BMFA 3313

Control Systems

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At the end of this chapter, you should be able
to:

i. Design several types of controllers using

Root Locus technique.
ii. Relate system transient response, stability,
and steady-state error to good controller
design.

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1. Transient Response

Root locus must be

adjusted in order to
fulfill transient
response
requirements IF
current Root Locus
does not fit the
design requirements.

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 Sketch the transient
responses for poles located
at 2 and 3.

(i)

(iii)

(ii)

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Consider the following root locus:

It is desired to improve the system settling

point while maintaining the % OS.
Is it possible with the current system?
What will gain adjustment do?

5
 Current root locus must be adjusted
(instead of getting a new system) in order to
meet the new design requirement.

This is possible by adding poles and /or zeros.

How is this possible?

6
Removal of steady-state error is critical to system
performance.

Addition of integral aside from gain would

eliminate s.s.e. (how?)

(a) (b)

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Placement of open loop pole at the origin increases the
system type to 1 and eliminates the steady-state error.

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 Adding a pole at the origin seems to have
changed the root locus such that it does not
include the design point.
A solution is to add a zero close to the pole at
the origin.

Now, the
root locus
passes
through the
design point!

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Example 1:
Design an ideal integrator that would
eliminates s.s.e. to zero for a step input with a
damping ratio of 0.174. Place a zero at -0.1.
Uncompensated system:
• Construct the root locus of the system.
The intersection point with the damping ratio line is –
0.694 + j3.93.

• Find K at this point.

• Calculate the current s.s.e of the system

(system type? Which static error constant?)

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 Root Locus
15
0.174

10 System: G
Gain: 162
Pole: -0.679 + 3.9i
Damping: 0.172
Overshoot (%): 57.9
5 Frequency (rad/sec): 3.95
Imaginary Axis

-5

-10

0.174
-15
-12 -10 -8 -6 -4 -2 0 2 4
Real Axis 12
Compensated system:
• Add a zero at 0.1 to complete the ideal integral
controller.

• Construct the new Root Locus

• Confirm the transient response properties.

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 Root Locus
15
0.174

10 System: Gcomp
Gain: 155
Pole: -0.668 + 3.8i
Damping: 0.173
Overshoot (%): 57.6
5
Imaginary Axis

Frequency (rad/sec): 3.86

-5

-10

0.174
-15
-12 -10 -8 -6 -4 -2 0 2 4
Real Axis 14
15
 Lag compensator addresses steady-state error
similar to that of PI controller.

Here, however, a pole was not added at the origin

but instead added at a location very close to the
origin.

Contrary to PI controller, a lag compensator does

not drives the s.s.e to zero. It reduces the s.s.e to
some extend while maintaining the transient
response behaviours.

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17
 Transient response could be adjusted and designed
for by adjusting the closed loop poles of a system on
the s-plane.

Root locus must be re-shaped by adding poles / zeros

in order to consider point that lies away from the root
locus.

Adding a zero to the forward path is one way to speed

up a system response.

Gc s   s  zc

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A PD controller consists of summation of a pure gain
and a differentiator.

Gc s   K s  zc 

The compensated closed loop poles have more

negative real parts than the uncompensated, thus as
expected improves the transient response (reduced
settling time / peak time etc.)

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uncompensated compensated, zero at -2

20
Compensated, zero at -3 compensated, zero at -4

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22
Predict the transient responses of the
four cases.

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24
Example:

Design an ideal derivative compensator for the following

system that yields a 16% overshoot and a three times
reduction in the settling time.

STEP 1: FIND ζ

Uncompensated system:
16% overshoot corresponds to a damping ratio,
  0.504
25
 Root Locus
15
STEP 2:
IDENTIFY POLE
0.504
cos   
LOCATION
10 FROM ROOT
LOCUS System: G
Gain: 42.5
Pole: -1.21 + 2.03i
  59 0
5 Damping: 0.51
Overshoot (%): 15.5
Imaginary Axis

Frequency (rad/sec): 2.36

0

NOTE:
THE NEW POLE
LOCATION WILL
-5 ALSO BE ON THE
SAME LINE OF ζ

-10

0.504
-15
-15 -10 -5 0 5
Real Axis 26
Uncompensated system:
From root locus, the settling time can thus be calculated:

4 4 STEP 3:
Ts _ old    3.3 sec . CALCULATE NEW
n 1.21 Ts

Compensated system:
The designed settling time = 1/3 of original value.
NOTE:
4 1
Ts _ new   3.3  1.1 4 4
 new 3 Ts 
 n


 new  3.6
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Compensated system:

STEP 4:
FIND 

 d new  3.6  tan 59.740 
d new  6.2
d new

We have just identified the new dominant second order

poles location on the adjusted root locus !

 3.6  j 6.2
Next we need to identify the
compensator zero location.

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Compensated system:

Calculate the current sums of angles. STEP 5:

FIND LOCATION OF

i   1   2  3
THE COMPENSTOR
ZERO FOR PI
CONTROLLER
The sums of angles = -275.6°.
Therefore, the zero must contributes an additional,

-275.6°+x = -180°
x=95.6°
With this we could identify the zero location on the real
axis.

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 Root Locus
10
0.504

8
 3.6  j 6.2
6

4
Imaginary Axis

2
3 2 1
0

-2

-4

-6

-8
0.504
-10
-10 -5 0 5
Real Axis 30
 Root Locus
10
0.504

8
 3.6  j 6.2
6 j 6.2
4
Imaginary Axis

2
95.60
0
 zc ?  zc ?
-2
 3.6
-4

-6

-8
0.504
-10
-10 -5 0 5
Real Axis 31
 USING TROGINOMETRY,
YOU CAN CALCULATE
POSITION OF THE
6 .2 COMPENSATOR ZERO AT
zc=3.0

3.6 zc
6.2
3.6  zc

 tan 1800  95.60 
zc  3.0

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THIS IS THE ROOT LOCUS FOR THE
NEW COMPENSATED SYSTEM

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What would be the step response of the
compensated system compared to the
uncompensated system?

