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Lecture Notes
Fundamentals of Control Systems
Instructor: Assoc. Prof. Dr. Huynh Thai Hoang Department of Automatic Control
Faculty of Electrical & Electronics Engineering Ho Chi Minh City University of Technology Email: hthoang@hcmut.edu.vn
huynhthaihoang@yahoo.com Homepage: www4.hcmut.edu.vn/~hthoang/
6 December 2013 © H. T. Hoang - www4.hcmut.edu.vn/~hthoang/ 1
Chapter 5
ANALYSIS OF CONTROL SYSTEM PERFORMANCE
6 December 2013 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 2
Content
Performance criteria Steady state error Transient response
The optimal performance index
Relationship between frequency domain performances and time domain performances.
6 December 2013 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 3
Performance criteria
6 December 2013 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 4
Performance criteria: Steady state error
yfb(t) R(s) +_ E(s) G(s) Y(s) r(t)
ess
Yfb(s) H(s) 0 e(t) ess t
Error: is the difference between the set-point (input) and the feedback signal.
e(t) = r(t)− yfb(t) E(s) = R(s)−Yfb(s)
Steady-state error: is the error when time approaching infinity.
ess = lime(t) ess = limsE(s)
6 December 2013 © H. T. Hoàng - www4.hcmut.edu.vn/~hthoang/ 5
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