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MIT16 06F12 Lecture 13 PDF

This document discusses root locus rules and provides examples of applying the rules. It then gives an example of designing a lead compensator for a plant. The key points are: - Root locus rules include the locus crossing the jω axis at points where the Routh criterion shows unstable root transitions, and the locus having multiple roots where the derivative of the numerator equals the derivative of the denominator. - An example shows applying the rules to find where a locus departs and arrives on the real axis. - For a given plant, the document calculates parameters for a lead compensator to place closed-loop poles at desired locations to achieve a specified transient response and stability margin. Parameter selection involves considering the compens

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38 views

MIT16 06F12 Lecture 13 PDF

This document discusses root locus rules and provides examples of applying the rules. It then gives an example of designing a lead compensator for a plant. The key points are: - Root locus rules include the locus crossing the jω axis at points where the Routh criterion shows unstable root transitions, and the locus having multiple roots where the derivative of the numerator equals the derivative of the denominator. - An example shows applying the rules to find where a locus departs and arrives on the real axis. - For a given plant, the document calculates parameters for a lead compensator to place closed-loop poles at desired locations to achieve a specified transient response and stability margin. Parameter selection involves considering the compens

Uploaded by

Phuoc Ho
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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16.

06 Principles of Automatic Control

Lecture 13

Root Locus Rules (cont-d)

Rule 5 The locus crosses the j axis at points where the Routh criterion shows a
transition in the number of unstable roots.
Example:
Lpsq

1
ps ` 1q3

The characteristic equation is


s3 ` 3s2 ` 3s ` 1 ` k 0
The Routh array is

1
3
3 1`k
8k
0
3
1`k 0
So the transitions occur at k 8, 1.Look at locus:

k=8

For k 8,the characteristic equation is


s3 ` 3s2 ` 3s ` 9 0
which has roots at
?
s 3, lo
omo3j
on

j axis crossing
Rule 6 The locus will have multiple roots at points on the locus where
npsq

ddpsq
dnpsq
dpsq
0
ds
ds

(see FPE for details)


Example:
Lpsq

s`3
ps ` 1qps ` 2q

where does locus depart/arrive real axis?

npsq s ` 3
dpsq s2 ` 3s ` 2

n1 psq 1
d1 psq 2s ` 3

npsqd1 psq dpsqn1 psq

ps ` 3qp2s ` 3q ps2 ` 3s ` 2q
2s2 ` 9s ` 9 ps2 ` 3s ` 2q
s2 ` 6s ` 7 0
?
6
36 28
s
2 ? 2
s3 2
as in recitation!

Lead Compensator Example


For the plant
Gpsq

2
ps ` 1qps ` 2q

nd a unity feedback controller with compensator Kpsq such that

tr 0.5 sec
Mp 10%
If the closed loop system is second order, the poles would need to have
Mp 0.10 e tan 0.6325
So set 0.707 to allow some margin.
3

sin 0.5912

tr 1.n8 n 3.6 rad/sec


This would place poles at
s 2.6 2.6j
To simplify, want poles at
s 3 3j
Look at locus with gain only:

Im(s)

Re(s)

So gain only doesnt work - must add lead compensation:


Kpsq k

ps ` q
ps ` q

where .
Then rough locus will be

Im(s)
-

Re(s)

Must choose , , k to make this work.

We have multiple degrees of freedom, so answer is not unique. Lets x

3
to guarantee the real closed-loop pole settles faster than complex poles. Then must be
selected to achieve desired angle condition.

Im(s)

4.92
3

3.61
3.16

90o 108.4o 123.7o


-3

-2

-1

Re(s)

MIT OpenCourseWare
http://ocw.mit.edu

16.06 Principles of Automatic Control


Fall 2012

For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.

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