CHAPTER 11: Dynamic Behaviour &

Stability of Closed-Loop Control Systems

Anis Atikah Ahmad

anisatikah@unimap.edu.my
Outline
 Block Diagram Representation
 Closed-Loop Transfer Function
 Closed-Loop Response of Simple Control Systems
 Stability of Closed-Loop Control Systems
Block Diagram Representation

Figure 11.8: Standard block diagram of a feedback

control system
Block Diagram Representation
disturbance variable
controlled variable

controller output
error signal
manipulated variable

measured value of Y

Figure 11.8: Standard block diagram of a feedback

control system
Block Diagram Representation
Ysp = set point

Ysp  internal set point (used by the

controller)
Yu change in Y due to U
= Yd change in Y due to D
= Gc controller transfer
= function
transfer function for final
Gv =
control element
(including KIP, if required)
Gp = process transfer function
Gd = disturbance transfer function
Gm = transfer function for measuring element and
transmitter
Block Diagram Representation

Figure 11.9 : Alternative form of the standard block diagram of

a feedback control system.
 Block Diagram Representation
 Example: Control Objective : to regulate
the tank composition, x, by
adjusting the mass flow rate
w2.

Disturbance
MV

Flow rate w1
is assumed
to be
constant &
the system
is initially
operating at
CV the nominal
steady rate
Figure 11.1 Composition control system for a stirred-tank blending process.
Block Diagram Representation
1. Process
 The approximate dynamic model of a stirred- tank
blending system was developed (Example 4.4):

 K1   K2 
 W2 (11-1)
X  s    X 1  
 s 
 τs 1  τs 1
where,  s 
 

Vρ
 w, w1 and K2  1 x (11-2)
K1  w, w
Block Diagram of the process

Figure 11.2: Block diagram of the process

2. Sensor-Transmitter (Analyzer)
 We assume that the dynamic behavior of the
composition sensor-transmitter can be approximated
by a first-order transfer function:

X m  K m
(11-3)
X  s  τm s
1
s
[mass [mA]
fraction]
Figure 11.2: Block diagram of the process
3. Controller
 Suppose that an electronic proportional plus integral controller
is used.
The controller transfer function is (See Chapter 8):

where P s  and E(s) are the Laplace transforms of the controller

output p (t) and error signal e(t).

Note that p and e are electrical signals that have units of mA,
while Kc is dimensionless.
3. Controller
 The error signal is expressed as:

e t   xs p t   xm t  (11-5)

or after taking Laplace transforms,

E s   X sp s   X m s  (11-6)
 The symbol xs p denotes the internal set-point composition
expressed as an equivalent electrical current signal.
 This signal is used internally by the controller xs p t  is
related to the actual composition set point by the
composition sensor-transmitter gain Km:

xs p t   K m xs p (11-7)

 3. Controller
xs p t   K m xs p (11-7)
t  X sp s 
Thus,  Km (11-8)
 s 
X sp

Fig 11.4: Block diagram for the controller

4. Current to Pressure (I/P) Transducer
 Because transducers are usually designed to have
linear characteristics and negligible (fast) dynamics,
we assume that the transducer transfer function
merely consists of a steady-state gain, KIP

[mA] [psi]

Figure 11.5 Block diagram for the I/P transducer.

5. Control Valve
Control valves are usually designed so that the flow
rate through the valve is a nearly linear function of
the signal to the valve actuator.
 Therefore, a first-order transfer function usually
provides an adequate model for operation of an
installed valve in the vicinity of a nominal steady
state.
 Thus, we assume that the control valve can be
modelled as
W2  Kv
(11-10)
t v
5. Control Valve
 The block diagram of a control valve is shown in Fig.
11.16

[psi] [kg/min]
Block diagram for the entire blending process

 Combining the individual block diagram:

Figure 11.7 : Block diagram for the entire blending

process (composition control system)
Closed Loop Transfer Function
1. Block diagram reduction
 In deriving closed-loop transfer functions, it is often
convenient to combine several blocks into a single
block.
For example, consider the three blocks in series in
Fig. 11.10.
The block diagram indicates the following relations:

Figure 11.10 Three blocks in series.

