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Root Locus Design

M. Sami Fadali
Professor of Electrical Engineering
University of Nevada
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Outline
PI control system design.
PD control system design.
PID control system design.
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Block Diagram


Plant

Plant


Cascade Compensation
Feedback Compensation
Compensator
Compensator
E(s) C(s)
C(s)
R(s)
R(s)
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PI Control
Add integral control to improve steady-state
error, (increases type number one) worse
transient response or instability.
Add a proportional control controller has pole
at origin and zero.
Cascade compensation: integral term in feedback
path is equivalent to a differentiator in the
forward path.
c p

p

p
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PI Design Procedure
1. Design a proportional controller to meet the
transient response specifications, i.e. place
the dominant closed-loop system poles at a
desired location
cI n d
2. Add a PI controller with a zero at
n
/10
3. Tune the gain of the system to move the
closed-loop pole closer to
cI
.
4. Check the time response and modify the
design until it is acceptable.
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Example: PI Design
Design a controller for the system for
percentage overshoot less than 5% and zero
steady-state error due to step.
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Step 1: Proportional Control
Design proportional control to meet transient response
specifications.
Percentage overshoot less than 5%
2 2
c.l. characteristic polynomial
2 2
n n
2
Equate coefficients
n
2
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Root Locus for PI Example
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Step 2: Add PI Compensator
c p
n
For this example, an easier design
canceling the pole at 3 may be superior.
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RL for PI Compensated System
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Time Response for PI Example
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Increase gain for faster response
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PD Control
Can be used in cascade or feedback control.
Zero pulls RL to left: improves the transient
response.
Transfer Function of PD Controller
c p d d
p
d
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PD Design
Obtain the desired dominant pair from the
design specifications.
Angle of PD controller
c cI
Compensator
d
c
n

c

s
cl

a

d
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PD Design Procedure
1. Calculate angle[ L( s
cl
) ] using a
calculator or MATLAB
scl=-zeta*wn+j*wd;
theta= piangle(evalfr(g, scl) )
2. Calculate the zero location using
d
c
n
a=wd/tan(thetac)+zeta*wn
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PD Design Procedure (cont.)
3. Calculate the new loop gain function including
the compensator then calculate the gain
(magnitude condition) with a calculator or
L = g*tf( [1, a],1)
K = 1/abs( evalfr( L, scl) )
4. Check the time response of the PD compensated
system and modify the design to meet the
desired specifications if necessary.
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Example
Design a P-controller for % OS < 10%
Design a PD controller to reduce
s
to 1 s.
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P-Control
Percentage overshoot less than 10%
2 2
Find the intersection of constant line with the root
locus using the angle condition by trial and error.
The intersection is easy to find with MATLAB.
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Root Locus for P-Control
PD Design
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Reduce
s
to 1 s
s
n
n
n
Find the c.l. pole location
d n
2
cI
Angle of PD controller
c cI
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PD Controller
Compensator zero
d
c
n
Loop gain
c
s+2.4
s s+4 s+6
Calculate the gain
cI
cI
Simulation results show that the system is too slow
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Modified PD Design
We need to speed up the time response.
1. Move zero closer to the j-axis.
2. Increase the gain.
c
cI
c cI cI
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Compensated Root Locus
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Step Response K = 38.8
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Step Response K = 70
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PID Control
c p

d p
2
n n
2
n
d
d
n
2

d
Procedure
1- Design a PD controller to meet the transient
response specifications.
2- Add a PI controller to meet the steady-state
specifications without appreciably affecting the
transient response.
zeros can be
complex conjugate
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Example: PID Design
Design a PID controller for the system to meet
the PD specifications (
s
with zero steady-state error due to ramp.
PID Design
PD specifications met with earlier PD design
P
PI design
cI
n
Combine for PID
PI
s+2 s+0.4
s
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Root Locus with PID
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PID Design with K = 38
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PID with K=70, zero at 0.2
PD Design: Pole-Zero Cancellation
Cancel pole with PD zero.
Do not cancel RHP poles.
Do not cancel pole at origin.
Cancel closest real pole to the j-axis.
Imperfect implementation: almost cancel.
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RHP Pole
Zeros do not change the response due to the
ICs.
Imperfect cancellation: RHP closed-loop pole.
Example
Form of complete step response
0 1
t
2
-6t
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Example
For the closed-loop system with unity
feedback, design a controller to reduce the
percentage overshoot to less than 5% and
the settling time to less than 1.5 second.
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Root Locus: Uncompensated
With 10 included in MATLAB transfer function
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Root Locus
Real Axis
I
m
a
g
in
a
r
y

A
x
is
-8 -7 -6 -5 -4 -3 -2 -1 0 1 2
-8
-6
-4
-2
0
2
4
6
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System: g
Gain: 1
Pole: -0.348 + 1.21i
Damping: 0.276
Overshoot (%): 40.5
Frequency (rad/sec): 1.26
Step Response
Uncompensated closed-loop system
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Step Response
Time (sec)
A
m
p
lit
u
d
e
0 2 4 6 8 10 12 14 16 18 20
0
0.2
0.4
0.6
0.8
1
1.2
1.4
System: untitled1
Settling Time (sec): 11.1
System: untitled1
Peak amplitude: 1.39
Overshoot (%): 39.3
At time (sec): 2.69
>> step(feedback(g,1))
Design
Cancel pole at 1 with a zero
P
Choose K for (gives <5% overshoot)
10 not included in compensator gain.
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Equating Coefficients
Loop gain
P
C.l. characteristic polynomial
2 2
n n
2
n
2
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Root Locus
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Root Locus
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
-7 -6 -5 -4 -3 -2 -1 0
-2
-1
0
1
2
3
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System: l
Gain: 1.83
Pole: -3 + 3.05i
Damping: 0.701
Overshoot (%): 4.55
Frequency (rad/sec): 4.28
n
Design Algorithm
Transient
response OK?
SS Error
OK?
Stop Add PI
Add PD
SS Error
OK?
Stop Add PI
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Yes
Yes
Yes
No
No
No