Professional Documents
Culture Documents
EPE2300 Lecture 8 - Controller Design Using Root Locus - Copy 2
EPE2300 Lecture 8 - Controller Design Using Root Locus - Copy 2
Control Engineering
Lecture 8: Controller Design using Root Locus
Dr. Khalid ABIDI
Objectives
Students will be introduced to:
• Basic Controller Design using Root Locus approach.
• Design of Lead Compensators using Root Locus approach.
• Design of Lag Compensators using Root Locus approach.
Recap
The Root Locus is the path of the roots of the characteristic equation traced out in
the s-plane as a system parameter is changed.
Root Locus
Example 1
𝑘𝑘 𝑠𝑠 2 + 2𝑠𝑠 + 2 0.5
𝐺𝐺𝑂𝑂𝑂𝑂 = 3
𝑠𝑠 + 6𝑠𝑠 2 + 11𝑠𝑠 + 6
Imaginary Axis
0
-0.5
-1
A set of poles that satisfy the desired characteristic performance is a called a set of
desired poles.
Basic Controller Design
In some cases, the desired closed-loop poles may lie on the root locus of a system
that uses the basic controller 𝐺𝐺𝑐𝑐 = 𝑘𝑘. In such a case, the design process involves
using the magnitude condition to determine the value of 𝑘𝑘.
Example
Determine the controller gain 𝑘𝑘 such that system with the OL TF given as
𝑘𝑘
𝐺𝐺OL 𝑠𝑠 = 2
𝑠𝑠 + 2𝑠𝑠 + 2
has the desired closed-loop poles with the values 𝑠𝑠 = −1 ± 𝑗𝑗2.
Recap
Recall the root locus of this system is shown in the figure below. It is clear that the
desired closed-loop poles are on the root-locus.
𝑘𝑘
2
=1
𝑠𝑠 + 2𝑠𝑠 + 2 𝑠𝑠=−1+𝑗𝑗2 𝑠𝑠 = −1 ± 𝑗𝑗𝑗
𝑘𝑘
Imaginary Axis
2
=1 0
𝑠𝑠 + 1 + 1 𝑠𝑠=−1+𝑗𝑗2
𝑘𝑘 𝑘𝑘
2
= =1
−1 + 𝑗𝑗2 + 1 + 1 −4 + 1
-5
-1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4 -0.2 0
𝑘𝑘 = 3 Real Axis
Lead or Lag Controller Design
Sometimes using the basic controller 𝐺𝐺𝑐𝑐 = 𝑘𝑘 , does not lead to the desired
performance no matter what value of the gain 𝑘𝑘 is selected. In that case we need
to check if
• the steady state performance is satisfactory, but the dynamic performance is not,
• the dynamic performance is satisfactory, but the steady state performance is not,
• both dynamic and steady state performance is not satisfactory.
Lead Controller Design
If the steady state performance is satisfactory, but the dynamic performance is not.
This means that the desired closed-loop poles are not on the root locus using the
basic controller 𝐺𝐺𝑐𝑐 = 𝑘𝑘. We need to change the shape of the root-locus such that
the desired closed-loop poles will be on the modified root locus.
𝜃𝜃1 = 90o
2
2 3
𝜃𝜃2 = 180o
− atan = 120o
2 1
90o + 120o − 0
� = 210o ≠ 180o
𝜃𝜃1 𝜃𝜃2
𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑧𝑧𝑧𝑧𝑧𝑧𝑧𝑧 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 σ
X X
The desired poles are not on the root locus.
0
-3 -2 -1 0 1
−𝜁𝜁𝜔𝜔𝑛𝑛
-1
Lead Controller Design
We will use a Lead controller to change the shape of the
root locus such that the modified root locus will pass
through the points 𝑠𝑠 = −2 ± 𝑗𝑗2 3. The design steps are
as follows:
1. Place the controller zero on the real part of the
desired closed loop pole, i.e., 𝑎𝑎 = −2. It is possible to 𝜃𝜃3 𝜃𝜃1 ,𝜙𝜙1 𝜃𝜃2
place it anywhere else, however, this is the most X 0
convenient location.
2. Apply the angle condition to determine the location of
the controller pole 𝑠𝑠 = −𝑏𝑏.
𝜃𝜃1 + 𝜃𝜃2 + 𝜃𝜃3 − 𝜙𝜙1
� = 90o + 120o + 𝜃𝜃3 − 90o
𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑧𝑧𝑧𝑧𝑧𝑧𝑧𝑧 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎
= 180o
𝜃𝜃3 = 60o
Lead Controller Design
2. (contd.)
