Automatic Control II

Fall 2019
Sensitivity, Robustness and Optimality

Azeddien Kinsheel
Sensitivity of Control Systems to Parameter Variations

A process, represented by G(s), whatever its nature, is subject to a changing 

environment, aging, ignorance of the exact values of the process parameters,
and the natural factors that affect a control process.
The sensitivity of a control system to parameter variations is very important. A 
main advantage of a closed-loop feedback system is its ability to reduce the
system’s sensitivity.
The system sensitivity is defined as the ratio of the percentage change in the 
system transfer function to the percentage change of the process transfer
function.

Y ( s) T ( s ) / T ( s) T / T
T ( s)  ; S (sensitivity)  
R( s) G ( s ) / G ( s ) G / G
G(s) T G 1 G
T ( s)  ; STG  .  .
1  GH ( s ) G T 1  GH 2 G / 1  GH 

STG 
1
Less S for larger GH 
1  G (s) H (s)
2
 dT / T
System sensitivity is : ST  ( is the parameter; T is the tranfer function)
d / 
Root Sensitivity is : Sri 
dri
zeros of T (s) are independen t of the parameter  
d / 
n 1 
S    Sri .
T

i 1 s  ri  s    1
The root is r1    1
1
 ST   ;  ST   Sri
s    1
+
R(s) 1/(s+) Y(s)
-

3
 Example:
+
R(s) 1/(s+) Y(s)
-

Remarks:
as a increases the magnitude
of the sensitivity approaches 1.
F
Let us examine the sensitivity of the following second-order system

+
R(s) K/s(s+1) Y(s)
-

5
Robust Control System
 A robust control system exhibits the desired performance
despite the presence of significant plant (process) uncertainty.

The goal of robust design is to retain assurance of system
performance in spite of model inaccuracies and changes. A system
is robust when it has acceptable changes in performance due to
model changes or inaccuracies.
A control system is robust when:
 1-it has low sensitivities,
 2- it is stable over the range of parameter variations, and
 3- the performance continues to meet the specifications in the
presence of a set of changes in the system parameters.
Example: An elevator control system is robust if it can maintain its
performance despite the number of persons.
Performance Indices

 The Upper limit T is a finite time chosen somewhat arbitrary so that the integral approaches a
steady state value. It is convenient to choose T as settling time.
 Optimal Control Systems: are the systems adjusted to provide minimum
performance index.