2020-04-25

Design Via Root Locus

Introduction
P control
PI Control and Lag Compensation
PD Control and Lead Compensation
PID Control
Lag-lead Compensation
Physical realization of compensation

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Different locations of the zero

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1. Improving system performance

Fundamentally, we wish to improve the performance of our
systems in terms of the principal control systems design criteria:
transient response, steady-state error, and stability.

We saw in the Steady-State Error unit that the addition of

integration (1/s trans. function) into the forward path can
reduce the final Steady State error to zero.

Here we discuss in more detail how to achieve this.

We also discuss how to improve transient performance. With a

given system the only way we have to adjust transient
performance is to find a suitable point on the RL.

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Assume we have found point A on the RL below which gives us Compensators can be added to a system to improve either
the desired %OS. steady-state error or transient response. They can either be
cascaded with the original controller and plant or added to the
However, while we are happy with feedback path:
the damping ratio and %OS
at A we would prefer the reduced
settling time at B.

Since B is not on the RL it is not

achievable by adjusting gain.
Instead we must compensate the
system with additional poles or
If a compensator involves pure integration or pure differentiation
zeros so that the new system's RL
we refer to it as an ideal compensator. Ideal compensators must
goes through B.
be built with active amplifiers. Non-ideal compensators can be
constructed using passive components.

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P Control: Third-order system gain design: 1.52%OS

Is there any
a. Draw Root locus solution for a very
small
b: 1.52%OS    0.8 underdamping?

c: Find the primary poles of

the second-order system
d: Find the third pole and
 a  4.75
the gain K
e: calculate the transient   4.36,  2.77,  0.62
performance

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Another solution for this problem

  0.8
2. PI Control and Lag Compensation
Characteristic equation:
Steady-state error can be improved by placement of an open-
D(s)  s(s 1)(s 10)  K(s 1.5)  s3 11s2  (10  K)s 1.5K from CL system
loop pole at the origin. This increases the system type.
Characteristic eq. based on the desired closed loop poles
D ( s )  ( s 2  2n s  n2 )( s  p3 ) Ideally we would like to add such a zero without affecting the
D(s )  s 3  ( p3  1.6n )s 2  (1.6n p3  n2 )s  p3n2 transient response. This allows transient response to be
compensated for separately.
Two equations for the same system, the coefficients should be the same.
 n p3 K Ts
 p3  1.6n  11 Assume we begin with the system below on the left which is
 5.7525 1.7960 39.6216 0.8692
1.6n p3  n  10  K operating at some point A which yields a desirable transient
2

1.4946 8.6086 12.8204 3.3453

 response....
 p3n  1.5 K
2
1.0904 9.2554 7.3362 4.5855

1.6n3  13.34n2  26.4n  15  0

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) 
 1   2  3  (2k  1)180  1   2   3   c  (2 k  1)180
 1   2  3   pc   zc  (2k  1)180
To improve steady-state error a compensator is added which
places a pole at the origin. However, the point A is no longer on the If the zero is close enough to the pole then θpc≈θzc which means they
RL. effectively cancel out, leaving A still on the RL.
Solution: We can achieve the desired steady-state error while The required gain will be similar to the original system, since the ratio
maintaining approximately the same transient response if we also of the magnitudes of the added pole to the added zero is approx. 1.
add a zero close to the origin.

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4th order system

e.g. The following system is operating with a damping ratio PI design: We add an ideal
of 0.174. Compensate the system to achieve estep(∞) = 0 integral compensator with a
while maintaining the system's current transient response. zero at -0.1.

What is the K value for the

compensator ?

From the characteristic equation.

How to determine the poles?
From the characteristic equation. s ( s  1)( s  2)( s  10)  K ( s  0.1)  0

(s 2  2n s  n2 )( s  p3 )  0 ( s 2  2n  n2 )( s  p3 )( s  p4 )  0

Determine: n , p3 , K A little change of the dominant

poles and control gain K
p3

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The system is now of type 1 and we can easily verify that its Standard PI Control:
steady-state error for step inputs is reduced to zero.

The following shows the time responses for the uncompensated and
compensated systems:

K 2  K1

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Lag Compensation

Ideal integral compensation requires an active circuit for

implementation.

If this is not desirable then instead of placing a pole directly at the

origin we can try placing it very nearby.
-Zc -Pc
Of course, we also place a zero nearby so as to minimize the
s  zc
impact on transient response. This is known as lag compensation. CLag  s       s  zc     s  pc 
s  pc
Lag compensation  Phase lag.  Z P  0
s  zc
CLag  s   k
s  pc

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Thus, we get an increase in static error constant (decrease in

eramp(∞)) when zc/pc is large.

Are we free to choose how we make this ratio large?

Three parameters need to be determined
NO

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Example: Compensate the system

To maintain the same transient response, we should below (right) to improve the
position the zero and pole close to each other so that the steady-state error by a factor of 10
system's transient response is relatively unaffected. when the system is operating
with ζ= 0.174.
Previously we found e(∞) = 0.108 and Kp = 8.23 for the
uncompensated system. We now require ec (∞) = 0.0108. Thus,

 Kpc = 91.59. Kpc /Kp = 11.13.

