SYSTEM COMPENSATION

AND
ROOT LOCUS METHOD
Root Locus
- a graphical method for examining how the roots of a
system change with variation of a certain system
parameter, commonly a gain within a feedback system.
- This is used as a stability criterion in the field of classical
control theory which can determine stability of the
system
- The root locus plots the poles of the closed loop transfer
function in the complex s-plane as a function of a gain
parameter
Root Locus
A root locus plot is simply a plot of the s zero values and
the s poles on a graph with real and imaginary
coordinates.

This method is a very useful graphical technique for

investigating the effects of the variation of a system
parameter on the locations of the closed loop poles.
Root Locus
The root locus of a feedback system is the graphical
representation in the complex s-plane of the possible
locations of its closed-loop poles for varying values of a
certain system parameter.
Suppose there is a feedback system with input signal X(s)
and output signal Y(s) The forward path transfer function
is G(s); the feedback path transfer function is H(s).
Root Locus
Root Locus
For this system, the closed-loop transfer function is given
by
Root Locus
Thus, the closed-loop poles of the closed-loop transfer
function are the roots of the characteristic equation
1+G(s)H(s)=0. The roots of this equation may be found
wherever G(s)H(s)=-1.
In systems without pure delay, the product G(s)H(s) is a
rational polynomial function and may be expressed as:
Root Locus
Where:
• Z- are the zeros
• P- are the poles
• K- scalar gain
Typically, a root locus diagram will indicate the transfer
function's pole locations for varying values of the parameter
K. A root locus plot will be all those points in the s-plane
where G(s)H(s)=-1 for any value of K.
Root Locus Sketching rules
Rule 1:Find the number of poles Np and zeros Nz
Rule 2:Root locus is symmetric about the real axis.
Rule 3: Along the real axis, the root locus includes all
segments that are to the left of an odd number of poles
and zeros.
Rule4: find the asymptotic location at σo and angles θk.
Root Locus Sketching rules
System Compensation
System Compensation
System Compensation
• B is the desired root: we can’t access by changing K!
• What can we do?
• Change parameters of the original system: Impossible
or Expensive
• Add a Compensation System!
System Compensation
Compensation System - Simple controller system with
two purposes:
• Improving the transient response by changing pole
locations. (Differentiator Based)
• Improving the steady-state performance. (Integrator
Based)
System Compensation
There are 2 types of compensators (Depending on where
you place the compensator system): Cascade(a) or
Feedback(b)
System Compensation
There are 2 types of compensators (Depending on where
you place the compensator system): Cascade(a) or
Feedback(b)
Improving Steady State Performance
Goal: Improve steady state performance without
affecting transient response.
Basic Strategy: Add integrators to increase the type of
the system Two Common Techniques:
• Ideal Integrator (a pole on origin)
• Non-ideal Integrator with a pole near origin
Note that both approaches have a zero in addition to the
pole.
Ideal Integrator
• Ideal Integrator (a pole on origin): G1(s) = K(a + 1 /s )
• Increases the system type, can make steady-
state error zero.
• Requires use of active elements(i.e., elements
requiring power supply)(Expensive)
Non-Ideal Integrator
• Non-ideal Integrator with a pole near origin. G1(s) =
s−zc/ s−pc
• Can not the increase system type, but can
significantly improve steady state error
performance.
• Requires passive elements only, so it is cheap.