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MATLAB Experiment No. (3)

The Performance of Feedback Control Systems

 Objectives:
The objectives of this experiment are to:
1. Illustrate the effect of feedback on the time response.
2. Reduce the effect of the disturbance and noise on the
system.
3. Decrease the sensitivity of the parameters variation in
the system.
 Introduction:
An important effect of feedback in a control system is the
control and partial elimination of the effect disturbance
signals. A disturbance signal as shown in Figure 7.1 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. The
benefit of feedback systems is that the effect of distortion,
noise, and unwanted disturbances can be effectively
reduced.
A feedback control system is valuable because it provides
the engineer with the ability to adjust the transient

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response. In addition, as we have seen, the sensitivity of the

system and the effect of disturbances can be reduced
significantly. The advantage of the closed loop system is
that it reduces the steady state error resulting from
parameter changes and calibration errors.

Figure 7.1: Closed loop control system.

Example 7.1: Consider the unity feedback system as shown

in Figure 7.2 that has the forward transfer function is given
by:
10 K
G ( s )=
( s +3 ) ( s +6 )

Figure 7.2: Unity feedback system for Example 7.1.

1. Use MATLAB to obtain the step response of the system
with and without feedback.
2. Compare and discuss the results are obtained in part (1).
Solution:
% To obtain the step response of the system with/out feedback on the
same figure %

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s=tf('s')
sysOL=10/((s+3)*(s+6));
sysCL1=feedback(4*sysOL,1);
sysCL2=feedback(6*sysOL,1);
step(sysOL,sysCL1,sysCL2)
gtext('Open loop')
gtext('Closed loop (K=4)')
gtext('Closed loop (K=6)')

Step Response
0.9

Closed loop (K=6)

0.8

Closed loop (K=4)

0.7

0.6 Open loop

0.5
Amplitude

0.4

0.3

0.2

0.1

0
0 0.5 1 1.5 2 2.5
Time (seconds)

Figure 7.3: Step response of the system with and without

feedback.

Performance comparison between the system with and

without feedback as shown in the following table:
Performance
Specifications
Closed Loop Closed Loop
Open Loop (K =6)
(K =4)

Rise Time (T R ¿ 0.863 sec 0.241 sec 0.188 sec

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Overshoot(OS %) --- 10 % 15.6 %

Peak Time ( T P) --- 0.512 sec 0.409 sec

Settling Time (
Ts¿
1.53 sec 0.778 sec 0.902 sec

Error (e ss) 0.444 0.31 0.231

What is the effect of feedback on the transient response and

steady state error of the system?
Example 7.2: A very simplified model of a rover is shown in
Figure 7.4. The vehicle is controlled from Earth by sending
it path commandsr (t ). The goal is to operate the rover with
modest effects from disturbances.

Figure 7.4: Closed loop control system for the rover.

Perform the following using MATLAB:

1. Determine the open loop response y ( t ) of the system for a
unit step disturbance (set r ( t )=0 ¿ .
2. With the gain K=100 , determine the closed loop response
y ( t ) to a unit step disturbance.

3. Determine the steady state error in parts (1) and (2). Is

the disturbance rejected or not? and comment.

Solution:

The open loop transfer function as:

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Y (s ) 1
=G ( s ) =
Td ( s ) ( s+1 ) ( s+2 )

The closed loop transfer function as:

Y (s ) G(s) 1
= = 2
T d ( s ) 1+ KG (s ) s +3 s +2+ K

% 1. To obtain the open loop response for a unit step disturbance %

s=tf('s')
sysOL=1/((s+1)*(s+3));
step(sysOL)

Step Response
0.5
System: sysOL
0.45 Final Value: 0.5

0.4

0.35

0.3
Amplitude

0.25

0.2

0.15

0.1

0.05

0
0 1 2 3 4 5 6 7
Time (sec)

Figure 7.5: Open loop response to a step disturbance.

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From Figure 7.5: The steady state error equal to steady

state value y OL ( ∞ ) equal to 0.5.
% 2. To obtain the closed loop response for a unit step disturbance %
K=100;
sysOL=1/((s+1)*(s+3));
sysCL=feedback(sysOL,K)
step(sysCL)

Step Response
0.016

0.014

0.012
System: sysCL
Final Value: 0.0098
0.01
Amplitude

0.008

0.006

0.004

0.002

0
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)

Figure 7.6: Closed loop response to a step disturbance.

From Figure 7.6: The steady state error equals to steady

state value y CL ( ∞ )equal to 0.0098.
To achieved a remarkable improvement in disturbance
rejection. We generally expect that y CL (∞ )/ y OL (∞ )<0.02 .

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When the value of gain K=100 , the ratio of closed loop to

open loop steady-state vehicle position output due to a unit
step disturbance input is:

y CL ( ∞ ) 0.0098
= =0.0196<0.02
y OL ( ∞ ) 0.5

The addition of the negative feedback loop reduce the effect

of the disturbance on the output as well as reduce the
sensitivity. This proves the disturbance rejection property of
the feedback systems.

Example 7.3: Consider a model of the boring machine

control is shown in Figure 7.7, where Y ( s ) the actual angle of
direction of travel of the boring machine and R ( s ) is the
desired angle. The effect of load on the machine is
represented by the disturbance T d ( s ). The objective is to
select the gain K so that the response to input angle
changes is desirable while we maintain minimal error due to
the disturbance.

Figure 7.7: A block diagram model of a boring machine control

system.

