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Lecture 29

The document describes a procedure for designing transient response in higher-order systems by approximating them as second-order systems. The procedure involves: 1. Sketching the root locus of the system. 2. Assuming the system is second-order and finding the gain to meet transient response specifications. 3. Justifying the second-order approximation by ensuring higher-order poles are far from dominant poles. 4. Verifying closed-loop zeros are canceled by higher-order poles or far from dominant poles.

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114 views

Lecture 29

The document describes a procedure for designing transient response in higher-order systems by approximating them as second-order systems. The procedure involves: 1. Sketching the root locus of the system. 2. Assuming the system is second-order and finding the gain to meet transient response specifications. 3. Justifying the second-order approximation by ensuring higher-order poles are far from dominant poles. 4. Verifying closed-loop zeros are canceled by higher-order poles or far from dominant poles.

Uploaded by

amna zia
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© © 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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8.

7 Transient Response Design via Gain Adjustment

Let us see how to use it for the design of transient response.

In chap. 4 the formulas % overshoot, settling time, and peak time were derived for a
system with two closed-loop complex poles and no closed-loop zeros. The effect of
additional poles and zeros is summarized below.

Design procedure for higher-order systems

1. Sketch the root locus for the given system.

2. Assume the system is a second-order system without any zeros and then find the gain to
meet the transient response specification.

3. Justify your second-order assumption by finding the location of all higher-order poles
are five times farther from the dominant second-order pair.

4. Also, verify that closed-loop zeros are approximately canceled by higher-order poles.

5. If closed-loop zeros are not canceled by higher-order closed-loop poles, then the zero
should be far away from the dominant second order pole pair.

Figure 8.20(b) would yield a much better second-order approximation than Figure
8.20(a), since closed-loop pole p3 is farther from the dominant, closed-loop second-order
pair, p1 and p2.
Figure 8.20(d) would yield a much better second-order approximation than Figure
8.20(c), since closed-loop pole p3 is closer to canceling the closed-loop zero.

Example 8.8 Third-Order System Gain Design

PROBLEM: Consider the system shown in Figure 8.21. Design the value of gain, K, to yield
1.52% overshoot. Also estimate the settling time, peak time, and steady-state error.

Solution:
 How valid are the second-order assumptions? From Table 8.4,
 Cases 1 and 2 yield third closed-loop poles that are relatively far from the
closed-loop zero. For these two cases there is no pole-zero cancellation, and a
second-order system approximation is not valid.
 In Case 3, the third closed-loop pole and the closed-loop zero are relatively
close to each other, and a second-order system approximation can be
considered valid.
8.8 Generalized Root Locus

How can we obtain a root locus for variations of the value of p1?

If the function KG(s)H(s) is formed as

Problem: p1 is not a multiplying factor of the function, as the gain, K

Solution: Create an equivalent system where p1 appears as the forward-path gain i.e.
1+p1G(s)H(s) form.

Closed-loop transfer function

Isolating p1,

Root locus is sketched as a function of p1, assuming the open-loop

system of KG(s)H(s)
8.9 Root Locus for Positive-Feedback Systems
Rules for constructing RL are as before except:

Rule 3: (On the real-axis) RL exists to the left of an even # real-axis (finite) open-loop
poles & zeros.

Rule 5: The angle of asymptote Ѳa is

In negative-feedback systems, we always made the root locus plot for positive values of
gain. Since positive-feedback systems can also be thought of as negative-feedback systems
with negative gain, the rules developed in this section apply equally to negative-feedback
systems with negative gain.

Example 8.9 Root Locus for a Positive-Feedback System

PROBLEM: Sketch the root locus as a function of negative gain, K, for the system

shown in Figure 8.11.

SOLUTION: The equivalent positive-feedback system found by pushing -1, associated

with K, to the right past the pickoff point is shown in Figure 8.27(a).
The root locus exists on the real axis to the left of an even number of real,

finite open-loop poles and zeros. Therefore, the locus exists on the entire

positive extension of the real axis, between -1 and -2 and between -3 and

-4. The real axis intercept is found to be

The angles of the lines that intersect at -4/3 are given by

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