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Course Outline

Week Date Content Assignment Notes


1 1 Mar Introduction
Amme 3500 : 2 8 Mar Frequency Domain Modelling
3 15 Mar Transient Performance and the s-plane
System Dynamics and Control 4 22 Mar Block Diagrams Assign 1 Due
5 29 Mar Feedback System Characteristics
6 5 Apr Root Locus Assign 2 Due
7 12 Apr Root Locus 2
Root Locus 8 19 Apr Bode Plots No Tutorials
26 Apr BREAK
9 3 May Bode Plots 2 Assign 3 Due
10 10 May State Space Modeling
Dr. Stefan B. Williams 11 17 May State Space Design Techniques
12 24 May Advanced Control Topics
13 31 May Review Assign 4 Due
14 Spare
Dr. Stefan B. Williams Amme 3500 : Introduction Slide 2

Designing Control Systems Proportional Controller


We have had a quick look at a number of When the feedback control signal is made to be
methods for specifying system performance linearly proportional to the system error, we call
We have examined some methods for designing this proportional feedback
systems to meet these specifications for first and We have seen how this form of feedback is able
second order systems
to minimize the effect of disturbances
We will now look at a graphical approach, known
as the root locus method, for designing control
systems R(s) E(s) C(s)
As we have seen, the root locations are +
K G(s)
important in determining the nature of the -
system response

Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 3 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 4

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Proportional Controller Proportional Controller
K
T (s) =
The closed look We can also look at the s 2 + (a + b) s + ab + K
KG ( s )
T (s) = !n
transfer function is 1 + KG ( s ) system parameters as = C# 2
given by a function of the gain, K s + 2"!n + !n2
Assuming we have Given fixed values for !n = ab + K
K
two poles, G(s)=1/(s T (s) = the roots of the plant, a+b
s 2 + (a + b) s + ab + K " =
+a)(s+b) we can find K to meet 2 ab + K
performance a+b
#=
specifications 2
ab
ess =
ab + K

Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 5 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 6

Root Location Example: Second order system


A system to
The location of the roots, and hence the automatically track a
nature of the system performance, are a subject in a visual
function of the system gain K image can be
In order to solve for this system modelled as follows
performance, we must factor the We can solve for the
denominator for specific values of K closed loop transfer
We define the root locus as the path of function as a function
the closed-loop poles as the system of the system
parameter varies from 0 to parameter, K

Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 7 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 8

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Example: Second order system Example: Second order system
We can also determine the closed loop poles as
a function of the gain for the system

The individual pole locations The root locus


Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 9 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 10

Properties of the Root Locus Properties of the Root Locus


We can easily derive How do we find
1 + KG ( s ) H ( s ) = 0
the root locus for a KG ( s ) values of s and K
T (s) =
second order system 1 + KG ( s ) H ( s ) that satisfy the KG ( s ) H ( s ) = 1
What about for a characteristic
equation? !KG ( s ) H ( s ) = (2k + 1)180!
general, possibly higher
order, control system? This holds when
Poles exist when the
characteristic equation
1 + KG ( s ) H ( s ) = 0 " zero angles !" pole angles = (2k + 1)180 !

(denominator) is zero K=
1
=
# pole length
G ( s ) H ( s ) # zero length
Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 11 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 12

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Properties of the Root Locus Basic Root Locus Rules
The preceding angle and magnitude Rule 1 : Number of Branches the n branches of the
root locus start at the poles
criteria can be used to verify which points
1 + KG ( s ) H ( s ) = 0
in the s-plane form part of the root locus
Den( s ) + KNum( s ) = 0
It is not practical to evaluate all points in
For K=0, this suggests that the denominator must be
the s-plane to find the root locus zero (equivalent to the poles of the OL TF)
We can formulate a number of rules that The number of branches in the root locus therefore
equals the number of open loop poles
allow us to sketch the root locus

Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 13 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 14

Basic Root Locus Rules Basic Root Locus Rules


Rule 3 Real Axis Segments According to the angle
Rule 2 : Symmetry - The root locus is symmetrical criteria, points on the root locus will yield an angle of (2k
about the real axis. This is a result of the fact that +1)180o.
complex poles will always occur in conjugate pairs. On the real axis, angles from complex poles and zeros are
cancelled.
Poles and zeros to the left have an angle of 0o.
This implies that roots will lie to the left of an odd number
of real-axis, finite open-loop poles and/or finite open-loop
zeros.

Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 15 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 16

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Basic Root Locus Rules Example
Rule 4 Starting and Ending Points As we Consider the system
saw, the root locus will start at the open loop at right
poles The closed loop
1 + KG ( s ) H ( s ) = 0 transfer function for
Den( s ) + KNum( s ) = 0 this system is given
by K ( s + 3)( s + 4)
The root locus will approach the open loop zeros T (s) =
(1 + K ) s 2 + (3 + 7 K ) s + (2 + 12 K )
as K approaches Difficult to evaluate
Since there are likely to be less zeros than poles, the root location as a
some branches may approach function of K

Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 17 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 18

Example Example
Open loop poles and Real axis segments
zeros Along the real axis,
First plot the OL poles the root locus is to the
and zeros in the s- left of an odd number
plane
of poles and zeros
This provides us with
the likely starting
(poles) and ending
(zeros) points for the
root locus

Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 19 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 20

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Example Basic Root Locus Rules
Starting and end points Rule 5 Behaviour at infinity For large s and K, n-m
of the loci are asymptotic to straight lines in the s-plane
The root locus will start
The equations of the asymptotes are given by the real-
from the OL poles and
axis intercept, sa, and angle, qa
approach the OL zeros
as K approaches infinity !a =
% finite poles $% finite zeroes
n$m
Even with a rough
(2k + 1)"
sketch, we can #a =
n$m
determine what the root
locus will look like Where k = 0, 1, 2, and the angle is given in radians
relative to the positive real axis

Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 21 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 22

Basic Root Locus Rules Example


Why does this hold? Here we have four OL
We can write the characteristic equation as poles and one OL
s m + b1s m !1 + ! + bm zero
1+ K =0
s n + b1s n !1 + ! + bn We would therefore
This can be approximated by expect n-m = 3
1 distinct asymptotes in
1+ K =0
(s " ! )n"m the root locus plot
For large s, this is the equation for a system with
n-m poles clustered at s=

Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 23 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 24

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Example Angles of Departure and Arrival
We can calculate the
equations of the For poles on the
asymptotes, yielding real axis, the locus
% finite poles $% finite zeroes will depart at 0o or
!a = 180o
n$m
($1 $ 2 $ 4) $ ($3) 4 For complex poles,
= =$
3 3 the angle of
(2k + 1)" departure can be
#a =
n$m
calculated by
= " / 3 (k = 0)
considering the
= " (k = 1)
angle criteria
= 5" / 3 (k = 2)
Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 25 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 26

Angles of Departure and Arrival Imaginary Axis Crossing


A similar approach We may also be
can be used to interested in the
calculate the angle of gain at which the
arrival of the zeros locus crosses the
imaginary axis
This will determine
the gain with which
the system
becomes unstable

Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 27 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 28

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Using Available Resources Root Locus as a Design Tool
All of this probably seems somewhat As we saw previously, the specifications
complicated for a second order system are often used
Fortunately, Matlab provides us with tools in designing a system
for plotting the root locus The resulting system performance must be
It is still important to be able to sketch the evaluated in light of the true system
root locus by hand because performance
This gives us an understanding to be applied The root locus provides us with a tool with
to designing controllers which we can design for a transient
It will probably appear on the exam response of interest
Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 29 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 30

Root Locus as a Design Tool Root Locus as a Design Tool


Recall that for a second order system with
We would usually follow these steps
no finite zeros, the transient response
Sketch the root locus
parameters are approximated by
Assume the system is second order and find
the gain to meet the transient response 1.8
specifications tr "
Rise time : !n
Justify the second-order assumptions by
" 5%, ! = 0.7
finding the location of all higher-order poles #
Overshoot : M p $ % 16%, ! = 0.5
If the assumptions are not justified, system #20%, ! = 0.45
response should be simulated to ensure that it &
meets the specifications Settling Time (2%) : ts " 4
!
Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 31 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 32