Do the following:

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1. Obtain the closed loop response of the system when

K=20∧100 for a unit step input on the same figure (let T d (s)

=0).
2. When the gain K=20∧100, determine the closed loop
response of the system for a unit step disturbance on the
same figure (let R(s)=0).
3. Discuss the effect of increasing the value of gain K on the
system performance for parts (1) and (2).
Solution:
The transfer function of the output due to two inputs is:

K +11s 1
Y ( s )= 2
R (s )+ 2 T d (s )
s +12 s+ K s +12 s+ K

% 1. To obtain the closed loop response for a unit step input %

% when K=20 and 100%
s=tf('s')
K=[20 100];
hold on
for i=1:2
Gc=(K(i)+11*s)
Gp=1/(s*(s+1));
G=series(Gc,Gp);
T=feedback(G,1);
step(T)
end
gtext('K=20')

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gtext('K=100')

Step Response
1.4

K=100
1.2

0.8
Amplitude

K=20

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5
Time (sec)

Figure 7.8: Closed loop response to a step input for K=20 and 100.

% 2. To obtain the closed loop response for a unit step disturbance %

% when K=20 and 100%
s=tf('s')
K=[20 100];
hold on
for i=1:2
Gc=(K(i)+11*s)
Gp=1/(s*(s+1));
T=feedback(Gp,Gc);
step(T)
end
gtext('K=20')

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gtext('K=100')

Step Response
0.05
K=20
0.045

0.04

0.035

0.03
Amplitude

0.025

0.02

0.015
K=100
0.01

0.005

0
0 0.5 1 1.5 2 2.5 3
Time (sec)

Figure 7.9: Closed loop response to a step disturbance for K=20

and 100.

Performance specifications of the boring machine control

system for K=20∧100 is shown in the following table:
Performance
Specifications
K=20 K=100

Step Response
Rise Time ( T r ¿ 0.17 sec 0.0972 sec
Settling Time ( 0.913 sec 0.66 sec

Overshoot (OS
Ts¿

3.86 % 22 %
%)
Peak Time (T P ¿ 0.477 sec 0.245 sec

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Error(e ss ¿ 0 0

Disturbance Response
Error(e ss ¿ 5% 1%

Discuss the effect of increasing the value of K on the system

response, sensitivity and disturbance rejection.
Example 7.4: A feedback control system with sensor noise is
shown in Figure 7.10. The goal is to reduce the effects of
the noise (let R ( s )=0¿ .

Figure 7.10: Feedback system with noise.

1. Use MATLAB to determine the effect of noise on the

output Y ( s ) for the value of gain K=50 ,20 ,∧10.
2. Discuss the effect of decreasing the value of gain K on the
system performance for noise input.
Solution:
% 1. To obtain the closed loop response of the system for a unit step
noise%
% when the value of K = 50, 20, and 10 %
s=tf('s');
K=[50 20 10];
hold on
for i=1:3

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Gc=(s+4);
Gp=1/((s+1)*(s+5));
H=K(i)/(s+3);
G=series(Gc,series(Gp,H));
sys=feedback(G,1);
step(sys)
end
gtext('K=50')
gtext('K=20')
gtext('K=10')

Step Response

1.2

K=50

0.8
K=20
Amplitude

0.6
K=10

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3

Figure 7.11: Closed loop response to a step noise for K=50, 20, and
Time (sec)

10.

The steady state error for each value of gain is shown in

the following table:
Performance
Specifications
K=50 K=20 K=10

Error(e ss ¿ 0.93 0.842 0.727

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Discuss the effect of decreasing the value of gain K on the

system performance for noise input.
-------------------------------------------------------------------------------------------
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Assignment 7.1: A closed loop speed control system is
subjected to a disturbance due to a load, as shown in Figure
7.12. The desired speed is ω d ( t )=100 rad /sec , and the load
disturbance is a unit step input T d ( s )=1/ s. Assume that the
speed has attained the no load speed of 100 rad / sec and is in
steady state.

Figure 7.12: Speed control system.

Perform the following:

1. Determine the steady state effect of the load disturbance.
2. Plot ω (t) for the step disturbance for selected values of
gain so that 10 ≤ K ≤ 25.
3. Use MATLAB Simulink to determine the effect of the
disturbance on the output for unit step input (R ( s )=1 /s) at
time (t=20 sec).
Assignment 7.2: The use of remotely controlled vehicles for
reconnaissance. One concept of a roving vehicle is shown in

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Figure 7.13(a), and a proposed speed control system is shown

in Figure 7.13(b). The desired speed R ( s ) is transmitted by
radio to the vehicle, the disturbance T d ( s ) represents hills and
rocks.

Figure 7.13: (a) Remotely controlled vehicles for reconnaissance,

(b) Speed control system

1.Obtain the closed loop response of the system when

K=4.4 , 10∧20 for a unit step input on the same figure (let T d (s)

=0). Record the values of overshoot, rise time, and steady

state error.
2. Select the best of the three values of K .
3. When the gain ¿ 4.4 ,10∧20 , determine the closed loop
response of the system for a unit step disturbance on the
same figure (let R(s)=0), and compute the steady state
error.

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4. Discuss the effect of increasing the value of gain K on the

system performance for parts (1) and (3).
Assignment 7.4: Computer control of a robot to spray-paint
an automobile is accomplished by the system shown in
Figure 7.14.

Figure 7.14: Spray paint robot.

We wish investigate the system when K=1 , 10 ,∧20 . Do the

following:
1.For the three values of K , determine ζ , ω n , percent
overshoot, settling time, and steady state error for a step
input. Record your results in a table.
2.Select the best of the three values of K .

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3.For the value selected in part (2), determine y (t ) for a

disturbance T d ( s )=1/ swhen R ( s )=0.

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