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sensfunc - Sensitivity Functions Sensitivity Functions Part...

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Sensitivity Functions Copyright 2002 1 of 7 Sensitivity Functions Part of a set of lecture notes on Introduction to Robust Control by Ming T. Tham (2002) Introduction One of the performance objectives of controller design is to keep the error between the controlled output and the set-point as small as possible, when the closed-loop system is affected by external signals. Thus, to be able to assess the performance of a particular control, we need to be able to quantify the relationship between this error, the process and the controller. In this set of notes, we will take a brief look at one such quantifying measure, the sensitivity function and its counterpart, the complementary sensitivity function . We shall see that in the case of a conventional closed loop system, the sensitivity function relates to disturbance rejection properties while the complementary sensitivity function provides a measure of set- point tracking performances. We shall also discover that, through the relationship between these two functions, why we often have to sacrifice one aspect in favour of the other. In the following discussion, we shall be considering the conventional feedback loop shown in the figure below: Figure 1. Schematic of conventional feedback control loop.
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