 The block diagram indicates the following relations:
X1  G1U
X 2  G2 X1
X 3 G3 X 2
 By successive substitution, X 3 G3G2G1U
or
X 3  GU

where G = G3G2G1
Equivalent block
diagram
Closed Loop Transfer Function
2. Set-Point Changes
 The closed-loop system behavior for set-point changes is also
referred to as the servomechanism (servo) problem in the
control literature.
 We assume for this case that no disturbance change occurs
and thus D = 0.
 From Fig. 11.8, it follows that:
Y  Y d  Yu (11-14)
Yd  Gd D  0 (because D  (11-15)
0) (11-16)

Y  Ggives
Combining
u U p
Y  G pU
Block Diagram

Figure 11.8: Standard block diagram of a feedback

control system
Closed Loop Transfer Function
2. Set-Point Changes
 Figure 11.8 also indicates the following input/output relations
for the individual blocks:

U  Gv (11-18)
(11-19)
PP
(11-20)
Gc E
(11-21)
E  Ysp
 Ym (11-22)
Closed Loop Transfer Function
2. Set-Point Changes
 Combining the above equations gives

Y  G p Gv P  G p Gv Gc E (11-23)
 G p Gv Gc Ysp Ym 
(11-24)
 G p Gv Gc K mYsp GmY 
(11-25)
 Rearranging gives the desired closed-loop transfer function,

Y K m G c Gv G p
 (11-26)

Ysp
1 Gc Gv G p Gm
Closed Loop Transfer Function
3. Disturbance Changes
 Now consider the case of disturbance changes, which is also
referred to as the regulator problem since the process is to be
regulated at a constant set point
 From Fig. 11.8,
Y  Yd  Yu  Gd D  G pU (11-27)
 Substituting (11-18) through (11-22) gives,
Y  Gd D  G p U
 GdD  GpGvGc(KmYsp GmY  (11.28 )
Because Ysp = 0 we can arrange (11-28) to give the closed-loop
transfer function for disturbance changes:
Y Gd
 (11-29)
D 1 Gc Gv G p Gm
Closed Loop Transfer Function
3. Disturbance Changes
 A comparison of Eqs. 11-26 and 11-29 indicates that both
closed-loop transfer functions have the same denominator, 1
+ GcGvGpGm.

Y K m Gc Gv G p
Servo
 (11-26)
Problem
Y 1 Gc Gv G p Gm
sp

Y Gd
Regulator
Problem  (11-29)
D 1 Gc Gv G p Gm
 The denominator is often written as 1 + GOL where GOL is the
open-loop transfer function; GOL ΔGcGv GpGm
Closed Loop Transfer Function

 Suppose that D ≠ 0 and Ysp ≠ 0, as would be the case if a

disturbance occurs during a set-point change. To analyze
this situation, we rearrange Eq. 11-28 and substitute the
definition of GOL to obtain:

Gd K mGc Gv G p
Y D Ysp (11-30)
1 OL 1 OL
G G
 Thus, the response to simultaneous disturbance variable and
set-point changes is merely the sum of the individual responses,
as can be seen by comparing Eqs. 11-26, 11-29, and 11-30.
 Closed Loop Transfer Function
4. General Expression for Feedback Control System
Closed-loop transfer functions for more complicated block
diagrams can be written in the general form:

Z  f (11-31)
Zi 1
where e
Z is the output variable or any internal variable within
the control loop
Zi is an input variable (e.g., Ysp or D)

f = product of the transfer functions in the forward

path from
 e Zi to Z
Example 11.1
 Find the closed-loop transfer function Y/Ysp for the
complex control system in Figure 11.12. Notice that
this block diagram has two feedback loops and two
disturbance variables
 feedback loops and two disturbance variables.

