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Root Locus Control Design

This document discusses root locus control design using MATLAB examples. It begins with an example plant transfer function and design requirements. It then covers root locus analysis and examples of different plant transfer functions analyzed in MATLAB. The remainder of the document discusses selecting dominant closed-loop pole locations based on specifications for steady state error, overshoot, and settling time. It also covers determining the compensator parameters including gain, zero, and pole based on the selected closed-loop pole location through iterative calculations and constraints.

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Edhem
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83 views

Root Locus Control Design

This document discusses root locus control design using MATLAB examples. It begins with an example plant transfer function and design requirements. It then covers root locus analysis and examples of different plant transfer functions analyzed in MATLAB. The remainder of the document discusses selecting dominant closed-loop pole locations based on specifications for steady state error, overshoot, and settling time. It also covers determining the compensator parameters including gain, zero, and pole based on the selected closed-loop pole location through iterative calculations and constraints.

Uploaded by

Edhem
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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ROOT LOCUS CONTROL DESIGN

Some of these slides have been adapted from:


LECTURE NOTES ON FEEDBACK CONTROL SYSTEMS
Prof. Jonathan P. How
Prof. Emilio Frazzoli
MIT

Department for Automatic Control and Electronics


Faculty of Electrical Engineering
University of Sarajevo

Sarajevo, October, 2014


Adnan Tahirovic

ROOT LOCUS CONTROL DESIGN

MATLAB Example (SISOTOOL)


G p ( s) =

s +1
( s + 2)( s + 3)( s + 4)

Requirements

Desired pole
allocations

ROOT LOCUS ANALYSIS

ROOT LOCUS ANALYSIS

ROOT LOCUS ANALYSIS

ROOT LOCUS ANALYSIS

ROOT LOCUS ANALYSIS

ROOT LOCUS ANALYSIS

MATLAB Examples
G(s) =

1
s4

G(s) =

( s + 1)
( s 1)
G
(
s
)
=
s 2 ( s + 4)
s 2 ( s 4)

ROOT LOCUS ANALYSIS

MATLAB Examples
G(s) =

( s + 1)
s 2 ( s + 4)

G(s) =

( s + 1)
s ( s + 4)

ROOT LOCUS ANALYSIS

ROOT LOCUS ANALYSIS

More MATLAB Examples


C (s) =

1
s+2

G(s) =

3
( s 2 + s + 3)

C (s) =

s +1
s+2

G(s) =

3
( s 2 + s + 3)

G(s) =

1
s 2 5s + 6

Additional two zeros and one pole!

Additional two zeros and two poles!

