Lecture 2.

Dynamics of
Feedback Control Systems
CH158P Process Dynamics and Control
Contents
• Closed-Loop Transfer Functions
• Single-Loop Systems
• Multi-Loop Systems
• Transient Response of Simple Control Systems
• Servo Problems
• Regulator Problems
• Systems with Measurement Lag

2
Introduction
Shown is a standard block diagram, which incorporates standard symbols for variables and transfer
functions widely used in control literature:

In some cases, these

3
Introduction
forward path

The product 𝐺𝐻 =
𝐺𝐶 𝐺1 𝐺2 𝐻 is called the
open-loop transfer
function.
It relates the measured
variable B to the set point
R if the feedback loop is
disconnected from the
feedback path
comparator.

4
Introduction
In more complex systems, the block diagram may contain several feedback paths and several loads.
Shown is an example of a multi-loop, multi-load system.

5
Closed-Loop Transfer Functions

6
Single-Loop Systems
We intend to determine the transfer function relating C (controlled variable) to either R (the set
point) or U (load). These transfer functions are called overall transfer functions because they
apply to the whole system.
Overall transfer functions are used to obtain considerable information about the control system; for
the present, they are useful in determining the response of C to any change in R and U.
servo problem: solved by setting U = 0; the only input is a change in set point R
regulator problem: solved by setting R = 0; the only input is a change in load U

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Single-Loop Systems: Servo Problem
For a servo problem, the block diagram simplifies to:

8
Single-Loop Systems: Servo Problem
There are four blocks in the block diagram, with each
block representing one transfer function.
The three transfer functions in the forward path can be
lumped as:

𝐵
At the comparator, 𝜖 = 𝑅 − 𝐵. In the feedback path, 𝐻 = or 𝐵 = 𝐶𝐻.
𝐶
There are three equations and four variables (𝑅, 𝐵, 𝐶, 𝜖). We can solve for the transfer function
relating C to R as follows:

9
Single-Loop Systems: Servo Problem

10
Single-Loop Systems: Regulator Problem
For a regulator problem, the block diagram is:

The following equations can be written:

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Single-Loop Systems: Regulator Problem
There are four equations and five variables (𝜖, 𝐵, 𝑀, 𝐶, 𝑈).
To relate C to U, we must eliminate the other variables as follows:

12
Single-Loop Systems
Notice that both transfer functions for load change or set point change have denominators that are
identical, 1 + 𝐺𝐻.

For the whole control system,

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Single-Loop Systems
The following simple rule serves to generalize the results for the single-loop negative feedback
system:
The transfer function relating any pair of variables X and Y is obtained by:

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Single-Loop Systems
Exercise 2.2.1
Determine the transfer functions C/R, C/U1, and B/U2 for the system shown. Also determine an
expression for C in terms of R and U1 for the situation when both set point change and load change
occur simultaneously.

15
Single-Loop Systems
Exercise 2.2.1

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Single-Loop Systems
Exercise 2.2.1

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Single-Loop Systems
Exercise 2.2.1

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Single-Loop Systems
Exercise 2.2.1

19
Multi-Loop Systems
Exercise 2.2.2
Determine the transfer function C/R for the system shown. This block diagram represents a cascade
control system.

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Multi-Loop Systems
Exercise 2.2.2

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 Transient Response of
Simple Control Systems

22
Introduction
Consider the control system for a heated, stirred tank:

23
Introduction
We will assume that the control valve does not have dynamic lag, such that its transfer function is
simply the constant 𝐾𝑉 .
We will also assume that there is no dynamic lag in the measuring element, such that 𝜏𝑚 = 0 and
the transfer function is also constant.

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P Control: Servo Problem
For proportional control, 𝐺𝐶 = 𝐾𝐶 .
The overall transfer function for a servo
problem (set-point tracking) is:

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P Control: Servo Problem
According to this result, the response of the tank temperature to a change in the set point is first-
order. The time constant of the control system is less than the time constant of the process itself—
one of the effects of feedback control is to speed up the response.
For a unit-step change in set point, the
response of the system is shown.
The desired value of 𝑇′ is 𝑇𝑅′ = 1; with
proportional control, the ultimate value
is:

The discrepancy is called offset:

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P Control: Servo Problem
In terms of the particular control system parameters,

This difference or discrepancy between set point and tank temperature at steady state is
characteristic of proportional control.
In some cases, offset cannot be tolerated. Notice, however, that as 𝑲𝑪 ↑, 𝐨𝐟𝐟𝐬𝐞𝐭 ↓.
However, imposing increases on gain might have consequences on response stability.
For the present, we simply say that whether or not proportional control is satisfactory depends on
• the amount of offset that can be tolerated
• the speed of response of the system
• the amount of gain that can be provided by the controller without causing the system to go unstable.
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P Control: Regulator Problem
For a regulator problem, 𝑇𝑅′ = 0.
The goal of the control system in this case
is to reject the effect of disturbances
and maintain the controlled variable at
the set point.
The overall transfer function relating 𝑇′ to 𝑇𝑖′ is:

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P Control: Regulator Problem
Then,

As for the servo problem, the overall response is first-order. The overall time constant 𝜏1 is the same
as for set point changes.
For a unit step change in inlet temperature,

and the ultimate value of 𝑇′ is:

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P Control: Regulator Problem
1
It may be seen that 𝑇 ′ approaches .
1+𝐾𝐶 𝐴

Shown also in comparison is the response of an open-

The absolute value of the offset is reduced as controller

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PI Control: Regulator Problem
1
For proportional-integral control, 𝐺𝐶 = 𝐾𝐶 1 + .
𝜏𝐼 𝑠

The overall transfer function for a regulator

Rearranging gives:

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PI Control: Regulator Problem
In standard form,

where

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PI Control: Regulator Problem
For a unit-step change in load, 𝑇𝑖′ 𝑠 = 1/𝑠.

Thus, the response of the tank temperature to a step change in the load is equivalent to the
response of a second-order system to an impulse function of magnitude 𝐴1 . The solution to this
problem is already known.
For 𝜁 < 1,

As 𝑡 → ∞, 𝑇 ′ 𝑡 → 0; for proportional-integral control, the offset is zero.

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PI Control: Regulator Problem

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PI Control: Servo Problem
For a servo problem using PI control, the
overall transfer function relating
𝑇 to 𝑇𝑅′ is:

which simplifies to:

where 𝜏1 and 𝜁 are as defined previously.

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PI Control: Servo Problem
Introducing a unit-step change in the set point,

The first term in the response is equivalent to a second-order response to an impulse of magnitude
𝜏𝐼 , while the second term is the second-order response to a unit step change.
Again, the answers to this are already known.
For 𝜁 < 1,

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PI Control: Servo Problem

37
P Control with Measurement Lag
Consider a control system similar to the one discussed before but with a first-order measuring
element having a transfer function:

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P Control with Measurement Lag

The overall transfer function for set point changes (servo problem) is:

where

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P Control with Measurement Lag

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Lecture 2.2 Problem
1. Derive the overall transfer function for the closed-loop system with measurement lag to prove
the following relationships (where 𝐴 = 1/𝑤𝐶).

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 Lecture 2.2

Dynamics of
Feedback Control Systems
CH158P Process Dynamics and Control
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