Figure 11.12 Complex control

system.
Solution
 Using the general rule in (11-31), we first reduce the
inner loop to a single block as shown in Fig. 11.13

Figure 11.13 Block diagram for reduced

system.
Solution
 To solve the servo problem, set D1 = D2 = 0
 Because Fig. 11.13 contains a single feedback loop, use (11-31) to obtain
Fig. 11.14a.

Fig. 11.13

Figure 11.13 Block diagram for reduced

system.

Fig. 11.14
Solution
 The final block diagram is shown in Fig. 11.14b with Y/Ysp = Km1G5.

Figure 11.14b: Final block diagrams for Example 11.1.

 Substitution for G4 and G5 gives the desired closed-loop
transfer function:

Y
 K m1Gc1Gc2G1G2G3
Ysp 1  Gc2G1Gm2  Gc1G2G3Gm1Gc2G1
Closed-Loop Response of Simple Control Systems
 Consider the liquid-level control system shown in Fig.
11.15.

Figure 11.15 Liquid-level control system.

Figure 11.15 Liquid-level control system.
Closed-Loop Response of Simple Control Systems
 A second inlet flow rate q1 is the disturbance variable.
 Assume:

1. The liquid density  and the cross-sectional area of

the tank A are constant.
2. The flow-head relation is linear, q3 = h/R.
3. The level transmitter, I/P transducer, and control
valve have negligible dynamics.
4. An electronic controller with input and output in% is
used (full scale = 100%).
Closed-Loop Response of Simple Control Systems
Derivationof the process and disturbance transfer functions directly
follows Example 4.4.

Consider the unsteady-state mass balance for the tank contents:

ρA dh  ρq1  ρq2  (11-32)

ρq3
dtthe flow-head relation, q = h/R, and introducing
 Substituting 3
deviation variables gives

A dh  q1  q2 h (11-33)

dt
Closed-Loop Response of Simple Control Systems
 Thus, we obtain the transfer functions
H  s  K (11-34)
 Gp τsp
Q2
H  s   s   1
s   d s  τsK p
(11-35)

Q1 G
 1
where Kp = R and τ = RA.

s 
Note that Gp(s) and Gd(s) are identical because q1 and q2
are both inlet flow rates and thus have the same effect on h.
Closed-Loop Response of Simple Control
Systems

Figure 11.16: Block diagram for level control system.

Closed-Loop Response of Simple Control Systems
1. Proportional Control and Set-Point Changes
If a proportional controller is used, then Gc(s) =Kc.

 From Fig. 11.16, it follows that the closed-loop

transfer function for set-point changes is given by
H
 K c K v K p K m / τs (11-36)
 s  1 K
H sp
s  c v p m
/ τs
K K K 1
Recall:
1 For a set point change;
Closed-Loop Response of Simple Control Systems
1. Proportional Control and Set-Point Changes
 This relation can be rearranged in the standard form
for a first-order transfer function,

H  s 
K1
 (11-37)

H s p τ1 s
1KOL (11-38)
s  K1 
where
1 K OL
τ
τ1  (11-39)
1 KOL
Closed-Loop Response of Simple Control Systems
1. Proportional Control and Set-Point Changes
 From Eq. 11-37 it follows that the closed- loop
response to a unit step change of magnitude M in set
point is given by,
t / τ1


h t  K1M 1  (11-41)
 e

Change to time domain
form

H  s  = K1 M
X
Unit step
τ1s s change of
magnitude M in
1 set point
 Closed-Loop Response of Simple Control Systems
1. Proportional Control and Set-Point Changes

Note that a steady-state

error or offset exists because
the new steady-state value is
K1M rather than the desired
value of M.

Figure 11.17: Step response for proportional control (set-point change).

Closed-Loop Response of Simple Control Systems
1. Proportional Control and Set-Point Changes
 The offset is defined as
offset Δ h'sp   h'   (11-42)

For a step change of magnitude M in set point, h’sp(∞).

