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Introduction
• The performance of a feedback control
system is primary importance.
• What is a suitable control system?
• -- It is stable.
• -- It results in an acceptable response to input
commands.
• -- It is less sensitive to system parameter
changes.
• -- It results in a minimum steady-state error
for input.
• -- It is able to reduce the effect of undesirable
disturbances.
Performance specifications
Typical time indices:
Overshoot:s% Settling time:ts Peak time: tp
e (or Open loop gain)
Steady state error :
ss
y (t)
overshoot
t
0
tp ts
Typical frequency indices
20 lg G
Crossover frequency: wc
w w
Phase margin: 0 c
h
Gain margin: h — G
M
Peak value :M m
m
0.707M (0)
w
The bandwidth: b
The resonant frequency: w
r w w
r b
Typical complex indices
These indices are represented by the location of the
dominant poles j
-pz
1-z2
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