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Lecture10 PDF
Lecture10 PDF
Instructor: Cheung
H(s)
Output
so that we can study its stability, frequency response, time response, etc.
Question: Can we just study them separately?
Basic Block
Assumption: Y(s) is determined by input X(s) and block transfer function G(s).
The output can have arbitrary fan-out and G(s) will have no effect on the input.
These assumptions might not hold in real applications. Well see an example later.
Cascade connection
Page 6-32
Instructor: Cheung
Summer
x1(t)
1F
H1(s)
2F
y1(t) x2(t)
y2(t)
x1(t)
1F
2F
1
y2(t)
H2(s)
1
s +1
and H 2 ( s) =
2s
2s + 1
1
2s
2s
= 2
s + 1 2 s + 1 2 s + 3s + 1
(1)
On the other hand, the right diagram of the actual cascade circuit. Again it is easy
for us to compute the transfer function (please work it out yourself):
H ( s) =
Y2 ( s )
2s
= 2
X 1 ( s ) 2 s + 5s + 1
(2)
+
R
R
Page 6-33
Instructor: Cheung
Feedback system:
T ( s ) = C ( s ) / R( s )
Closed-loop transfer function
Lets find
Equation (1)
C (s) = G(s)E (s)
E ( s ) = R ( s ) H ( s )C ( s )
Equation (2)
C ( s ) = G ( s )( R( s ) H ( s )C ( s))
= G ( s ) R( s ) G ( s) H ( s )C ( s )
(1 + G ( s ) H ( s ))C ( s ) = G ( s ) R ( s )
G( s)
T ( s ) = C ( s ) / R( s ) =
1 + G( s)H (s)
G(s )
1 + G( s) H ( s)
R(s)
C(s)
G( s)
1 G( s) H ( s)
Why feedback?
Closed-loop system is extremely useful in control because it allows a feedback
path for adjustment. An open-loop system like the one below cannot compensate
for any disturbances accumulated at the controller and the output:
Disturbance 2
Disturbance 1
+
Input or
reference
Input
transducer
Controller
+
Plant or
Process
Output or
Controlled variable
On the other hand, by using a feedback loop that captures the output, the system
can adjust the input or reference to compensate for any disturbance.
Page 6-34
Instructor: Cheung
Disturbance 1
Disturbance 2
+
Input or
reference
Input
transducer
Controller
+
Plant or
Process
Output or
Controlled variable
Output
transducer
or Sensor
You need an amplifier of gain A=10 as shown in Figure (a) the negative sign
follows the inverting gain convention used in the book that I got this figure from.
Lets say you have only access to poor-quality components so that the gain A
reduces 10% every year. To combat such decay, you try a system with three
amplifiers plus a positive feedback shown in Figure (b). Using the feedback
formula, we have
A f H (s) =
A3
1
=
3
3
1 + A
1 A +
Note that the gain does not require an extra amplifier it can be implemented by
adjust the relative resistance of the inverting amplifier. (Exercise).
Page 6-35
Instructor: Cheung
Even though the positive feedback uses three times as much component, the
overall gain A f =
1
makes it very insensitive to changes in A.
1 / A3 +
We can see this by plotting the gains for the two systems over ten years:
10
Single Amplifier
Feedback Amplifier
3
1
10
Years
H(s)
A
-
H(s)
Page 6-36
Instructor: Cheung
A
1
1 + AH (s ) H ( s)
if |AH(s)| >> 1
The most straightforward way to determine the stability of the whole system is to
combine them into a single transfer function. There are techniques (Nyquist
Stability Criterion) that can determine the stability of negative feedback systems
without computing the transfer function but we will not cover them in this class.
Idea: combine blocks together to form familiar configurations.
1/G(s)
G(s)
G(s)
G(s)
G(s)
G(s)
G(s)
G(s)
G(s)
G(s)
G(s)
1/G(s)
Page 6-37
Instructor: Cheung
G1 (G3 + G2G4 )
Y (s)
G1 (G3 + G2G4 )
1 + G1 H1
=
=
X ( s ) 1 + G1 (G3 + G2G4 ) H
1 + G1H1 + H 2G1 (G3 + G2G4 )
2
1 + G1H1
Page 6-38