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lesson2et438a.pptx
LESSON 2: PERFORMANCE OF
CONTROL SYSTEMS
1 ET 438a
Automatic Control Systems Technology

LEARNING OBJECTIVES

After this presentation you will be able to:

 Explain what constitutes good control system

lesson2et438a.pptx

performance.
 Identify controlled, uncontrolled, and unstable
control system response.
 Analyze measurement error in measurement
sensors.
 Determine sensor response.
 Apply significant digits and basic statistics to
analyze measurements.

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CONTROL SYSTEM PERFORMANCE

System control variable changes over time so error
changes with time.

E(t) = R - C(t)

lesson2et438a.pptx
Where E(t) = error as a function of time
R = setpoint (reference) value
C(t) = control variable as a function of time

Determine performance criteria for adequate control

system performance. System should maintain
desired output as closely as possible when subjected
to disturbances and other changes 3

CONTROL SYSTEM OBJECTIVES

1.) System error minimized. E(t) = 0 after changes or

disturbances after some finite time.
lesson2et438a.pptx

2.) Control variable, c(t), stable after changes or

disturbances after some finite time interval

Stability Types
Steady-state regulation : E(t) = 0 or within tolerances
Transient regulation - how does system perform under
change in reference (tracking)

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TYPES OF SYSTEM RESPONSE

3
250

200

lesson2et438a.pptx
150
Control Variable

100
C( t ) 100

50

1
0

50
0 10 20 30 40 50
t
Time (Seconds)

1.) Uncontrolled process

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2.) Process control activated
3.) Unstable system

TYPES OF SYSTEM RESPONSE

Damped response
Control R esponses
120

R2
lesson2et438a.pptx

100

80 R1
Control Variable

60
td
40

Setpoint
Change 20

0
0 5 10 15 20 25 30 35 40 45
Time (Seconds) 6

Control variable requires time to reach final value

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TYPES OF SYSTEM RESPONSE-TRANSIENT

RESPONSES
Setpoint Change
Response To Setpoint Changes
120

lesson2et438a.pptx
100
Control Outputs

80

60

40

20
0 5 10 15 20 25 30 35 40 45
Time (Sec)
7
Ideal
Typical

TYPES OF SYSTEM RESPONSE-TRANSIENT

RESPONSES
Disturbance Rejection
Response to Disturbance
120
lesson2et438a.pptx

100

SP

80
Control Variable

60

40

20

0
0 5 10 15 20 25 30 35 40 45
Time (seconds) 8

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ANALOG MEASUREMENT ERRORS AND

CONTROL SYSTEMS
Amount of error determines system accuracy
Determing accuracy
Percent of Full Percent of Span

lesson2et438a.pptx
Percent of Reading
Scale (FS) Span=max-min
Reading∙(%/100)
FS∙(%/100) Span∙(%/100)

Accuracy ± 5% Accuracy ± 3% Accuracy ± 2%

FS =10V min=20, max= 50 psi Reading = 2 V
E=10V(± 5%/100) E=(50-20)(± 3%/100) E=(2V)(± 2%/100)
E= ± 0.5 V E= ± 0.9 psi E= ± 0.04 V

Measured Value
Reading ± Value
9
100 psi
± 2 psi

SYSTEM ACCURACY AND CUMULATIVE

ERROR
Subsystem errors accumulate and determine accuracy limits.
Consider a measurement system
lesson2et438a.pptx

Cm V±DV
K±DK G±DG

Sensor Sensor amplifier

K = sensor gain
G = amplifier gain
V = sensor output voltage,
DG, DV, DK uncertainties in measurement

What is magnitude of DV? 10

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SYSTEM ACCURACY AND CUMULATIVE

ERROR Output Input

With no uncertainty: V = K∙G∙Cm

With uncertainty V±DV = (K±DK)∙(G±DG)∙Cm

lesson2et438a.pptx
Multiple out and simplify to get: DV DG DK
 
V G K
Where :
DV
 normalized uncertaint y of output
V
Component DG
Tolerance/100  normalized uncertaint y of sensor amp
G
DK 11
 normalized uncertaint y of sensor
K

COMBINING ERRORS
Use Root-Mean-Square (RMS) or Root Sum Square (RSS)
2 2
DV  DG   DK 
    
V  G   K 
lesson2et438a.pptx

This relationship works on all formulas that include only multiplication

and division.

Notes: DV
is fractional RMS uncertaint y. Multiplyby 100 to get %
V
DG DK
, are fraction uncertaint y. Divide tolerances by 100%
G K

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CUMULATIVE ERROR EXAMPLE

Example 2-1: Determine the RMS error (uncertainty) of the OP AMP
circuit shown. The resistors Rf and Rin have tolerances of 5%. The input
voltage Vin has a measurement tolerance of 2%.
Rf

  Rf 

lesson2et438a.pptx
Rin Vo  Vin   
Vin Vo  R in 

Determine uncertainty from

tolerances 2 2 2
 DVo   DR f   DR in   DVin 
          
 DR f   DR in   5%  Vo  RMS  Rf   R in   Vin 
       0.05
 Rf   R in  100  DVo 
    0.052  0.052  0.022  0.073
 DVin   2%
    0.02  Vo  RMS
 Vin  100
 DV  13
%U  100%   o   7.3% ANS
 Vo  RMS

SENSOR CHARACTERISTICS

Sensitivity - Change in output for change in input.

