r 220

Step2: Determination of Root Locus

DIGITAL CONTROL SYSTEMS (JNTU-KAKINAD4J

The pole-zero plot of given open loop transfer function is as shown in figure.
-
4j

3j

2j

1j
¥Z1
I

I
-4 -3 -2 *2il 2 3 4
-lj
I,I I

/!
-2j
i
L

II -3j

-4j

Figure
Step3: Determination of Break-away and Break-in Points

The characteristic equation of the system is,

· K(z + 0.5)(z + 0.2)
G(z)= - - ~ ~ - -
(z-l)(z2-z + 0.5) ... .(1)

The expression for calculating break-away and break-in point is,

-A(z)
· K= B(z) ... (2)

From equation ( l ), we have,

A(z) = (z -1) (z2- z + 0.5)

... (3)
B(z) = (z +0.5) (z + 0.2)
... (4)
On substituting equations (3) and (4) in equation (2), we get,
2
-(z-1 )(z -z + 0.5) ~(z 3-z2+ 0.5z-z 2+ z~.5)
K=---'---"---~-'- =----:--::--=--:-- ~=---'-:·
(z + 0.5)(z + 0.2) (z + 0.5)(z + 0.2)

-(z 3-2z 2+ 1.5z-0.5)

2
z + 0.2z+ 0.5z + 0.1

-z3 + 2z 2-l.5z+ 0.5

z 2 + 0.7z + 0.1 ... (4)
Differentiating equation ( 1) with respect to z, we get,

dK ~ !!_[-z: +2 2z2- l.5z + 0.5]

3

dz · dz z +0.7z+0.l .
2 2
(z + 0.7z + 0. l)(-3z + 4z-1.5)-(~z3 + 2z2-l.5z + 0.5)(2z + 0.7)
2
(z + 0.7z + 0.1) 2

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tJ,.lf-6 (Design of Discrete - Time Control Systems By Conventional Methods)

---- ~ (z2+0.7z+O. l)(-3z2+4z- l.5} - (- z3+2z2 - l .5z + 0.5) (2z+ 0.7) = 0

~ (-3t' + 4z3 -I .5z2 - 2. l z3 +2 .8z2 - I .05z- 0 .) z2 + 0.4z- O. I 5) - ( 2zA _

[·.- :~ = 0]

0.7zl +4z1 1- t .4z 2 - Jz 2 -- I .05z+ z + 0.35) = 0

~ -3t' + I .9z3 + z2 -0.65z - 0 . 15 + 2zA - 3 .Jz' + I .6z2 ➔ 0.05z 0.35 =- ()

2
~ -t' - I .4z3 +2.6z -0.6z - 0 .5 =0
~ z" + t .4z3 - 2.6z2 + 0 .6z + 0.5 "" O ... t 5)

On solving above <c-quation, we have •

..•, = -0.32248
• == - 2.50275
"2 '

z = 0.712614 + J0.3342

..
l

- = 0.712614 - J0.3342
For the roots z, , z 3 , z4 the value of K is not positive and real hence they cannot be breakaway points.
For z 2 = -2.50275
3
K = -(-2.50275) + 2(-2.50275) 2 -15(-2.5027.5) + 0.5
· (- 2.50275) 2 +0.7(-2.50275)+0.I ·
= 7.038
For z 2 = - 2.50275 the value of K is 7.038 i.e., positive and real.
Actual breakaway point is at root, z 2 = -2.50275

Step-4: To Calculate the Point of Intersection

The characteristic equation of the system is given by,
#

I+ G(z) =0
K(z + 0.5)(z + 0.2)
I+ ---''---- - = ~- - ~ 0
(z- l)(z 2 - z + 0 .5~
K(z + 0.5)(z + 0 .2) _
1
2
(z- l)(z - z + 0.5)
K(z + O.S)(z + 0 .2)= -[(z -l)(z-2-z + 0.5)]
K(z2 + 0.2z + 0.5z + 0 . 1) = -[z3 -z2 + 0.5z - z2 + z - 0.5]

