Control System I

5.3 Selected illustrative Root locus

Example 5.3: Root locus for Satellite Control with PD Control (cont.)

Im(s )

1
Re(s )
-2 -1

Chap 5, No. 33
 The locus, between s = 0 and s = -2, is a circle with center at
Control System I
<proof> s = -1 and radius = 1.
s  1 L  s     s  1  s 2  180o
Ls  2 ,
s 1
let s    j
   j  1     j   180o
2

1  1 2
tan  tan  180 o
 1  2  2
tan x  tan y
use tan  x  y   , and
1  tan x tan y
 
tan tan 1  x   x ,
 2
 2  2
  1    2  tan 180o  0  2 0
 2  1   2
1  2
  1   2
 2   2  2 2    2  2   2  0
 2

 2  1   2  1 or   1   2  1
2
(which is a circle)
Chap 5, No. 34
Control System I
5.3 Selected illustrative Root locus
Example 5.3: Root locus for Satellite Control with PD Control
Comparing this case with that for the simple 1 s 2 , it is observed that:
The addition of the zero has pulled the locus into the LHP, appoint of
general importance in constructing a compensation.
Due to the physical operation of differentiation is not practical and in
practice PD control is approximated by Im(s )
kD s
Dc  s   kP  ,
s p1
By defining K  kP  pkD and z  pkP K so that Re(s )
sz
Dc  s   K ,
sp
This controller transfer function is called “lead compensator”, provided z <
p, using in the control of frequency response.
The characteristic equation for the 1 s 2 plant with this controller is
1  Dc  s  G  s   1  KL  s   0.  1  K s  z  0.
s2  s  p 

Chap 5, No. 35
Control System I
5.3 Selected illustrative Root locus
Example 5.4: Root locus for Satellite Control with modified PD or Lead
Compensation
Set z = 1 and consider three different values of p. Let p = 12 in this example.
Then s1
. n = 3 , m = 1, a  s   s  12s , b  s   s  1.
3 2
1 K 2
s  s  12 
The characteristic equation with PD Control  s 3  12s 2  Ks  K  0
Solution:
zero = -1, poles = 0, 0, -12
Rule 1: Mark an x for each pole Im(s)
and an o for each zero.

Rule 2: The loci on the real X X Re(s)

axis to the left of an odd -12 -1
X0
number of pole plus zero.

Chap 5, No. 36
Control System I
Example 5.4
Rule 3:
Im(s)
Asymptotes:
180  360   1
   90 , 90
31 X X
X0
Re(s)
-11/2
 a  b 12  1 11 -12 -1
 1 1 
31 2 2
Rule 4:
Departure angles at s = 0, 0
Ls  2
 s  1
q ,dep   i   i  180  360   1 s  s  12 
i  ,dep

0  180  360   1
 ,dep   90 , 90
2
Departure angles at s = -12

 ,dep 
 180  2 180   180  360   1  0

Chap 5, No. 37
Control System I
Example 5.4
Rule 5:
Route array Ls  2
 s  1
3 s  s  12  Im(s)
s : 1 K
s2: 12 K
11K/12 0 X X Re(s)
s 1: -11/2 X0
-12 -1
0
s : K
If K > 0, there is no crossing.
Rule 6 : Locate the multiple roots
db da
b  s   s  1,  1 and a  s   s 3  12s 2 ,  3s 2  24 s
ds ds
 s  1  3s 2  24s    s 3  12s 2   0
dk
 0 , solve for real s.
ds
2s 3  15 s 2  24 s  0  s  0,  5.18,  2.31
Chap 5, No. 38
Control System I
Example 5.4
Let K = -1/L(s), so when L(s) is at maximum, then K is at minimum,
vice versa.
Case 1: s = -5.18
d  1 
    0 , that is 2 s 3
 15 s 2
 24 s  0
ds  L  s  

d2  1 
    6 s 2
 30s  24
ds  L  s  
2

when s = -5.18,
d  
2
1 1
2 
   0 , so  is at minimum, and K is at maximum.
ds  L  s   Ls

then it is a breakaway point from the real axis at s = -5.18. since

d 2K ds 2  0

Chap 5, No. 39
Control System I
Example 5.4
Case 2: s = -2.31
d  
2
1 1
2 
   0 when s =- 2.31 , so 
Ls
is at maximum, and K is at
ds  L  s  
minimum, then it is a break-in point at s = -2.31 since d 2K ds 2  0
Note that it is possible to have both a breakaway and a break-in point
between a poles and a zero (finite or infinite) on the real axis as shown in
this example.
Departure angles: Im(s)
-5.18
s = -5.18 (breakaway point)
  90 , 90 X
-2.31
X Re(s)
-12 -11/2 -1
X0
Arrival angle at s = -5.18
1  0 ,  2  180
(The same as in s = 0, 0)

Chap 5, No. 40
Control System I
Example 5.4
s = -2.31 Im(s)
Departure angle: (break-in) -5.18

2  0  180  180  360   1 -2.31

X X Re(s)
  0 180 -12 -11/2 -1
X0
Arrival angle:
2  0  180  0  360   1
  90 -90

-5.18 -2.31
Rule 7:
Draw Root Locus

Chap 5, No. 41
Control System I Example 5.5
Example 5.5: Root locus for satellite control with lead having a relative
small value for the pole.
Set z = 1 and consider three different values of p. Let p = 4 in this example.
Then s1 s1
1 K 2 . L   2
s  ,
s  s  4 s  s  4
The characteristic equation s 3  4 s 2  K  s  1  0
Solution:
zero = -1, poles = 0, 0, -4
Rule 1: Mark an x for each pole Im(s)
and an o for each zero.

