order System

Naturally these two performance measures are in opposition and a

compromise must be made. 46
 Performance of a Second-Order System


1− 2
tan d tr = tan n tr 1 −  = −
2

d = n 1 −  2



c(t ) = 1 − e − t (cos d t + sin d t ), t  0
d
Using the computer, we solve for the values of ωnt
that yield c(t)=0.9 and c(t)=0.1 . Subtracting the two
values of ωnt yields the normalized rise time, ωnTr,
for that value of ζ. Continuing in like fashion with
other values of ζ, we obtain the results plotted in
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Figure .
Performance of a Second-Order System

𝐜𝐨𝐬 𝜽 = 𝜻
∴ 𝜽 = 𝐜𝐨𝐬 −𝟏 𝜻

4
T s = 4 =
n

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49
Performance of a Second-Order System

a) With constant real

part
b) With constant
imaginary part

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Performance of a Second-Order System

c) With constant damping ratio 51

Performance of a Second-Order System

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 Analysis and Design of Feedback System

• The analysis and design of feedback systems that

reduce to second-order systems

• The closed-loop transfer function

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 Analysis and Design of Feedback System

• As K (amplifier gain) varies, the second-order system is

As K ↑, Peak time ↓,
– Overdamped response( ) Percent overshoot ↑,
and Settling time remains
constant

– Critically damped response ( )

– Underdamped response( )

4 4   
− 

Ts = = Tp = =  

2
n d n 1 −  2 d %OS = e  1− 
100 54
Example 1 - Parameter Selection

Select the gain K and the parameter p so that the percent overshoot is less than 5%
and the settling time (within 2% of the final value) should be less than 4 seconds.

 
−  
 − 2
%OS = e  
100
1

− ln(%OS / 100)
 =
 2 + ln 2 (%OS / 100)

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  
Example 1- Solution − 

 Ts =
4
=
4
1− 
n 
2
%OS = e 
100

 
Tp = =
n 1 −  2 d

𝜔𝑛 𝑇𝑟 ≈ 1.8

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Example 2 :

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Example 2 :

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Example 3 : Transforming Specifications

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 Stability
A linear, time-invariant system is

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 Stability
A linear, time-invariant system is

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 Performance Indices

❖ A performance index is a quantitative measure of the

performance of a system and is chosen so that emphasis is given
to the important system specifications.

❖ A system is considered an optimum control system when the

system parameters are adjusted so that the index reaches an
extremum value, commonly a minimum value.

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 Performance Indices

There are several performance indices:

(1) Integral of the square of the error, ISE
T
 2
ISE  e ( t) dt
0

(2) Integral of the absolute magnitude of the error, IAE

T

IAE  e( t) dt
0
(3) Integral of time multiplied by absolute error, ITAE
T

ITAE  t e( t) dt
0

(4) Integral of time multiplied by the squared error, ITSE

T
 2
ITSE  t e ( t) dt
0

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 Exercise
Determine the characteristic equation, poles and s-plane diagrams:
O 10
=
I 1 + 0.25s

O 3
= 2
I s + 8s + 3
O 3
= 2
I s +s+3
O 1
=
I (1 + 2 s )(1 + 2 s )

O
= 3
( s + 4)
I s − 4 s 2 + 21s − 34

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 Experimental Determination of
Second-Order Systems
Y (s) n2 n2
G (s) = = 2 =
U ( s ) s + 2n s + n2 ( s +  ) 2 + d2

• Underdamped step response (u(t) = 1(t))


y (t ) = 1 − e − t (cos d t + sin d t ), t  0
d

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 Experimental Determination

x(t)
x(t ) = Ae − t cos(d t +  )

Free response graph

of an underdamped
2nd-order system can
be used to determine
t ωd and σ (or ωn and ζ)

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 Experimental Determination
2
T= x(t ) = Ae − t cos(d t +  )
d
x1
at a peak cos(d t +  ) = 1, hence
x2
− t1 − t1 x3
x1 Ae e
= − t2 = − (t +T ) = e T t1 t2 t3
x2 Ae e 1
x1
 ln =  T
x2
period = T = t2 − t1
This is referred to as the logarithmic decrement = t3 − t2

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 Experimental Determination
• Note that the logarithmic decrement is determined
solely by ζ
x1 2 2
ln =  T = n =
x2 n 1 −  2
1−  2

• Considering multiple periods improves the estimate

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 Experimental Determination

Note:
We can also use the following approximation as will be demonstrated in the lab

 = 0.55 / 2 = 0.27 69
The Simulation of Systems
Using MATLAB
Lab & Homework
Reference

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

error

Sys1 = sysh2 / sysg4

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

error

Num4=[0.1];

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The Simulation of Systems Using MATLAB

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The Simulation of Systems Using MATLAB

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System Performance Using MATLAB and Simulink

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System Performance Using MATLAB and Simulink

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System Performance Using MATLAB and Simulink

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System Performance Using MATLAB and Simulink

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System Performance Using MATLAB and Simulink

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System Performance Using MATLAB and Simulink

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System Performance Using MATLAB and Simulink

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System Performance Using MATLAB and Simulink

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System Performance Using MATLAB and Simulink

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System Performance Using MATLAB and Simulink

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