K(z2 + 0. 7z + 0.1) = -(z3 -2z2 + I .5z - 0.5]

... t6)
z3-2z2 + I.5z-0.5 + K(z2 + 0 .7z + 0 .1) = 0
Substituting z =JV into equation (6), we get.
(jV}3 - 2 (iV)z+ I.5(iV) ~ 0 .5 + K((iVf + 0.7(iV}+ 0.1) = 0

-JV + 2V2+ 1.5/V - 0.5 + K(- V1 + 0.7 JV+ 0.1) = 0

2V2 - 0.5 - KVZ + 0.IK + 0.5JV + K(0 .7 JV)= 0

[V2(2 - K) + 0.1K - 0.5] + JV[0.5 + K(0.7)] =0
Separating real and imaginary part.
0.5 + K(0.7) .. 0
V2(2 -K)+ 0.IK - 0 .5 =0
K(0.7) "" --0.5
V2(2 - K) = 0 .5 - O. IK
-0.5
V2= 0.~-0.IK K = o:T "" -0.71
2-K
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 L SYSTEMS [JNTU-KAKINADAJ
DIGIT AL coNTRO --...
Substituting the value of' K' in 'V'. we get.
V2= 0.5-0.1(--0.71)
2- (-0. 7 I )

v2 = ~~'
2 + 0.71
V2 = 0.2 I
v = ✓6. 2 t = :1. o.4<>
The crossing point of the root locus is ± j0.46.
The va lue of Kat this crossi ng point is -0. 71.
The complete root locus plot is shown in graph.

I
'
•1 0t1r. e,.
+
\. I ' -
-I I

I 1 t I
.
----- +I
t-' --
I
.. -- . t ' - ~

i ~l - i-:.... L. ·!:-
~---+-.--'I
I I

L•
I

:__ - -cl,
I
I
·-
• t--' . . . ,
I

~- t.7
.l. l
~
L. -...I
. .,
J .

Gra,ph
r.;~1
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· ace LEGAL proceedings. -·,
r UNIT-5 (Design_of Discrete -Time Control Systems By Conventional Methods) . -~
23
iiii'I
~
['ii
lI
~ oraw the root locus In the z-plane for the system shown In figure for o < K < oo. Consider the sampling i' II
II·
period T • 2 sec. . _ .
I
1-e-•T K Y(s)
-- s(s + I)
s

(Model Paper-IV, Q10 I Aprtl/May-17, Set-4, 06)

Given system is sho~ in figure ( 1).

Y(s)

-
Figure 111 ·
Sampling peri~, T = 2sec
To determine,
Root locus in z-plane.
From figure ( 1) the transfer function of system is given as,
1-e·ST K ,
... (I)
G(s) = -~-- s(s + 1)
Applying Z-transfonn to equation ( 1), we get,

Z(G(s)] = ~ •-:-sT. s(s: l)] ,

G(z)
- Llj s 2 ( s+.
= Z(I-e-•7). K I )
)

·.· ~:2 }= (l~:)2

~~]= 1-~'
~s~.1=1-e!
2
K[(T-l + e-T)Z- 1 + (l-e- T-Te- T)Z- ]
... (2)
(I-Z-')(l-e-Tz-1) -
Substituting sampling period, T = 2sec tn equation (2), we g~t,

_ K[(2-l + e-2).Z- 1+ (l-e-2 -2e-2)Z-2 = K[(l + e- 2).Z- 1+ (l-e-2-2e:-2)Z-2]

G(Z) = (l-Z-')(l-e~2z-1) (l-Z-')(1-e-2 Z-')

-. -~-~K[l..B:5Z- 1 +0594Z-2J ~ ,L135W.2K[Z+0.523} , .· .. '