 From (11-41), it is clear that h’(∞)=K1M.
 Substituting these values and (11-38) into (11-42) gives

(11-38)

M
offset  M  K1M  (11-43)
1  K OL
EXAMPLE 11.2
Consider the level control system shown in Fig 11.15 implemented with
computer whose inputs and outputs are calibrated in terms of full range
(100%). The tank is 1m in diameter, while the valve on the exit line acts as a
linear resistance with R = 6.37min/m2.
The level transmitter has a span of 0.5m and output range of 0 to 100%.
The flow characteristic f of the equal percentage control valve is related to the
fraction of lift l by the relation f = (30)ℓ-1. The air-to-open control valve
receives a 3 to 15 psi signal from an I/P transducer, which in turn, receives a
0-100% signal from the computer-implemented proportional-only controller.
When the control valve is fully open (ℓ=1), the flow rate through the valve is
0.2m3/min. At the nominal operating condition, the control valve is half open
(ℓ=0.5).
Using the dynamic model in the block diagram of Fig 11.16, calculate the
closed-loop responses to a unit step change in the set point for three values
of the controller gain: Kc = 1,2, and 5.
Closed-Loop Response of Simple Control Systems
 Consider the liquid-level control system shown in Fig.
11.15.

Figure 11.15 Liquid-level control system.

Figure 11.15 Liquid-level control system.
Closed-Loop Response of Simple Control
Systems

Figure 11.16: Block diagram for level control system.

Example 11.2
1. Find Gp
From the given information, we can calculate the cross sectional area of
the tank A, the process gain Kp and the time constant:

A = π(0.5m)2=0.785m2
Kp = R = 6.37 min/m2
τ = RA = 5 min

2. Find Gm (is reduced to Km since dynamic is negligible)

The measurement transmitter gain Km can be calulcated from Eq 9.1:
Example 11.2
3. Find Gc
Since proportional-only controller is used,
Gc = Kc

4. Find GIP (is reduced to KIP since dynamic is negligible)

Example 11.2
5. Find Gv (is reduced to Kv since dynamic is negligible)
The valve relation between flow rate q and fraction of lift, ℓ can be
expressed as (cf. Eqs 9-2 and 9-3):

Thus;

At the nominal operating condition, ℓ =0.5,

Example 11.2
5. Find Gv (is reduced to Kv since dynamic is negligible)

Where q is the flow rate through the control valve, pt is the transducer output
pressure. Using chain rule for differentiation:

If the actuator is designed so that the fraction of lift ℓ varies linearly with the
IP transducer output, pt,then:
6. Find the closed loop transfer function:

or in standard form:

where

(11-38) (11-39)
7. Substituting the numerical values for the three values of
Kc (Kc= 1,2,5) in Eq 11.38 &11.39:
Closed-Loop Response of Simple Control Systems
2. Proportional Control and Disturbance Changes
 The closed-loop transfer function for disturbance
changes with proportional control (Gc=Kc) is:
Comparing with setpoint
changes (11.37)-(11-39),
both are first order and have
same time constant, but have
different steady state gains.
 Rearranging gives,

where Recall:
For a disturbance change;
Closed-Loop Response of Simple Control Systems
2. Proportional Control and Disturbance Changes
 The closed loop response to a step change in disturbance
of magnitude M is given by:

Change to time
domain form:
 Closed-Loop Response of Simple Control Systems
2. Proportional Control and Disturbance Changes
 The offset can be determined as follows:
offset Δ h'sp
  h' (11-42)

  Equal to 0 because this is a

Offset = regulator problem
(disturbance changes)
Closed-Loop Response of Simple Control Systems
3. PI Control and Disturbance Changes
 For PI control, Gc(s) = Kc (1+1/τIs)
 The closed-loop transfer function for disturbance changes can
be derived as;

 Clearing the denominator terms gives;

Closed-Loop Response of Simple Control Systems
3. PI Control and Disturbance Changes
 Further rearrangement in standard form of second-order
transfer function;

Where;
Closed-Loop Response of Simple Control Systems
3. PI Control and Disturbance Changes
 For a unit step change in disturbance,

 For 0<ζ<1, the response is a damped oscillation that can

be described by; h’(∞)= 0
Thus, the addition
of integral action
eliminates offset for
a step change in
disturbance
Stability of Closed Loop Control Systems
 Definition of stability: an unconstrained linear system is said to
be stable if the output response is bounded for all bounded
inputs. Otherwise it is said to be unstable.