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Example: Second order system Example: Second order system
Recall the system K
presented earlier Examining the transfer T (s) = 2
s + 10 s + K
Determine a value of function
!n
the gain K to yield a Solve for K given the = C# 2
s + 2"!n s + !n2
5% percent overshoot desired damping ratio
specified by the desired !n2 = K
For a second order
overshoot 2"!n = 10
system, we could find
K explicitly for 5% overshoot , " # 0.7
2
$ 5 %
therefore K = & '
( 0.7 )
= 51
Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 33 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 34

Example: Second order system Example: Second order system


Im(s)
Root Locus

Alternatively, we can S=5+5.1j x


We can use Matlab 5
System: sys2
Gain: 52.5

examine the Root to generate the


4 Pole: -5 + 5.24i
Damping: 0.69
=sin-1
3 Overshoot (%): 5

Locus root locus


Frequency (rad/sec): 7.24

2
s
i
!!
1 + KGH = 0
x 1
A
Re(s)
x x !% define the OL system!
g 0

KGH = 1 10 5 0 sys=tf(1,[1 10 0])!


a
m
I -1

% plot the root locus!


K -2

=1 rlocus(sys)!
s ( s + 10) -3

x -4

K -5

=1 -10 -8 -6 -4 -2 0

(!5 + 5.1 j )(!5 + 5.1 j + 10)


Real Axis

K = 51.01
Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 35 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 36

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Example: Second order system Root Locus as a Design Tool
Step Response

We also need to Consider this system


1.4

verify the resulting 1.2 System: cl


Time (sec): 0.6
Amplitude: 1.05 This is a third order
step response e
d
1

system with an
u
!
% set up the closed loop TF!
t
i
l
p
0.8
additional pole
m

Determine a value of
0.6
cl=51*sys/(1+51*sys)! A

% plot the step response!


the gain K to yield a
0.4

step(cl)!
5% percent overshoot
0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (sec)

Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 37 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 38

Root Locus as a Design Tool Root Locus as a Design Tool


Root Locus

10

With the higher order The gain found


Step Response
1.4

poles, the 2nd order based on the 2nd


System: sys System: untitled1
Gain: 51.2 Time (sec): 0.604
Pole: -4.65 + 4.88i 1.2
Damping: 0.69 Amplitude: 1.12
6

assumptions are order assumption


Overshoot (%): 5
Frequency (rad/sec): 6.74

1
4

violated yields a higher


e
d
u
s t 0.8
2

overshoot
i i

However, we can use


x l
A p
g 0 m 0.6
a A

the RL to guide our m


I

-2
We could then 0.4

design and iterate to -4


reduce the gain to 0.2

find a suitable -6
reduce the
solution overshoot
0
0 1 2 3 4 5 6 7 8 9 10

-8
Time (sec)

-10
-10 -8 -6 -4 -2 0
Real Axis
Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 39 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 40

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Generalized Root Locus Generalized Root Locus
The preceding developments have been Consider a system of
presented for a system in which the design this form
parameter is the forward path gain The open loop transfer
function is no longer of 10
T (s) =
In some instances, we may need to design the familiar form KG(s) s 2 + ( p1 + 2) s + 2 p1 + 10
systems using other system parameters H(s) 10
T (s) =
In general, we can convert to a form in Rearrange to isolate p1 s 2 + 2 s + 10 + p1 ( s + 2)
which the parameter of interest is in the 10
Now we can sketch the
= s + 2 s + 10
2
required form root locus as a function p ( s + 2)
of p1 1+ 2 1
s + 2 s + 10
Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 41 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 42

Generalized Root Locus Conclusions


This results in the We have looked at a graphical approach
following root locus as to representing the root positions as a
a function of the function of variations in system
parameter p1 parameters
We have presented rules for sketching the
root locus given the open loop transfer
function
We have begun looking at methods for
using the root locus as a design tool
Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 43 Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 44

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Further Reading
Nise
Sections 8.1-8.6
Franklin & Powell
Section 5.1-5.3

Dr. Stefan B. Williams AMME 3500 : Root Locus Slide 45

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