Rule 2: The loci on the real X X Re(s)

axis to the left of an odd -4 -1
X0
number of pole plus zero.

Chap 5, No. 42
Control System I
Example 5.5
Rule 3:
Im(s)
Asymptotes:
180  360   1
   90 , 90
31 X X
X0
Re(s)
 a  b 4  1 3 -4 -3/2 -1
 1 1 
31 2 2
Rule 4:
Departure angles at s = 0, 0 
Ls  2
s  1
q ,dep   i   i  180  360   1 s  s  4
i  ,dep

0  180  360   1
 ,dep   90 , 90
2
Departure angles at s = -4
 ,dep  0  0  0  360   1  0

Chap 5, No. 43
Control System I
Example 5.5
Rule 4:
Route array 
Ls  2
s  1 Im(s)
s3: 1 K s  s  4
s2: 4 K
X X Re(s)
s:1 3K/4 0 -3/2 X0
-4 -1
s0: K
If K > 0, there is no crossing.
Rule 6: Locate the multiple roots
db
b  s   s  1,  1 and a  s   s 3  4 s 2 , da  3s 2  8s
ds ds
    
 s  1 3s 2  8s  s 3  4s 2  0  s 2s 2  7s  8  0 
dk
 0,  s  0, -1.75  0.968 j
ds
s = 0: Already has two poles of L(s) at s = 0 when K = 0.
s = -1.75 ± 0.968j: Not on the root locus. Do not correspond to multiple roots
Chap 5, No. 44
Control System I
Example 5.5

*No breakaway or break-in points in this locus.

Rule 7: Draw Root Locus

Chap 5, No. 45
Control System I Example 5.6
Example 5.6: Root locus for the Satellite with a transition value for the pole.
Set z = 1 and consider three different values of p. Let p = 9 in this example.
s1 s1
Then 1  K . L   2
s  ,
s  s  9
2
s  s  9

The characteristic equation s 3  9s 2  K  s  1  0

Solution:
zero = -1, poles = 0, 0, -9 Im(s)

Rule 1: Mark an x for each pole

and an o for each zero. X
X Re(s)
X0
Rule 2: The loci on the real -9 -1
axis to the left of an odd
number of pole plus zero.

Chap 5, No. 46
Control System I
Example 5.6
Rule 3:
Im(s)
Asymptotes:
180  360   1
   90 , 90
31 X X Re(s)
-4 X0
 a1  b1 9  1 -9 -1
   4
31 2
Rule 4:
Departure angles at s = 0, 0 
Ls  2
s  1
q ,dep   i   i  180  360   1 s  s  9
i  ,dep

0  180  360   1
 ,dep   90 , 90
2
Departure angles at s = -9
 ,dep  0  0  0  360   1  0
Rule 5: If K > 0, there is no crossing.

Chap 5, No. 47
Control System I Example 5.6
Rule 6: Locate the multiple roots
 s  1
b  s   s  1,
db
 1 and L   2
s  Im(s)
ds s  s  9
da
a  s   s 3  9s 2 ,  3s 2  18s
ds X X Re(s)
   
 s  1 3s 2  18s  s 3  9s 2  0 -9 -4 -1 X0

 2s  s  6s  9   2s  s  3 
2
2
0
 s  0,  3,  3
The points of multiple roots are on the locus.
In this case, we have repeated roots in the derivative, which indicates not
only d   L  s    0, but d
2

ds     L  s   
so three roots at the same place.
ds  
2
0 ,

Departure angles at s = -3, -3, -3

dep  0 ,  120
Chap 5, No. 48
Control System I Example 5.6

Ls  2
s  1
Rule 6: Locate the multiple roots
s  s  9
db
b  s   s  1,  1 and
ds
da
a  s   s 3  9s 2 ,  3s 2  18s
ds
   
 s  1 3s 2  18s  s 3  9s 2  0 -4 -3

 2s  s  6s  9   2s  s  3 
2
2
0
 s  0,  3,  3
The points of multiple roots are on the locus.
In this case, we have repeated roots in the derivative, which indicates not
only d   L  s    0, but d
2

ds     L  s   
so three roots at the same place.
ds  
2
0 ,

Departure angles at s = -3, -3, -3 Arrival angles at s = -3, -3, -3

dep  0 ,  120 3 arr  180  0  360
    60 , 180
Chap 5, No. 49
Control System I
Summary of Examples 5.3 - 5.6

p=1 p=∞
Im(s)
Ls 
 s  1
s2  s  p 

X
-1
X0 Re(s)

p=4 p=9 p =12

-2.31
-1.5 -4

-5.18

Chap 5, No. 50
Control System I
Examples 5.3 - 5.6
Summary:
When the third pole, p, is near the zero, we have a modest distortion
of the second-order locus for L  s   1 s 2 .
As p increases, the distortion becomes more extreme, until p = 9,
the locus breaks-in at -3 in triple multipole roots.
As the pole is moved beyond -9, the locus exhibits break-in and breakaway
points (for example p = 12). As p gets very large, the circle locus of one zero
and two poles  p    .
p = 9 is thus a transition locus between the two second-order extreme,
which occurs at p = 1 (where the zero is canceled) and p   (which the extra
pole has no effect).

Im(s)
s 1 1
p =1 Ls  
s 2  s  1 s 2
X
-1
X0 Re(s)

Chap 5, No. 51