Bounded input:
input variable
that stays
unbounded
within upper
& unstable
and lower limits
for all values of
7E+07
time.
7
6E+07
u(t)

6
5E+07
5
4E+07
4
3E+07
u(t)

3
2E+07
2
1E+07
1
0E+00
0 1 2 3 4 5 6 7
0
0 1 2 3 4 5 6 7 t
t
Stability of Closed Loop Control Systems
 General Stability Criterion:
 The feedback control system is stable if and only if all roots of
characteristic equation are negative or have negative real
parts. Otherwise, the system is unstable.

Characteristic equation:
1+ GOL
Example 11.8
 Consider a process, that is open-loop
unstable. If Gv= Gm = 1, determine whether proportional
controller can stabilize the closed loop system.

The characteristic equation for this system is:

The root, s = 1+ 0.2 Kc

Example 11.8

In order for this system to be stable; s must have a

negative value (s<0), thus Kc < -5
Stability of Closed Loop Control Systems
 Routh Stability Criterion
The Routh stability criterion is based on a characteristic equation that
has the form of:

All of the coefficients in the characteristic equation must be

positive.
If any coefficient is negative or zero, then at least one root of the
characteristic equation lies on the right of/on the imaginary axis, and
the system is unstable.
Stability of Closed Loop Control Systems
 If all the coefficients are positive, we next construct the
following Routh array:

Row
1 an an-2 an-4 …
2 an-1 an-3 an-5 …
3 b1 b2 b3 …
4 c1 c2 …
. .
. .
n+1 z1
Stability of Closed Loop Control Systems
 Routh Stability Criterion: A necessary and sufficient
conditions for all roots of the characteristic equation to have
negative real parts is that, all of the elements in the left
column of the Routh array are positive.
Example 11.10
 Find the values of controller gain, Kc that make the feedback
control system with the following transfer function stable:
Example 11.10-Solution
 First, find the characteristic equation, 1+GOL

All of the coefficient is positive.

Next, construct the Routh array.
 Expanding and make it equal to zero,
Example 11.10-Solution
 The Routh array is:

10 8
17 1+Kc
b1 b2
c1

 In order for this system to be stable, b1 and c1 must be positive,

 Thus, the system will be stable if

Example 11.11
Consider a feedback control system with Gc= Kc, Gv= 2, Gm =0.25, and
Gp = 4e-s/(5s+1)

The characteristic equation is 1+5s+2Kce-s=0

Because this characteristic equation is not a polynomial s,the Routh

criterion is not directly applicable.
However, if a polynomial approximation to e-s is introduced, such a
Padé approximation, then the Routh criterion can be used to determine
approximate stability limits.

For simplicity, use the 1/1 Padé approximation;

Example 11.11
Consider a feedback control system with Gc= Kc, Gv= 2, Gm =0.25, and Gp = 4e-s/
(5s+1)

The characteristic equation is 1+5s+2Kce-s=0

Because this characteristic equation is not a polynomial s,the Routh criterion is

not directly applicable.
However, if a polynomial approximation to e-s is introduced, such a Padé
approximation, then the Routh criterion can be used to determine approximate
stability limits.

For simplicity, use the 1/1 Padé approximation;

and determine the stability limits for the controller gain.

Example 11.11-Solution

The characteristic becomes

Rearranging;

The Routh array:

2.5 1+2Kc
5.5-Kc 0
b1