- -. (l;...Z- 1)(IA>.135Z-'} - . ~'.[~-I]xZ-: 1[Z--0.135}

:G(Z)~ •:;;~~;-~::t·· . ,;:,;· .'. \3) '-- ·:::·_/

,"-i:~/;R:. ;;. :, ·: , :: 'f; SPECTRUM ALL-IN-ONE JOURNAL FOR ENGINEERING STUDENTS ~!.\»'I;",~~~~~¥
' ' . '
'· \(:: ' -~.
J

' ;;:.-:s.,//::C.if;~>, :>:.i 'JH)~''.-', :?:,{ ,Si, :•}'·,',;;_:·;:·:,,·,,;;-:•:-;.,:.-, ;"!'-,',-"1·~-.y'~P,S:,;-;;: •, ,• ;~,'. <: ·,,,-,., •-· , • ,. , _, :· ,_,: ,(; . , I •-,;-,.,~·:(•'.•_Y;, f '. i\\~,.-.,-i<'ii$/!l!,",lo•: !if'f~ :fi.'~'};(-i':\S
~ ~\i_i f_;!'.\?(:?'.fr-~,;~:ti.''Jf;,./::{~~~';;l•;i,_-!,:_,,•,~s;:,,::,,.
 22 4 . sv sT EM S [JN TU -KAK 'I
DIGITAL cot,1TROL INAOA }
.
From equation (3) -
""
Th e trans,er ,un _'
ction, G(Z) possess a zer
o at Z = ---0.52 3 an.dp ole sat Z: cl, Z: c0 .135 .
The characteristic equatio
n of the given transfer fun
ction is given by,
K= - A(z )
B(z)
. _ -[(Z-l)(Z---0.135)]
- 1.1 35 (Z+ 0.523) ... (4)
, Differentiating equation
(4) with respect to z and
equating it to zero.
dK = ~r -[ (Z- l)(Z--0 .13 5)] ]-
dZ dZ l.1 35 (Z+ 0.523) - O

= ~r -[ Z 2--0 .13 5Z -Z +0 .13

5]] -o _ j_ r - Z 2 + l .13
dZ 1.135(Z + 0.523) 5Z- 0. 135]] ==0
- - dZ 1.135 Z + 0.524
d
df [- Z 2 + l.135Z--0. 135
- (- Z 2 + l.1 35Z-0 . 13 5) ~ (I 13 5z + 0 .59 4)
](1.135Z + 0.594J •
dZ ·
(l.1 3Z + 0.594) 2
⇒ (- 2Z + l.1 35 )(1 . I 35Z +
0.594) - (- T- + 1.1 352 - 0. 135
) ( 1.135) '" 0
⇒ - 2.2 7?! - I. I 88Z + 1.2
88Z + 0.6741 - (- 1.13 57-
+ 1.2882 - 0. 153) :c 0
⇒. - 2.2 7? !+ 0. IZ +0 .6741
+ 1.135Z: - l.2 88Z + 0.1
53 • 0
⇒ -1. 13 5Z 1-l .18 8Z + 0.8
271 = O
Z = 0.478, -1. 52 5
Substituting the values of
Z in equation (4 ). we get
,
K = 0. 1576 (for Z = 0.478)
K =3 .68 56 (for Z = -1 .52
5)
Since both the values of
'K' are positive, Z = 0.4
point. 78 is the nctual breakawa
y point and Z = -1 .52 5
is the actual break in
The root locus in the 2-p
lane for the system is sho
wn in figure (2) .
Im
Scale
On x 8"'lis l unit = 2 cm
Critical gain, On y 8"'lis I unit = 2 cm
Break-in K == 1-4557

',, ,, ? Unit circle

Re
-2
2

Fi1ure 121

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uNIT-'5 (Design of Discrete - Time Control Systems By Conventional Methods) 225 ·
Q25. consider the system as shown in figure. Assume that the digital controller is of the integral type.

