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ZRLocus For Analysis
ZRLocus For Analysis
M. Sami Fadali
Professor of Electrical Engineering
UNR
1
Outline
2
Closed-loop Characteristic
Equation
1 + 𝐶 𝑧 𝐺𝑍𝐴𝑆 𝑧 = 0
1 + 𝐾𝐿 𝑧 = 0
𝐶 𝑧 = controller transfer function
𝐺𝑍𝐴𝑆 𝑧 = transfer function of DAC, analog
subsystem, and sampler
𝐿 𝑧 = loop gain
𝐾= gain
3
Observations
• Identical equation to s-domain equation
with 𝑠 replaced by 𝑧.
• All the rules derived for s-domain are
applicable and can be used to obtain z-
domain root locus plots.
• The plots can also be obtained using the
root locus plots of most CAD programs
(MATLAB = rlocus)
4
Example 6.1
• First order type 1 system with loop gain
1
𝐿 𝑧 =
𝑧−1
• Obtain the root locus plot.
• Obtain the critical gain.
5
Solution
• Root locus rules give plot (MATLAB
rlocus).
• Root locus: real axis locus between pole
and zero.
• For a stable discrete system, real axis loci
must lie between 1,0 and −1,0 in the z-
plane.
• Critical gain 𝐾𝑐𝑟 is at point −1,0 .
6
Root Locus for Example 6.1
8
Solution
•Use root locus rules.
•RL: like Example 5.1(i) but in RHP.
•Breakaway point: 𝑧𝑏 = 1 + 0.5 /2 = 0.75
• 𝐾𝑐𝑟 (critical) intersection of RL & unit circle.
•Closed loop characteristic equation
𝑧 − 1 𝑧 − 0.5 + 𝐾 = 𝑧 2 − 1.5𝑧 + 𝐾 + 0.5 = 0
On the unit circle, 𝑧 = 1 (complex conjugate)
9
Root Locus of Example 6.2
. .. . .
. . . .
. . . . .
.
. . x
. . x
. Re{z}
x x x x x x
. . . . .
. . x .
. . . ..
..
. .
11
Time Functions & Real Poles
𝑓 𝑡 𝐹 𝑠 𝑓 𝑘𝑇 𝐹 𝑧
1 𝑧
𝑒 −𝛼𝑡 , 𝑡 ≥ 0 = 𝑒 −𝛼𝑘𝑇 , 𝑘 ≥ 0 =
=ቊ =ቊ 𝑧 − 𝑒 −𝛼𝑇
0, 𝑡 < 0 𝑠+𝛼 0, 𝑘 < 0
12
Time Functions & Complex
Conjugate Poles
Continuous 𝑒 −𝜁𝜔𝑛 𝑡 sin 𝜔𝑑 𝑡 , 𝑡 ≥ 0
𝑓 𝑡 =ቊ
0, 𝑡 < 0
Laplace 𝜔𝑑
𝐹 𝑠 =
Transform 𝑠 + 𝜁𝜔𝑛 2 + 𝜔𝑑2
Sampled 𝑒 −𝜁𝜔𝑛 𝑘𝑇 sin 𝜔𝑑 𝑘𝑇 , 𝑘 ≥ 0
𝑓 𝑘𝑇 = ቊ
0, 𝑘 < 0
z-Transform 𝐹 𝑧
sin 𝜔𝑑 𝑇 𝑒 −𝜁𝜔𝑛 𝑇 𝑧
= 2
𝑧 − 2 cos 𝜔𝑑 𝑇 𝑒 −𝜁𝜔𝑛𝑇 + 𝑒 −2𝜁𝜔𝑛𝑇
13
2 nd Order Underdamped System
• z-domain characteristic polynomial
𝑧 − 𝑒 −𝜁𝜔𝑛+𝑗𝜔𝑑 𝑇 𝑧 − 𝑒 −𝜁𝜔𝑛 −𝑗𝜔𝑑 𝑇
= 𝑧 2 − 2 cos 𝜔𝑑 𝑇 𝑒 −𝜁𝜔𝑛 𝑇 𝑧 + 𝑒 −2𝜁𝜔𝑛 𝑇
• Poles
−𝜁𝜔𝑛 ±𝑗𝜔𝑑 𝑇
𝑧1,2 = 𝑒 = 𝑒 −𝜁𝜔𝑛 𝑇 ∠ ± 𝜔𝑑 𝑇
14
