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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
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
(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
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
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
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
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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
2
s
i
!!
1 + KGH = 0
x 1
A
Re(s)
x x !% define the OL system!
g 0
=1 rlocus(sys)!
s ( s + 10) -3
x -4
K -5
=1 -10 -8 -6 -4 -2 0
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
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
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
10
1
4
overshoot
i i
-2
We could then 0.4
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
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Further Reading
Nise
Sections 8.1-8.6
Franklin & Powell
Section 5.1-5.3
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