BRAC UNIVERSITY

EEE 306 – Control System Laboratory

Experiment No. 04
Modelling of a Control System Using Root Locus

Objectives:
 Apply the knowledge of lag and lead compensators to design a controller to operate a
given system within specification in terms of error and transient response

Software requirements:
MATLAB

Theory:
A lag controller improves the steady state characteristics of the system but at the same time
the system becomes slow. Again a lead controller speeds up a system but cannot improve the
steady state condition without affecting the overshoot. Both the controllers have their own
disadvantages and trade-offs. A lag-lead controller can be designed in order to improve both
the steady state and transient response.

Example:
A system is characterized by the system function:
k
G ( s )=
(s+1)( s+6)( s+10)
We have to design a lag-lead controller that control the system in such a way that the system
operates with overshoot of 15%, the peak time of 470 milliseconds and Steady State Error of
5% for step input.
Step 1: Design the lead compensator.

√
1
ζ= 2
=0.5169
π
1+[ ]
ln ( OS )
For the desired value of overshoot, we find the dominant poles.

clc;
clear all;
close all;
s=tf('s');
G=1/((s+1)*(s+6)*(s+10)); %transfer function
figure;
rlocus(G); %root locus
sgrid(.5169,0); %zeta=0.5169
[k,poles]=rlocfind(G)

Prepared by: Abir Ahsan Akib and Md. Messal Monem Miah
 G1=feedback(k*G,1); %actual system
t=0:.1:50;
figure;
step(t,G1);
stepinfo(G1)

Root Locus
25
0.517
20

15
Imaginary Axis (seconds-1)

10

-5

-10

-15

-20
0.517
-25
-35 -30 -25 -20 -15 -10 -5 0 5 10
-1
Real Axis (seconds )

Step Response
0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)

The peak time is 875 milliseconds. We want to reduce the peak time to 470 milliseconds, that
is 875/470= 1.86 times. Thus we have to increase the dominant poles by 1.86 times.
So, new set of dominant poles= 1.86*( -2.2355 ± 3.8711 i ) = -4.16 ± 7.20 i
Now,

Prepared by: Abir Ahsan Akib and Md. Messal Monem Miah
 s+ z lead
Glead =
s+ plead
Let us select Zlead = 6 so that we can cancel the (s+6) pole. The angle contribution of (-4.18 +
7.24 i) on the system is

tan−1
7.20
10−4.16 (
+ 180−tan−1
7.20
4.16−1
=164.650 )
Thus the pole of lead compensator has to make the angle contribution of
0 0 0
180 −164.91 =15.35 .
7.20
New pole position, Plead = + 4.16=30.39
tan ⁡(15.350 )
Thus the lead compensator:
s +6
Glead =
s+30.39

Glead=(s+6)/(s+30.39);
rlocus(G*Glead);
sgrid(.5169,0); %zeta=0.5169
[k,poles]=rlocfind(G*Glead)
G2=feedback(k*G*Glead,1); %Lead compensated system
figure;
step(t,G2);
stepinfo(G2)

Root Locus
80
0.517

60
Imaginary Axis (seconds -1)

40

20

-20

-40

-60

0.517
-80
-120 -100 -80 -60 -40 -20 0 20 40
-1
Real Axis (seconds )

Prepared by: Abir Ahsan Akib and Md. Messal Monem Miah
 Step Response
1

0.9

0.8 System: G2
Time (seconds): 47.1
0.7 Amplitude: 0.863

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)

Design the lag compensator:

s+ zlag
G lag =
s+ p lag
We can see that after lag compensation, the steady state value is 0.863. Thus the error is
13.7%. We want to make the error 5%. Thus the new error should be 0.05.
Since this is a type-0 system,
1 1
e ( ∞ )= ⇒e lag−lead ( ∞ ) = =0.05
1+ lim G ( s ) 1+ lim K . Glead ( s ) . Glag ( s ) . G ( s )
s→ 0 s→0

1
Now, lim K . Glead ( s ) . Glag ( s ) .G ( s ) = −1=19
s→0 0.05

3 1 6 zlag
lim K . G lag ( s ) .G lead ( s ) .G ( s ) =1.9124 ×10 × × × =19
s→0 1× 6 ×10 30.39 plag
z lag
⇒ =3.02
plag
Let us take Plag=0.1; Thus Zlag=0.302
Thus the lag compensator:
s+ 0.302
Glag =
s+ 0.1

Prepared by: Abir Ahsan Akib and Md. Messal Monem Miah
Glag=(s+0.302)/(s+0.1);
rlocus(G*Glead*Glag);
sgrid(.5169,0); %zeta=0.5169
[k,poles]=rlocfind(G*Glead*Glag)
G3=feedback(k*G*Glead*Glag,1); %Lag-lead compensated system
t1=0:.1:20;
figure;
step(t1,G3), hold on;
step(t1,G1) %actual system
stepinfo(G3)

Root Locus
80
0.517

60
Imaginary Axis (seconds-1)

40

20

-20

-40

-60

0.517
-80
-120 -100 -80 -60 -40 -20 0 20 40
-1
Real Axis (seconds )
Step Response
1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14 16 18 20
Time (seconds)

Prepared by: Abir Ahsan Akib and Md. Messal Monem Miah
Homework:
A system is characterized by the transfer function:
k
G ( s )=
s ( s+6)(s+10)
Design a lag-lead compensator for the system so that the system will operate with 20%
overshoot and a twofold reduction in settling time. Further, the compensated system will
exhibit a tenfold improvement in steady-state error for a ramp input.

Prepared by: Abir Ahsan Akib and Md. Messal Monem Miah