Observation
15
Primary Strip
s
Primary
Strip
s
𝑝𝑧 = 𝑒 𝑝𝑠 𝑇 = 𝑒 𝜎𝑇 𝑒 𝑗𝜔𝑑 𝑇
= 𝑒 𝜎𝑇 𝑒 𝑗 𝜔𝑑 𝑇+𝑘2𝜋 , 𝑘 = 0,1,2, …
16
Pole Contours in the s-Domain
and the z-Domain
Poles 𝑠1,2 = 𝜎 ± 𝑗𝜔𝑑 , 𝑧1,2 = 𝑒 𝜎𝑇 ∠ ± 𝜔𝑑 𝑇
Contour s-Domain Contour z-Domain
Poles Poles
𝜎 vertical 𝑧 = 𝑒 𝜎𝑡 circle
constant line constant
17
Constant Contours
j Im(z)
5 3
4
10
3 2
6
2 2
1
-2
1
-6
0 0 -10
-1
-1
-2
-3
-2
-4
-5 -3 Re(z)
-10 -5 0 5 10 -3 -2 -1 0 1 2 3
18
Constant 𝜔𝑑 Contours
Im(z)
3
j 2
3/4
1
/2
/4 0 0
0
-1
/4
/2
-2
3/4
-3 -2 -1 0 1 2 3
-3 Re(z)
-3 -2 -1 0 1 2 3
19
Constant 𝜁 Contours
𝑧 = magnitude of pole
𝜃= angle of pole
20
Constant 𝜔𝑛 Contours
− 𝜔𝑛 𝑇 2 −𝜃2
𝑧 =𝑒
𝑧 = magnitude of pole
𝜃= angle of pole
To obtain the expression, eliminate 𝜁 from
𝑧1,2 = 𝑒 −𝜁𝜔𝑛 𝑇 ∠ ± 𝜔𝑛 𝑇 1 − 𝜁 2
21
MATLAB
>> g=tf(num, den, T) % sampling period T
>> rlocus(g) % Root locus plot
>> zgrid(zeta, wn) % Plot contours
% zeta = vector of damping ratios
% wn = vector of undamped natural
% frequencies
22
Z-Domain Grid
23
Characteristics of Log Spirals
1. Two spiral for each 𝜁 value, corresponding to ±𝜃:
−𝜃 spiral below real axis=mirror image of +𝜃 spiral
2. For any spiral, 𝑧 drops logarithmically with 𝜃
increase.
3. At the same angle , increasing 𝜁 gives smaller 𝑧 ,
i.e. spirals are smaller for larger 𝜁 values.
4. All spirals start at 𝜃 = 0, 𝑧 = 1 but end at
different points.
5. When given 𝜁 and 𝑧 , obtain by substituting in
the equation
1 − 𝜁2
𝜃= ln 𝑧
𝜁 24
z-Domain Design Specifications
25
Time Constant
• Time constant of exponential decay for
the continuous envelope of sampled
waveform.
1
𝜏=
𝜁𝜔𝑛
• Not necessarily equal to a specified
percentage of the final value after one
time constant
26
Settling Time
• Period after which the envelope of the
sampled waveform stays within a
specified percentage (usually 2%) of the
final value.
• Multiple of time constant depending on
the specified percentage.
• Settling time for a 2% specification
4
𝑇𝑠 =
𝜁𝜔𝑛
27
Other Specification
• Frequency of Oscillations 𝜔𝑑 : angle of the
dominant complex conjugate poles divided by
the sampling period.
