Course roadmap

Control Systems Modeling Analysis Design

Laplace transform Time response

Design specs
• Transient
Lecture 19 Transfer function • Steady state
Root locus
Root locus: Multiple parameter design
Models for systems Frequency response
Frequency domain
• electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Block diagrams • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist

(Matlab simulations &) laboratories

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What is Root Locus? (Review) Example 1

ƒ Consider a feedback system that has one
parameter (gain) K>0 to be designed. K

K L(s) Kt s
L(s):
L(s): open-
open-loop TF

ƒ Root locus graphically shows how poles of CL a) Set Kt=0. Draw root locus for K>0.
system varies as K varies from 0 to infinity. b) Set K=10. Draw root locus for Kt>0.
ƒ Today, multiple design parameters! c) Set K=5. Draw root locus for Kt>0.

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 Example 1 (a): Kt=0 Example 1 (b): K=10
Im
10

Kt s

Re

Characteristic eq.

There is no
stabilizing gain K!

5 6

Example 1 (b) Finding Kt for marginal stability

Im
ƒ Characteristic equation

ƒ Routh array
Re
Stability condition

By increasing Kt,
we can stabilize ƒ When Kt=2
the CL system.

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 Matlab command “rlocus.m” Example 1 (c): K=5
Root Locus
15 0.38 14
0.26 0.19 0.13 0.085 0.04
12 5
10
10 0.52
8

5 0.8
6

4
Kt s
Imaginary Axis
2

0
2

Damping ratio -5
0.8 4
Characteristic eq.
6

If K=10, we cannot 8
0.52
-10
achieve 10

12
0.26 0.19 0.13 0.085 0.04
for any Kt>0. -15
0.38 14

-6 -5 -4 -3 -2 -1 0 1
Real Axis
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Example 1 (c): Root locus plot Example 2

10
Root Locus
Root Locus
0.52
0.38 0.28 0.2 0.12 0.06

8
8
K L(s)
0.68 6
6

4
4
0.88
axis

2
2
Imaginary Axis
Imaginary

-2
a) Set T=0. Draw root locus for K>0.
2
0.88
-4
4

-6
0.68 6

-8
8 b) Vary T to see the effect of a zero on root locus.
0.38 0.28 0.2 0.12 0.06
0.52
-10
-6 -5 -4 -3 -2 -1 0 1
Real
Real Aaxis
xis

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 Example 2 (a) Example 2 (b)
ƒ Root locus for Im
ƒ When K is fixed and T is a positive parameter,
the characteristic equation can be written as

Re

Breakaway point Term without T Term with T

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Example 2 (b) (cont’d) Summary and exercises

ƒ Root locus for ƒ Multiple parameter design examples
various K & T ƒ Next, lead compensator design based on root
ƒ Zero of L(s): locus
ƒ Exercises
ƒ For the feedback system,

ƒ Generally, • Set a=0, and draw RL for K>0.

addition of a zero • Set K=9, and draw RL for a>0.
improves stability.

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