Homework 21 Given the system below, which is fitted with a proportional-differential compensator (PD control) with KD = 1:

a.) Sketch the root locus for the system if KP = -2 b.) Sketch the root locus for the system if KP = 1 c.) Sketch the root locus for the system if KP = 4 d.) Tell which case (a, b or c) has the fastest settling time. e.) Tell which case(s) will be unstable at some point. Suppose you are assigned the job of developing a PID control system for the inherently unstable first order system shown below. The values shown represent your initial guess at what the proportional, integral and derivative coefficients should be.

f.) Given this system, sketch the root locus. g.) Find the value of K associated with the fastest possible settling time. h.) By adjusting the proportional and integral gain on this system (both "2" in the initial guess) design a system with a settling time of 0.2 seconds which exhibits no oscillation. i.) Calculate the value of "K" to be used at this operating point.

Solution: a.) The characteristic equation becomes 1 K ( s 2) 0 s ( s 2)

and the root locus is

Root Locus

0.8 0.6 0.4 0.2 Imaginary Axis

0 -0.2 -0.4 -0.6

-0.8 -12

-10

-8

-6

-4 Real Axis

-2

b.) The characteristic equation becomes 1 K ( s 1) 0 s ( s 2)

and the root locus is

0.4 0.3 0.2 0.1 Imaginary Axis

Root Locus

0 -0.1 -0.2 -0.3

-0.4 -7

-6

-5

-4

-3 Real Axis

-2

-1

c.) The characteristic equation becomes 1 K ( s 1) 0 s ( s 2)

and the root locus is

Root Locus

1 Imaginary Axis

-1

-2

-3 -14

-12

-10

-8

-6 Real Axis

-4

-2

d.) By the root loci shown here, we can see that case ( c) is the fastest. e.) By the root loci shown here, we can see that case ( a) is the one that will be unstable. f.) The characteristic equation becomes
1 K ( s 2 2 s 2) 0 s ( s 1)( s 10)

and the root locus is

1.5

Root Locus

0.5 Imaginary Axis

-0.5

-1

-1.5 -20

-15

-10 Real Axis

-5

g.) Well want to raise K to infinity because, the higher we raise K, the faster the settling time is. Note that we cant be both stable and non-oscillatory.

h.) The if we let the proportional gain be 42 and the integral gain be 440, our characteristic equation becomes
1 K ( s 2 42 s 440) 0 s ( s 1)( s 10)

and the root locus is

Root Locus

40 30 20 10 Imaginary Axis

0 -10 -20 -30

-40 -120

-100

-80

-60

-40 Real Axis

-20

20

i.) The shortest settling time for this system will occur at K = and the root that would be farthest to the right at that point would be s = -20, which would give ts = 4(0.05 sec) = 0.2 sec.