• Other design criteria such as the percentage
overshoot, 𝜁, 𝜔𝑛 , defined analogously to the
continuous case.
• As in analog design, select a dominant closed-
loop pair in the complex plane to obtain a
satisfactory time response.
• Analytical design: possible for low order
systems but more difficult than analog design.
28
Example 6.3
Design a proportional controller for the
digital system with sampling period
T=0.1s to obtain
a) 𝜔𝑑 = 5 rad/s
b) A time constant of 0.5 s
c) 𝜁 = 0.7
1
𝐿 𝑧 =
𝑧 − 1 𝑧 − 0.5
29
Solution (a), (b)
• Obtain the results with calculator or
MATLAB.
• Use MATLAB: rlocus
(a) 𝜔𝑑 = 5 rad/s:
angle of the pole = 𝜔𝑑 𝑇
= 5 × 0.1 = 0.5 rad
= 28.65°
(b) 𝜏 = 0.5 s:
1/( time constant)= 𝜁𝜔𝑛 = 1/0.5 = 2 rad /s
pole magnitude = exp −𝜁𝜔𝑛 𝑇 = 0.82
30
Solution (c)
• Obtain the results with calculator or
MATLAB.
• Use MATLAB: rlocus
(c) 𝜁 = 0.7 :
• Use 𝜁 directly to get the results the gain and
the undamped natura frequency 𝜔𝑛 .
• Sampled step response: MATLAB command
step
• Higher gain designs have a low 𝜁
(oscillatory response).
31
P-Control Design Results
Design Gain 𝜁 𝜔𝑛 rad/s
32
Time Response Plots
38
Solution
𝑧 + 0.847
𝐺𝑍𝐴𝑆 𝑧 = 4.261 × 10−3
𝑧 − 1 𝑧 − 0.606
• Closed-loop characteristic equation
1 + 𝐾𝐺𝑍𝐴𝑆 𝑧
= 𝑧 2 − 1.606 − 4.261 × 10−3 𝐾 𝑧 + 0.606 − 3.608 × 10−3 𝐾
= 𝑧 2 − 2 cos 𝜔𝑑 𝑇 𝑒 −𝜁𝜔𝑛 𝑇 𝑧 + 𝑒 −2𝜁𝜔𝑛 𝑇
• Equation involves three parameters 𝜁, 𝜔𝑛 & 𝐾
• Equating coefficients yields two equations
• Evaluate two unknowns and obtain the third from the
design specification.
39
(a) Design for 𝑒 ∞ % = 10%
• Velocity error constant 𝐾𝑣 (Type 1)
1 𝑧−1
𝐾𝑣 = 𝐾𝐺𝑍𝐴𝑆 𝑧
𝑇 𝑧 𝑧=1
4.261 × 10−3 1 + 0.847 𝐾
= 10𝐾 =
1 − 0.606 5
• Same 𝐾𝑣 as for the analog proportional control
system: 10% steady-state error due to ramp.
𝐾 100 100
= 𝐾𝑣 = = = 10
5 𝑒 ∞ % 10
𝐾 = 50
40
Root locus for 𝐾 = 50
41
Time response for 𝐾 = 50
42
b) Design for 𝜁 = 0.7
• Difficult analytical solution for constant
• MATLAB: move cursor to 𝜁 = 0.7 ⇒ 𝐾 = 10
• 𝐾𝑐𝑟 = 109, stable system at 𝐾 = 50 and 𝐾 = 10.
• Design specs. are met for both (a) and (b).
• Must check other design criteria.
• For (a), 𝐾 = 50, 𝜁 = 0.18 (highly oscillatory)
• For (b), 𝐾 = 10, 𝑒 ∞ % = 50% due to unit ramp.
• P-control cannot provide good steady-state
error together with good transient response.
43
Root Locus for Constant 𝜁 Design
44