Y(t , , ~~~~~: c(t)

e(z)

Figure
Draw root locus diagram for the system of the sampling period T = 0:5. Also determine the
crltica·1 value of K, f~r T = 0.5. Locate the closed loop poles corresponding to K 2 for T 0.5. = =
Ans: Sep.-20, Set-3, Q6

Gi~en system is shown in figure (I)

_ c(t)

c(z)

Figure (11
Sampling period, T = o:s sec
To determine,

Root locus in z-plane.

G'o<s) is integral controller

G'o<s) = ~
From figure (1) the transfer function of system is given as,
. '
K 1- e-sT 1
G(s) = - x --x--
s s s+ I
l -e-sT K
G(~) = - .s-. s(s+ I) ... (I)

Applying Z-transform to equation (I), we get,

Z[G(s)] = ~ 1-:-sT . s(s: I)] ,.

G(z) = Z( J-e-•7). 4 s2(:+ ·i)]

..z[_!_]-
· '·
rz-1
s2 - (I - Z-1) 2

z[f]= )- ~ I

z[-' ]-
s + I_
I
l - e- r z-1
K [(T- 1 + e- r ) z-1+ (1 - e··T- Te- r) z-2]
... (2}
( I - Z-1)( l - e- Tz-1)

SPECTRUM ALL-IN-ONE JOURNAL FOR ENGINEERING STUDENTS

 DIG ITA L CON ,,,... ,_
226
tion (2), we get,
Substituting sampling period, T= 0.5 sec·in equa 2
.5 l+e-- 0.5 ).z- 1 +(1 e -0 ·5 - 0.5e...o.s )z- J
G _ K{(0 2
(Z) - (l-z- 1) (l-e- O.Sz-1 )
. 2 K[0. 106.Z-' + 0.09.Z--,l
5 05
] = z-)
K[(-0 .5 + e-0·5)Z- + (l- e-0· -0.5e - · )Z-
1
· (l _ z-') (1- 0 .606_ .
1
1
( l - Z- )(1-e -0.s Z- )

1 2 0.106.Z-2 K[Z + 0.84 9]

K[0. 106Z - + 0.09Z- ]
z-'[Z _ l] x z-'[Z - 0.60 6]
Z-1(Z -1) x Z- (Z ~ 0.606)
1
..: (3)

G(Z) = 0.10 6K(Z + 0.849)

(Z - l)(Z - ·0.606)

From equation (3), 0 -606 ·

The transfer function, G(Z) possess a .zero at
z = -0:8 49 and ~les at Z = i ,z =
' . n by,
· The characteristic equation of the given transfer function is gi:ve
; ... (4)
K = -A(z ) = -.[(Z - l)(Z -0.6 06)]
B(z) 0.106(Z-+ 0.849)
Differentiating equation (4) with respect to z
and equa ting it to zero .

'dK = _!!_ f-[( Z-l) (Z-0 .606 )]]- ·

dZ dZ , 0.10 6(Z + 0.849) - O
2 Z + 0.60 6]] = O = _!!_f -Z
2
+ l .606 Z - 0.60 6] =O
= _!!_ r-[2' - 0.60 6Z - dZ · 0. 106Z +·0.0 89
dZ 0. 106Z + 0.089 · .
d
d Z..:.. o.60 6]dZ (0. I06Z + 0.08 9)
[0. I06Z + o.08
.
9J-; a[-Z2
+ l.606 Z - o.60 6]- 2
+ c-z
1.606
2
(0.106Z + 0.08 9)
Z- 0.60 6) (0.10 6) = 0
⇒ (0.10 6Z + 0.08 9) (-2Z + l.l06 )-(-Z 2 +· l .606
6Z2- 0.l 70Z - 0.06 4 = 0
⇒ --0.212.22 + 0.I 70Z - 0.l 78Z + 0.142 + 0.10
⇒ --0.106 .zi....: 0.17 8Z+ 0.078 = 0
I

⇒ Z = 0.36, -2.0 39
we·get,
. Subs tituti ng the valu es of Zin equa tion (4),
K = 1.22 (for Z = 0.36)
K = 63. 72 (for Z = - 2.03 9) •
of 'K' are positive, Z = 0.36 is the actua l brea
kaw ay poin t and z = -2 •039 1s• t h e actu al break m. pomt.
Sine\! both the valu es
.
is show n in figure (2).
The root locu s in'th e z.:pJane for the system
Im

Re
2 .