To make zc/pc a large number, the only option is to move both

close to the origin. Large ratio with small angle difference

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RL of the compensated system

How to get the closed-loop poles and gain?

Searching around the uncompensated closed
pole on the line? -0.694+j3.926

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3. PD control and Lead Compensation

Generally, we want to speed up the transient response (decrease
Ts and Tp). If we are lucky then a system's desired transient
response lies on its RL.
However, if no point on the RL corresponds to the desired
transient response then we must compensate the system.
A derivative compensator (PD) modifies the RL to go through the
desired point.
A derivative compensator adds a zero to the forward path.

Notice that this transfer function is the sum of a differentiator and

a pure gain. Thus, we refer to its use as PD control.

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K K ( s  4)
G (s)  G (s) 
Design requirement: ( s  1)( s  2)( s  5) ( s  1)( s  2)( s  5)
Keep the overshoot the same,
improve the transient performance. What is the Ts? What is the new Ts?
What is the Kp?
Solutions: What is the new Kp?
Add a compensating zero (Zc) at
different places. What is the new ess?
What is the ess?
1 What performances
K
G( s) H ( s) are improved?

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K ( s  3)
G (s) 
( s  1)( s  2)( s  5) K ( s  2)
G (s) 
( s  1)( s  2)( s  5)
What is the new Ts?
What happened for the RL?
What is the new Kp?
What is the Ts?
What is the new ess?
What is the Kp?
What performances
are improved?
What is the ess?

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How to best place the zero ?

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We must now solve for the zero that will place the desired point on the new
3 times RL. At the desired point the sum of angles from the open-loop poles is -275.6o.
To achieve a point on the RL we require a zero positioned so that the sum of
angles equals an odd multiple of 180o.

95.6o

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Find the position of the compensated zero.

How to calculate the

control gain K?

1
K
G( s) H (s)
s ( s  4)( s  6)

s  3.006 s 3.613 j 6.193

 47.45

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PD implementation Lead Compensation

An ideal derivative compensator has two main disadvantages:

1. Differentiation tends to enhance high-frequency noise.

2. Implementing a differentiator requires an active circuit.

A lead compensator is an approximation to an ideal PD control

that can be implemented with a passive circuit. Its transfer
function is as follows:

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 2   zc 1   pc  2  1   3   4   5  (2k  1)180  2  1   c or  lead

Possible locations of the lead compensator

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4. PID controller, adding two zeros and a pole

1. Evaluate the uncompensated system to determine how much

improvement is required in transient response.
2. Design the PD controller that meets the transient response
specifications.
3. Simulate to be sure if the PD controller meets the specifications.
4. Design the PI controller to yield the required steady-state error.
5. Determine gains KP , KI , and KD.
6. Simulate to be sure if all requirements have been met.

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
Tp   0.297
10.57

Design a PID controller so that the

system can operate with a peak
time that is two-thirds that of the
uncompensated system at 20%
overshoot and with zero steady-
state error for a step input.

Step 1, Find uncompensated peak

time Tp for 20% overshoot.
 ln  %OS / 100    
  Tp   
 2  ln 2  %OS / 100  d n 1   2 10.57

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Step 2, Design PD controller to reduce Tp to two-thirds

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  8.13 X 1.5

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Step 4, Design PI controller to make the steady state error to be zero.

Step 3: PD compensator:

reduces the steady state error

of Type 0 systems to zero. The
value of z0 is arbitrary as long
as z0 is close to the pole at s =
0. Choose z0 = 0.5.
Draw the RL again.

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Step 5, Obtain PID control gains

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5. Lag-Lead Compensator Design EX: Design a Lag-Lead compensator such that the system will operate with 20%
overshoot, and a twofold reduction in settling time. Further, the compensated
system will exhibit a tenfold improvement in steady-state error for a ramp input.

Lead Lag
The design procedure is as follows:
1. Evaluate the uncompensated system to determine how much
improvement is required in transient response.
2. Design the Phase Lead compensator that meets the transient
response specifications.
3. Simulate to be sure if the Lead controller meets the specifications.
4. Evaluate steady-state error performance of the uncompensated Using the root locus for the uncompensated system, the intersection of
system to determine how much more improvement is required. the locus and the 20% overshoot line gives the operating point,
5. Design the Phase Lag compensator to yield the required steady-
state error.
settling time Ts: 4 4
6. Simulate to be sure if all requirements have been met. Ts    2.23
n 1.794

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cancel a pole at s=-6

4
Ts   2.23
n

In order to have the intersection at -3.588, we have to move the root pc  29.1
locus to left. We can place the zero of the Lead compensator s + zc1 = 0 to
the system pole at s = −6. ( cancel a pole at s=-6)

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Step 3, 4: Find K and draw RL Step 6: Lag compensator design

Step 5: Finish the lead compensator design

Step 7: Determine the control gain K

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6. Physical Realization of Compensation

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