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RootLocus Method
Closedloop poles:
Feedback Structures
Objective:
Study how the closedloop
poles change when K varies.
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RootLocus Equations
Example
RootLocus Rules 0K
RootLocus Rules 0K
Example
Rule 3, there are root loci on
real axis in two intervals: [2, 1]
and [10, 5].
Rule 2, one root locus starts
from 1, a pole, and ends at 2,
a zero, and other two root loci
start from 10 and 5
respectively and then approach
two infinite zeros with two
asymptotes.
The two asymptotes start at
on the real axis with 90o and
90o respectively.
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MATLAB
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(just point and click on any desired point on the plot after entering this command)
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PhaseLag Controller
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Example
20% overshoot and settling time4 sec
Ramp error 0.05
Dominant poles:
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Example (Cont.)
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Example (Cont.)
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Example (Cont.)
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Example (cont.)
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PI Controller
Example (cont.)
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PhaseLead Controller
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PhaseLead Controller
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Example
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Example (cont.)
25
Example (cont.)
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PD Controller
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Example
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Example (cont.)
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2DOF Controller
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Design Guidelines
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Example
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Strong Stabilization
Can any control system
always be stabilized by a
stable controller?
Parity interlacing property
(p.i.p.): A plant P(s) is said
to satisfy the p.i.p. if the
number of unstable poles
between every pair of real
right half plane zeros of P(s)
is even. is counted as a
zero if P(s) is strictly proper
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Example
37
Example
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s( s 4)( s 6)
42
TS 3.972 / 2 1.986s
Design pole location
n 4 / TS 2.014
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5.252
tan 7.31
pc 2.014
pc 42.96
Fig. S-plane picture used to calculate the location of the compensator pole
for example
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45
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s
s
K3 ( s 2
K1 K 2
s )
K3 K3
s
One zero and the pole at the origin : Ideal integral compensator
The other zero : Ideal derivative compensator
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Example
- Design a PID controller that will reduce a peak time as a twothirds of that of the uncompensated system at 20% overshoot
and with zero steady-state error for a step input.
R( s )
E ( s)
C ( s)
K ( s 8)
d
(s 3)( s 6)( s 10)
51
Example (Cont.)
Step1 : The dominant poles are 5.415 j10.57 with a gain 121.5
along 0.456 , the 20% overshoot line. A third pole is -8.169.
We estimate that the uncompensated system has a peak time
of 0.297 second at 20% overshoot.
Step2 : Find the compensated systems dominant pole location.
The imaginary part of the pole is
d
15.87
Tp (2 / 3)(0.297)
Thus, the real part of the pole is
d
8.13
tan117.13
52
Example (Cont.)
Step2(Cont.) : Design the compensator. The sum of angles
from the uncompensated systems poles and zeros to the
desired compensated dominant pole to be 198.37 . Thus, the
contribution require is the compensator zero is 18.37. Assume
that the compensator zero is zc .
15.87
tan18.37
zc 8.13
zc 55.92
GPD (s) (s 55.92)
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Example (Cont.)
Step3 and 4 : Simulate the PD-compensated system.
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Example (Cont.)
Step5 : Design the ideal integral compensator to reduce the
steady-state error to zero for a step input. Choosing the ideal
integral compensator to be
s 0.5
GPI ( s)
s
Searching the 0.456
damping ratio line, we
find the dominant poles
to be 7.516 j14.67 with
a gain of 4.6.
55
Example (Cont.)
Step6 : The PID controller is
K (s 55.92)(s 0.5) 4.6(s 55.92)(s 0.5)
GPID (s)
s
s
4.6( s 2 56.42s 27.96)
s
K1 259.5, K2 128.6, K3 4.6 for Gc (s) Eq.
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Example (Cont.)
Predicted characteristics
of uncompensated, PDand PID-compensated
system
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(2)
K1P1 (s)
1
0 or 1 G1 ( s) H ( s) 0
(3)
Q( s )
The construction of the root loci depends on the pole-zero
configuration of
K1P1 (s)
G1 (s) H1 (s)
Q( s )
60
K2 P2 (s)
0
Q(s) K1P1 (s)
or
1 G2 (s) H 2 (s) 0
Now the root contours are constructed based upon the poles
and zeros of
K 2 P2 (s)
G2 (s) H 2 (s) Q(s)
Q(s) K1P1 (s)
One important feature is that the poles of G2 (s) H 2 (s) are
identical to the roots of Eq. (2) or of Eq. (3). Thus the root
contours of the original equation must all start ( K2 0 ) at the
points that lie on the root loci of Eq. (3)
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Example
Consider the equation
s3 K2 s 2 K1s K1 0
(4)
where K1 and K 2 are the variable
parameters and with values that lie
between 0 and .
First, we let K2 0 ; Eq. (4) becomes
s3 K1s K1 0
(5)
K1 ( s 1)
1
0
3
s
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Example (cont.)
Next, we let K 2 vary between
zero and infinity while holding K1
at a constant nonzero value.
From Eq. (4),
K2 s2
1 3
0
s K1s K1
63