Figure (21

ne fou. nd . . .
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face LEGAL proceedings..
11)~)
--....,:
~·
tJNIT-5 (Design of Discre.te - Time Control Systems By Conventional Methods)
.
227
• J~

Q.
1 List out the transient response specifications.

Ans: Refer QI. (Sep.-20, Set-1, Q1(e) I Aprll-18, S1tt-2, Q6(b) I Aprll/May-16, set-4, Q7(a) I "pril/May-14, Set-1, Q7(a))

. 02 . Write design proced~re in the w-plane. .

.: (3) (Sep.-20, Set-1, Q6(a) I April-18, Set-2, Q1(e) 1 Aprll/May-17, Set-2: Q6(a) I Aprll/May-16, Set-1, Q7(a) I
s
Ans: Refer Q l 2·. Aprll/May-16, Set-4, Q7(b) I Aprll/May-14, Set-1, Q7(b))

Q3. Discuss the review of phase' lag, lead and lag-lead c~mpensator'.

Ans: Refer Ql8. _ (Aprll/May-16, Set-1, Q7(b) I Aprll/May-14, Set-3, Q7(b))

.. (4)
Q4. · How do you map constant d~mping loci from s-plane to z-plan~? l·

Ans: Refer Q20. (April-18,..Set-1, QS(a) I April/May-16, Set-3, Q6(a))

QS. Write about the general rules for constructing Root Loci.

Ails: Refer Q2 l . (Sep.-20, Set-2, Q6(a) I April/May-17, Set-2, Q6(b)) 1W

Q6. Derive an expression for steady state error for parabolic input.
Ans: Refer Q6. Important Question

Q7. Derive an expression for steady s~ate error for step input.

(Ans: Refer Q7. Important Question

QB. Write the design procedure of lag compensator in w-plane.

Ans: Refer Q 13 . Important Question

,oint. Q9. Write the design procedure of lead compensator in w-plane.

Ans: Refer Ql4. Important Question

Q10. Explain the digital· implementation of lead lag controller in detail with ~uitable d~agram.

Ans: Refer Q17. Important Question

Q11. The open loop transfer fun"Ction of a unity feedback digital control system is given as,

G(z) = k(z + 0.S)(z + 0.2)

. (z-1)(z- 0:5)
, Sketch the root loci of the system for O < k < 00
• lndicat~ all important information on root loci.

Ans: Refer Q22. Important Question

Q12. Write the design procedure of lag compensator in w;.plane.

Ans: ~efer Q 13. lmpor:!8nt Question

'.::n,•fr1.~{llflt,1 l;,i!fSPECTRUM All-IN-ONE JOURNAL FOR ENGINEERING STUDENTS

' '
 ysTEMS [JNTU-KAKINADA)
228 DIGITAL CONTROL S --

01.
ll i3 3=JHM ¥·\11+i
The plant of sampled-data system is described by the transfer function
I,.,'ti}
Gisi- __K __
s(10s + 11
The sampling period is 1 sec.

The problem is to design a digital controller D(zi to realize the foDowing specifications
· (ii K,~I
(ii) 1; - 0.5 and

(iii) t, (2% tolerance band) ~ 8 ~ec.

02. .Consider the feedback control systlln shown in figln below. The part is descriJed by the tranSfar flllction
. K
G(s)•--
s(s + 21
Design a digital.con~ol sclane for the systlln to net the folowing specifications:
m K,-6; ,
!iii MP to step input ~ 15% and
Iii Settling tine t, (2% tolerance band) ~ 5 sec.

! I' r .+ y .
D(z) O(s)

Figure

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