Lecture-2

Feedback Control System

Prof. Kuldeep Sahay
Electrical Engineering Department
Institute of Engineering & Technology, Lucknow
 Introduction
• Feedback loops take the system output into
consideration, which enables the system to adjust
its performance to meet a desired output response.
• It is a common and powerful tool when designing a
control system.
• In many cases, it is not be possible to adjust the
open loop system to get the desired output ;then it
is performed by adding controllers, compensators,
and feedback structures to the system.
 Feedback and its effects
• There are two types of
feedback −
a) Positive feedback
b) Negative feedback
• a) Positive Feedback
• The positive feedback adds
the reference
input, R(s) and feedback
output.
• The figure shows the block
diagram of positive
feedback control system.
 Feedback and its effects
• The transfer function ;
• T.F.= G/(1-GH)
• Where,
o T.F. is the transfer function or overall gain of
positive feedback control system.
o G is the open loop gain, which is function of
frequency.
o H is the gain of feedback path, which is function of
frequency.
 Feedback and its effects
• Negative feedback:-
• It reduces the error
between the
reference
input, R(s) and
system output.
• The figure shows the
block diagram
of  negative feedback
control system.
 Feedback and its effects
• Consider, transfer function of negative
feedback control system is,
• T.F.= G/(1+GH)
• Where,
o T.F. is the transfer function or overall gain of
negative feedback control system.
o G is the open loop gain, which is function of
frequency.
o H is the gain of feedback path, which is function of
frequency.
 Feedback and its effects
1. Effect of Feedback on Overall Gain:- Feedback
affects the gain of non feedback system by a
factor (1+GH).The system of figure is said to
have negative feedback since a minus sign is
assigned to the feedback signal.
• The quantity GH may itself include a minus
sign , so a general effect of is that it may
increase or decrease the over all gain .
 Feedback and its effects
• In practical control system and H are function
if frequency. So the magnitude of (1+GH) may
be greater than 1 in one frequency range but
less than 1 in another frequency range.
• “The feedback could increase the system gain
in in one frequency range but decrease it in
another.”
 Feedback and its effects
2. Effect of Feedback on Stability:- Stability is a
perception that describes whether the system
will be able to follow the input common , or be
useful in general.
• A system is said to be unstable if its output
is out of control. In the transfer function ;
T.F.= G/(1+GH) if GH=-1, the output of the
system is infinite for the finite input and
system is said to be unsatble.
 Feedback and its effects
• Therefore, one may state that the feedback
can cause a system that is originally stable to
become unstable; so it can be harmful.
• GH=-1 is not the only condition for instability.
• If we introduce another feedback loop
through a negative gain of F, then the input-
output relation of the overall system is:
T.F.=G/(1+GH+GF)
 Feedback and its effects
• Although the properties of
R C
the inner loop feedback -
G
system is unstable, -
because GH=-1 ,the overall
system can be stable by
H
proper selection of the
outer loop feedback F.
• The stability condition of
F
the closed-loop system
depends on the magnitude
Feedback system with two feedback loops
and phase of GH.
 Feedback and its effects
3. Effect of Feedback on Sensitivity:-Sensitivity
are important in the design of control system.
Since all physical elements have properties
that change with environment and age.
We can't always consider the parameter of a
control system to be completely stationary
over the entire operating life of the system
i.e. winding resistance of motor changes, etc.
 Feedback and its effects
• Photocopier , printer may not operate
normally when first turned on due to the still
changing system parameters during warm-up.
This phenomenon is sometimes called
morning sickness.
• A good control system should be very
insensitive to parameter variations but
sensitive to the input commands.
 Feedback and its effects
• Consider the transfer function;
T.F.=G/(1+GH)
• Assume G to be a gain parameter that may vary.
• The sensitivity of the gain of the overall system
TF to the variation in G is defined as

• Where denotes the incremental change in TF

due to the incremental change in G.
 Feedback and its effects

• If GH is a positive constant, the magnitude of the

sensitivity function can be made arbitrarily small by
increasing GH, provided the system remains stable.
• GH is function of frequency. So, feedback will increase
the sensitivity of the system gain in one frequency range
and decrease in the other frequency range.
• “Choose the values of 'GH' in such a way that the system
is insensitive or less sensitive to parameter variations.”
 Feedback and its effects
4. Effect of Feedback on Noise or External Disturbance
:- All physical system are subject to some types of
extraneous signal or noise during operation. Like
Thermal-noise voltage in electric circuits, brushes
or commutator noise in electric motors.
• Therefore, in design of control system
considerations should be given so that is insensitive
to noise and disturbances and sensitive to input
commands.
 Feedback and its effects
• No general conclusions n
can be reached but in y
many situations, r G1 G2
-
feedback can reduce
the effect of noise and
disturbance on the
system performance.
H

Feedback system with a noise signal

 Feedback and its effects
• In figure on last slide ,r denotes the command
signal and n is noise signal. In the absence of
feedback H=0,the output C due to n acting alone is
• Y=G2.n
• With the presence of feedback, the system output
due to n acting alone is
• Y=G2.n/(1+G1G2H)
• It can be observed that noise component in the output is
reduced by the factor 1+G1G2H if the latter is greater than
unity and system is kept stable.
Thanks to All