ROOT LOCUS - Requirements

ROOT LOCUS Steady State Error


SSE SPECIFICATION: NUMBER OF INTEGRALS

N = q 1

ROOT LOCUS Steady State Error


SSE SPECIFICATION: NUMBER OF INTEGRALS

8
1
G p (s) =
= Nsys G p _ s ( s )
( s + 4) s
K x = lim K c G p _ s ( s)
s 0

N = q 1
A 1
R( s) = q = 2
s
s

G(s) =

UNIT RAMP

N = 2 1 = 1

1
s

N required N sys

8
G p (s) =
s ( s + 4)

ROOT LOCUS Selecting dominant closed-loop pole location


OVERSHOOT SPECIFICATION

8
G(s) =
s ( s + 4)

n2
TCL ( s ) = 2
s + 2 n s + n2

ROOT LOCUS Selecting dominant closed-loop pole location


OVERSHOOT SPECIFICATION

8
G(s) =
s ( s + 4)

TCL ( s ) = 2
2
s + 2 n s + n
2
n

ROOT LOCUS Selecting dominant closed-loop pole location


OVERSHOOT SPECIFICATION

8
G(s) =
s ( s + 4)

n2
TCL ( s ) = 2
s + 2 n s + n2
p1, 2 = n jn 1

PO = e

1 2

100%

OVERSHOOT SPECIFICATION:
{S} PLANE DOMAIN

PO
ln(
)
100
=
2
2 PO
+ ln (
)
100

ROOT LOCUS Selecting dominant closed-loop pole location


OVERSHOOT SPECIFICATION

8
G(s) =
s ( s + 4)

n2
TCL ( s ) = 2
s + 2 n s + n2
p1, 2 = n jn 1

PO = e

1 2

100%

= cos ( )
1

OVERSHOOT SPECIFICATION:
{S} PLANE DOMAIN

PO
ln(
)
100
=
2
2 PO
+ ln (
)
100

ROOT LOCUS Selecting dominant closed-loop pole location


OVERSHOOT SPECIFICATION

8
G(s) =
s ( s + 4)

= cos 1 ( )
Im{s1}
1 = arctg (
) = arccos( )
Re{s1}

ROOT LOCUS Selecting dominant closed-loop pole location


SETTLING TIME SPECIFICATION

8
G(s) =
s ( s + 4)

ROOT LOCUS Selecting dominant closed-loop pole location


SETTLING TIME SPECIFICATION

Ts =

ln(tollerance)

tollerance = 0.02

Ts

8
G(s) =
s ( s + 4)

n
4
Re{s}
Ts

4
Re{s1}
Ts

ROOT LOCUS Selecting dominant closed-loop pole location


DAMPED NATURAL FREQUENCY

8
G(s) =
s ( s + 4)

p1, 2 = n j n 1 2

ROOT LOCUS Selecting dominant closed-loop pole location


NATURAL FREQUENCY

8
G(s) =
s ( s + 4)

p1, 2 = n j n 1 2

Im + Re = n
2

ROOT LOCUS Selecting dominant closed-loop pole location

8
G(s) =
s ( s + 4)

s1 = 4 + j 5.4575
Assumption: Higher order system

Iterative procedure

ROOT LOCUS Determining the compensators parameters

8
G(s) =
s ( s + 4)
s1 = 4 + j 5.4575

8
0
0
G ( s1 ) =
= 216.2 ( or 143.76 )
s1 ( s1 + 4)
Phase condition:

Gc ( s1 )G ( s1 ) = 180 l 360, l = 0, 1,...


0

Gc ( s1 ) = 36.240

ROOT LOCUS Placing the compensator zero

8
G(s) =
s ( s + 4)
s1 = 4 + j 5.4575

Gc ( s1 ) = 36.24

s zc
Gc ( s ) =
s pc

Constraints (left and right):

Gc ( s1 ) = ( s zc ) ( s pc )

ROOT LOCUS Placing the compensator zero

8
G(s) =
s ( s + 4)
s1 = 4 + j 5.4575

Gc ( s1 ) = 36.24

s zc
Gc ( s ) =
s pc

Constraints (left and right):

Gc ( s1 ) = ( s zc ) ( s pc )
Im{s1 }
zleft _ most = Re{s1} (
)
0
tan(36.4 )
= 11.45 Multistage compensators?

ROOT LOCUS Placing the compensator pole

8
G(s) =
s ( s + 4)
s1 = 4 + j 5.4575

Gc ( s1 ) = 36.24

( s1 pc ) = ( s1 zc ) Gc ( s1 )
d pc

Im{s1}
=
tan (( s1 pc ) )

ROOT LOCUS Placing the compensator gain

8
G(s) =
s ( s + 4)
s1 = 4 + j 5.4575
Gain condition:

1
Gc ( s1 )G ( s1 ) =
Kc

Kc =

s1 pc
s1 zc G ( s1 )

ROOT LOCUS Placing the compensator zero

8
G(s) =
s ( s + 4)
s1 = 4 + j 5.4575

zc 11.45
ROT for the zc most left postition

ROT for the zc most right position


Close to dominant poles s1.
(Settling time might be violated)

ROOT LOCUS Comparison

8
G(s) =
s ( s + 4)

ROOT LOCUS Comparison

8
G(s) =
s ( s + 4)

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