Equals the slope of I/O curve in linear device.
Hysteresis - output different for increasing or
lesson2et438a.pptx

decreasing input.
Resolution - Smallest measurement a sensor can
make.
Linearity - How close is the I/O relationship to a
straight line.
Cm = m∙C + C0
Where C = control variable
m = slope 14
C0 = offset (y intercept)
Cm = sensor output

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SENSOR SENSITIVITY EXAMPLE

Find a sensors sensitivity using data two points. Use
point-slope equations to find line parameters

y  y1  m  x  x1 

lesson2et438a.pptx
y 2  y1
Where: m
x 2  x1

Example 2-2: Temperature sensor has a linear resistance change of 100

to 195 ohms as temperature changes from 20 - 120 C. Find the sensor I/O
relationship

Define points : (x1, y1) = (20 C, 100 W) x = input y = output

(x2, y2) = (120 C, 195 W)

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SENSOR SENSITIVITY EXAMPLE (2)

Compute the slope and the equations:
y 2  y1
m
x 2  x1
195  100 W 95 W
lesson2et438a.pptx

m   0.95 W / C
120  20 C 100 C

y  0.95 W / C  x  0.95 W / C  (20 C )  100 W

y  0.95  x  81 W / C

y  100 W  0.95 W / C  x  20 C  ANS

Can plot above equation to check results

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SENSOR RESPONSE
Ideal first-order response-ideal

Measured Control
Cf bf

lesson2et438a.pptx
bi No time delay
Variable
Ci

Time

Step change in the measured variable- instantly changes value.

Practical sensors exhibit a time delay before reaching the new
value.

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PRACTICAL SENSOR RESPONSE

Let b(t) = sensor response function with respect to time.

Sensor Responses
80

Step
lesson2et438a.pptx

Increase
60
bf
Control Variable

Step
40 Decrease

bi
20

bi bf
0
0 5 10 15 20 25 30 35 40 45
Time (Seconds) 18

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MODELING 1ST-ORDER SENSOR RESPONSE

For step increase:
 t

b( t )  bi  b f  bi   1  e t 
 

lesson2et438a.pptx
Where bf = final sensor value
bi = initial sensor value
t = time
t = time constant of sensor
For step decrease:
 t 
b( t )  bi  b f    e t 
 

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SENSOR RESPONSE EXAMPLE 1

Example 2-3: A control loop sensor detects a step
increase and has an initial voltage output of bi = 2.0 V Its
final output is bf = 4.0 V. It has a time constant of t =
lesson2et438a.pptx

0.0025 /s. Find the time it takes to reach 90% of its final
value.

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EXAMPLE 2-3 CONTINUED (2)

Complete the calculations to find t

lesson2et438a.pptx
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SENSOR RESPONSE EXAMPLE 2

Example 2-4: A sensor with a first order response
characteristic has initial output of 1.0 V. How long does it take
to decrease to 0.2 V if the time constant of the sensor is 0.1/s.
lesson2et438a.pptx

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SIGNIFICANT DIGITS IN
INSTRUMENTATION AND CONTROL

Significant Digits In
Measurement

lesson2et438a.pptx
Readable output of instruments
Resolution of sensors and transducers

Calculations Using
Measurements
Truncate calculator answers to match
significant digits of measurements and
readings,
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SIGNIFICANT DIGIT EXAMPLES

Example 2-5: Compute power based on the following
measured values. Use correct number of significant digits.
lesson2et438a.pptx

3.25 A 3 significant digits

117.8 V 4 significant digits
P = V∙I=(3.25 A)∙(117.8 V) = 382.85 W

Truncate to 3 significant digits P = 383 W

Significant digits not factor in design calculations. Device values

assumed to have no uncertainty.

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SIGNIFICANT DIGIT EXAMPLES

Example 2-6: Compute the current flow through a resistor that has
a measured R of 1.234 kW and a voltage drop of 1.344 Vdc.

lesson2et438a.pptx
R = 1.234 kW 4 significant digits
V = 1.344 V 4 significant digits

I = (1.344)/(1.234x 103) = 1.089 mA 4 digits

Since both measured values have four significant digits the

computation result can have at most four significant digits.

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BASIC STATISTICS
Measurements can be evaluated using statistical measures
such as mean variance and standard deviation.
Arithmetic Mean ( Central Tendency)
lesson2et438a.pptx

x i
x i 1
n

Where xi = i-th data measurement

n = total number of measurements taken

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BASIC STATISTICS – VARIANCE AND

STANDARD DEVIATION
Variance ( Measure of data spread from mean)

Deviations of measurement di  (x i  x)2

lesson2et438a.pptx
from mean
n

d i
2  i 1
n 1

2 = variance of data

Standard Deviation
n

d i
 = standard deviation  i 1
n 1 27

STATISTICS EXAMPLE
A 1000 ohm resistor is measured 10 times using the same
instrument yielding the following readings
Test # Reading (W) Test # Reading (W)
1 1016 6 1011
lesson2et438a.pptx

2 986 7 997
3 981 8 1044
4 990 9 991
5 1001 10 966

Find the mean variance and standard deviation of the tests What is
the most likely value for the resistor to have?

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STATISTICS EXAMPLE SOLUTION

lesson2et438a.pptx
Variance Calculations

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lesson2et438a.pptx

END LESSON 2: PERFORMANCE

OF CONTROL SYSTEMS
30 ET 438a
Automatic Control Systems Technology

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