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5.

RootLocus Method
Closedloop poles:

Feedback Structures

Objective:
Study how the closedloop
poles change when K varies.
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Walter R. Evans (19201999)


He invented the rootlocus
techniques in 1948. He developed the
Spirule sold over 100,000 copies over
75 countries around the world. His
method was published Graphical
analysis of control systems, Trans. of
the American Institute of Electrical
Engineers, vol. 67, pp. 547551, 1948,
and in the paper Control system
synthesis by rootlocus method,
Trans. of the American Institute of
Electrical Engineers, vol. 69, pp. 66
69, 1950.
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RootLocus Equations

Example

RootLocus Rules 0K

RootLocus Rules 0K

Asymptotes & Breakaway Points

angles of the three asymptotes:

for k = 0, -1, and 1 and the intersection of


the asymptotes with the real axis is given
by

Note that one could have set k = 0, 1, and 2 to get


which are the same angles.
The asymptotes clearly indicate that the system will become unstable when
the gain is sufficiently increased.

Departure & Arrival Angles

Roots on Real Axis


Take s to be a point on the real
axis. Any complex pair of poles or
zeros will contribute totally zero
degree of phase for any test point
on the real axis. Thus we only need
to look at real zeros and poles.
It is also clear that any real pole or
real zero on the left hand side of
the testing point s (real number)
will also contribute zero degree of
phase and any pole or zero on the
right hand side will contribute 180
degree of phase.
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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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Example: Nonstandard Problem


The closedloop poles are
given by the roots of
1 + P(s)C(s) = 0
or s(s + 1)(s + K) + 4(s + 3) = 0
which can be written as
(s + 2)(s2 s + 6) + Ks(s + 1) = 0

(just point and click on any desired point on the plot after entering this command)
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Effects of Adding Poles and Zeros


Adding openloop poles tend to
push the root loci to the right
half plane.
Zeros attract root loci and thus
suitably placed zeros can move
root loci to the desired region.
A lead (or PD) controller can be
used to improve the transient
performance if it is suitably
designed.
A lag (or PI) controller can be
used to improve steady state
tracking.
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PhaseLag Controller

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Example
20% overshoot and settling time4 sec
Ramp error 0.05
Dominant poles:

Steady state error:

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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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GUI tool: sisotool

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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.)

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Example (cont.)

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PD Controller

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Example

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Example (cont.)

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LeadLag (PID) Controller

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2DOF Controller

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Design Guidelines

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Complementary RootLocus: K<0

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Complementary RootLocus: K<0

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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

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Example

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Ball and Beam System

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Ball and Beam System (cont.)

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Ball and Beam System (cont.)

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Supplement for Chapter 5


Lead Compensator Design
- Design three lead compensators that will reduce the settling
time by a factor of 2 while maintaining 30% overshoot.
E ( s)
C ( s)
R( s )
K
d

s( s 4)( s 6)

Root locus for


uncompensated system

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Lead Compensator Design


30% overshoot : 0.358
Uncompensated settling time : TS 4 /1.007 3.972s
Find the design point

TS 3.972 / 2 1.986s
Design pole location
n 4 / TS 2.014

d 2.014 tan(110.98) 5.252

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Lead Compensator Design


Arbitrarily assume a compensator zero at -5 on the real axis.
Sum the angles from both this zero and the uncompensated systems
poles and zeros for the design point : 172.69
Angular contribution of 7.31 is required from the compensator pole.

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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Lead Compensator Design


Compensated system root locus for compensator zero at -5.

In order to justify our estimates of percent overshoot and settling


time, we must show that the second-order approximation is valid.

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Lead Compensator Design


Compensation a, b, c
: A Compensator zero at -5, -4 and -2 is used, respectively.

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Lead Compensator Design


Compensation a, b, c
: A Compensator zero at -5, -4 and -2 is used, respectively.

Uncompensated system and lead compensation responses


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PID Controller Design


The transfer function of a PID controller is
K1s K 2 K3 s 2
K2
Gc (s) K1 K3 s

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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PID Controller Design


- Design steps
1. Evaluate the performance of the uncompensated system to
determine how much improvement in transient response is
required.
2. Design the PD controller to meet the transient response
specifications. The design includes the zero location and the loop
gain.
3. Simulate the system to be sure all requirements have been
met.
4. Redesign if the simulation shows that requirements have not
been met.

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PID Controller Design


- Design steps(cont.)
5. Design the PI controller to yield the required steady-state error.
6. Determine the gains, K1 , K2 ,and K3

7. Simulate the system to be sure all requirements have been


met.
8. Redesign if simulation shows that requirements have not been
met.

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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)

Root locus for


uncompensated system

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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
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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.

Root locus for PDcompensated 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.

Root locus for PIDcompensated system

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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.

Step7 and 8 : Simulate the system to be sure all requirements


have been met.

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Example (Cont.)
Predicted characteristics
of uncompensated, PDand PID-compensated
system

Step responses for


uncompensated, PDand PID-compensated
system
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Lag-Lead Compensator Design


We improve both transient response and the steady-state
error by using a lead compensator and a lag compensator
rather than the ideal PID.
Step1 : Evaluate the performance of the uncompensated
system to determine how much improvement in transient
response is required.
Step2 : Design the lead compensator to meet the transient
response specifications. The design includes the zero location,
pole location, and the loop gain.
Step3 : Simulate the system to be sure all requirements have
been met.

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Lag-Lead Compensator Design


Step4 : Redesign if the simulation shows that requirements
have not been met.
Step5 : Evaluate the steady-state error performance for the
lead-compensated system to determine how much more
improvement in steady-state error is required.
Step6 : Design the lag compensator to yield the required
steady-state error.
Step7 : Simulate the system to be sure all requirements have
been met.
Step8 : Redesign if the simulation shows that requirements
have not been met.
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Root Contour - Multiple-Parameter Variation


The principle of the root contours considers the equation
Q(s) K1P1 (s) K2 P2 (s) 0
(1)
where K1 and K 2 are the variable parameters and Q(s) , P1 (s) ,
and P2 ( s) are polynomials of s.

The first step involves the setting of one of the parameters


equal to zero. Let us set K 2 equal to zero. Then, Eq. (1) becomes
Q(s) K1P1 (s) 0

(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 )

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Root Contour - Multiple-Parameter Variation


Next, we restore the value of K 2 . Then, Eq. (1) becomes
1

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

The root loci of Eq. (5) are drawn


from the poles and zeros of
K1 (s 1)
G1 (s) H1 (s)
s3
as shown in Fig. (a).

Root contours for Eq. (5).

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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

Thus the root contours of Eq. (4)


when K 2 varies may be drawn
from the pole-zero configuration of
K2 s2
G2 (s) H 2 (s) 3
s K1s K1

as shown in Fig. (b).

Root contours for Eq. (4).

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