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35
A Lead Compensator is the active version of PD
controller.

A lead compensator improves transient response

characteristics of a system.

In comparison, a pole is also added in addition to the

compensator zero.

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A PID controller utilizes the functions of the three
individual controllers; namely:

P: Proportional
(reduces s.s.e and improve transient response)

I: Integral
(eliminates s.s.e while maintaining transient response)

D: Derivative
(improves further the transient response)

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PID controller transfer function:

G pid s   k p   k d s What is the

ki
s control
 2 kp ki  structure?
k d  s  s  
  kd kd 
s
k s  zc1 s  zc 2 

s

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Example:

Design a PID controller so that a system has a peak time

that is 2/3 of the uncompensated system, a 20%
overshoot and zero steady error to step input.

STEP 1 (a):
Calculate the damping ratio   0.456 EVALUATE THE
CURRENT
Construct the root locus cos   0.456 UNCOMPENSATED
SYSTEM
Identify the dominant closed loop
poles and gain at these points.
  62.87 0

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Uncompensated system
Root Locus
15
STEP 1 (b):
0.456

ANALYSE THE
 5.4  j10.6
ROOT LOCUS 10
System: g K  121
(DOMINANT Gain: 121
Pole: -5.41 + 10.6i
POLE LOCATION Damping: 0.456
5
ARE GIVEN WITH Overshoot (%): 20
Imaginary Axis

Frequency (rad/sec): 11.9

GAIN K)
0

-5

-10

0.456
-15
-12 -10 -8 -6 -4 -2 0 2
Real Axis 40
Compensated system

First get the dominant second order poles of the compensated system.
  STEP
STEP 2:
1 (c):
Current peak time, T pold    0.296 FIND
FIND THE
THE CURRENT
CURRENT AND
AND
d old 10.6 NEW
NEW (COMPENSATED)
(COMPENSATED)
PEAK
PEAK TIME
TIME
For 2/3 reduction in the peak time,
Identify the new
 damping frequency
T 
d new
pnew


d new  ; for 2/3 reduction in peak time :
Tp new

d new   15.87
2
0.297 
3
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Compensated system STEP 2:
FIND LOCATION OF
Getting the real part of the dominant THE NEW REAL PART
second order poles: OF THE DOMINANT
 POLE
tan    d
 new
 15.87
 new  d 

tan   tan 62.870 
 new  8.13

Therefore, the locations are: -8.13 + j 15.87

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STEP 3:
Root Locus
25
0.456
FROM THE NEW 20
DOMINANT POLE,
CALCULATE THE SUM OF 15 j 15.87
ANGLES. 10
THEN IDENTIFY THE ZERO
ANGLE CONTRIBUTION.
4 3 2 1
5
Imaginary Axis

Locating the 0
compensator zero for -5 -8.13
PD controller design:
-10
Compute the sums of
-15
all angles to the
desired dominant -20
closed loop poles 0.456
-25
from the -12 -10 -8 -6 -4 -2 0 2
uncompensated open Real Axis

loop poles and zeros. i   1   2  3   4  1980

 angle contributed from compensator zero is,
 1980   z  1800
 z  180 43
 Root Locus
STEP 4: 25
0.456
USING 20
TRIGONOMETRY,
LOCATION OF THE 15 j 15.87
NEW ZERO ON REAL 10
AXIS CAN BE FOUND
5
 
Imaginary Axis

Identify the 0
compensator zero
-5 ? -8.13 ?
location.
-10

 
tan 180 
15.87
zc  8.13
-15

-20

0.325 zc  8.13  15.87 -25

0.456
-12 -10 -8 -6 -4 -2 0 2
zc  56.96 Real Axis

44
 Root Locus
Compensated 60
system 0.456

System: g_pd
Therefore, the 40 Gain: 5.19
PD Pole: -8.08 + 15.8i
Damping: 0.455
compensator Overshoot (%): 20
equals: 20 Frequency (rad/sec): 17.7

G pd s   s  56.96
Imaginary Axis

Next, update
the root locus -20
for PD THIS IS THE NEW
compensator. ROOT LOCUS WITH
PD CONTROLLER!
-40

0.456
-60
-120 -100 -80 -60 -40 -20 0 20
Real Axis 45
STEP 5: Root Locus

DESIGN PI 50
0.456

CONTROLLER WITH
System: g_pi_pd
ZERO CLOSE TO 40
Gain: 4.68
ORIGIN (AT -0.5) Pole: -7.66 + 14.9i
30
Next, is to Damping: 0.456
Overshoot (%): 20
include the PI 20 Frequency (rad/sec): 16.8
controller to
eliminates the
Imaginary Axis

10
s.s.e.
0
s  0.5
G pi s   -10
s
-20
Next, update
the root locus -30 THIS IS THE NEW
for PD + PI ROOT LOCUS WITH
compensator. -40 PD+PI CONTROLLER

-50 0.456

-120 -100 -80 -60 -40 -20 0

46
Real Axis
47
Compensated system

Next, determine the PID controller constants k p , ki , k d

K s  0.5s  56.96
G pid s    2 kp ki 
s k d  s  s  
4.68s  0.5s  56.96 G pid s    kd kd 
G pid s   s
s

G pid s  

4.68 s 2  57.46s  28.48 
s
k d  4.68
 k p  57.46  4.68  268.9
ki  28.48  4.68  133.3
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Compensated system

Construct the system responses for the three design steps.

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THE END

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