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Improve control system performance.pdf
This manuscript was the basis for the article
“A Refresher Course in Control Theory”
printed in Machine Design, September 9, 1999.
Use Control Theory to Improve Servo Performance
George Ellis
Introduction
For the people who install and commission motion systems, control theory can seem mysterious. It is true
that some controls problems require great expertise, but thats not the normal case. Most engineers can
address the majority of controls problems by knowing how to apply just a few principles. Of course, the
engineer whos only goal is getting machinery operational, does not need to understand control theory at all.
However, if the goal is to produce the best performing machines in your market, an understanding of
applied control theory is necessary.
Many engineers learn the basics of controls in college, but they dont learn how to apply them at work and
the unused information is quickly forgotten. In this article we will try to revive that knowledge as we
discuss a few basic principles. We will review Bode plots and the open loop method, a reliable and simple
method that characterizes system stability.
Bode Plots
Bode plots provide abundant information about the stability and responsiveness in one picture. Many times,
the step response displayed on an oscilloscope is used to measure the performance of control systems.
Thats understandable because a step is measured with an oscilloscope (usually available). Bode plots
provide much more information than a step-response.
Bode plots show the phase and gain of a control system over a range of frequencies. Phase and gain
describe the response of a control system to a sine wave as shown in Figure 1. For linear control systems,
sine waves are unique in that sine wave inputs generate sine wave outputs. Phase describes the time shift
between input and output. Gain describes amp
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