2 3
= tan 60o ⟹ 𝑏𝑏 = 4
𝑏𝑏 − 2
3. Apply magnitude condition to calculate 𝑘𝑘𝑐𝑐 .
𝑠𝑠 + 𝑎𝑎 4
𝑘𝑘𝑐𝑐 × =1 𝜃𝜃3 𝜃𝜃1 ,𝜙𝜙1 𝜃𝜃2
𝑠𝑠 + 𝑏𝑏 𝑠𝑠 𝑠𝑠 + 2 𝑠𝑠=−2+𝑗𝑗2 3 X 0
𝑠𝑠 + 2 4 4
𝑘𝑘𝑐𝑐 × = 𝑘𝑘𝑐𝑐
𝑠𝑠 + 4 𝑠𝑠 𝑠𝑠 + 2 𝑠𝑠=−2+𝑗𝑗2 3 𝑠𝑠 𝑠𝑠 + 4 𝑠𝑠=−2+𝑗𝑗2 3
=1
4𝑘𝑘𝑐𝑐 4𝑘𝑘𝑐𝑐 4𝑘𝑘𝑐𝑐
= 2 = 16 = 1
−2 + 𝑗𝑗2 3 2 + 𝑗𝑗2 3 22 − 𝑗𝑗2 3
𝑘𝑘𝑐𝑐 = 4
Lead Controller Design
Therefore, the controller that needs to be used to achieve the desired performance
characteristics is given as
𝑠𝑠 + 2
𝐺𝐺𝑐𝑐 (𝑠𝑠) = 4
𝑠𝑠 + 4
Lag Controller Design
If the dynamic performance is satisfactory, but the steady state performance is not.
This means that the desired closed-loop poles are on the root locus using the basic
controller 𝐺𝐺𝑐𝑐 = 𝑘𝑘. However, the gain associated with the desired closed-loop pole
is not satisfactory and must be increased (ideally).
� − � = ±180o 2𝑛𝑛 + 1
𝑗𝑗𝜔𝜔 𝑑𝑑
= 𝑗𝑗𝜔𝜔 𝑛𝑛 1 − 𝜁𝜁 2
𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑧𝑧𝑧𝑧𝑧𝑧𝑧𝑧 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎
3
𝜃𝜃1 = atan = 60o 𝜃𝜃1 𝜃𝜃2
1
X X σ
o
3
𝜃𝜃2 = 180 − atan = 120o −𝜁𝜁𝜔𝜔𝑛𝑛
1
60o + 120o − 0
� = 180o
𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑧𝑧𝑧𝑧𝑧𝑧𝑧𝑧 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎
The desired poles are on the root locus.
Lag Controller Design
Since, the design requirement includes the static velocity gain, we need to check if
the gain requirement is satisfied by the basic controller as well. To check this, we
need to use the magnitude condition.
4𝑘𝑘
=1
𝑠𝑠 𝑠𝑠 + 2 𝑠𝑠=−1+𝑗𝑗 3
𝑘𝑘 4𝑘𝑘 4𝑘𝑘
= 2 = =1
−1 + 𝑗𝑗 3 1 + 𝑗𝑗 3 12 − 𝑗𝑗 3 4
𝑘𝑘 = 1
4𝑘𝑘 4
𝑘𝑘𝑣𝑣 = lim 𝑠𝑠𝐺𝐺𝑂𝑂𝑂𝑂 𝑠𝑠 = lim 𝑠𝑠 × = lim = 2 ≠ 20
𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠 𝑠𝑠 + 2 𝑠𝑠→0 𝑠𝑠 + 2
The static velocity gain needs to be increased by a multiple of 10.
Lag Controller Design
We will use a Lag controller to keep the shape of the root locus while increasing the
gain at the points 𝑠𝑠 = −1 ± 𝑗𝑗 3. The design steps are as follows:
1. Choose 𝑎𝑎 and 𝑏𝑏 such that the ratio 𝑎𝑎⁄𝑏𝑏 is equal to the amount by which we
want to increase the gain. To keep the shape of the root locus, the new OL pole
− 𝑏𝑏 must be very close to the imaginary axis. Therefore,
𝑎𝑎
−𝑏𝑏 = 0.001 & = 10 ⟹ 𝑎𝑎 = 0.01
𝑏𝑏
2. Apply magnitude condition to calculate 𝑘𝑘𝑐𝑐 .
𝑠𝑠 + 𝑎𝑎 4
𝑘𝑘𝑐𝑐 × =1
𝑠𝑠 + 𝑏𝑏 𝑠𝑠 𝑠𝑠 + 2 𝑠𝑠=−1+𝑗𝑗 3
𝑠𝑠 + 0.01 4 −0.99 + 𝑗𝑗 3 4
𝑘𝑘𝑐𝑐 × = 𝑘𝑘𝑐𝑐 ×
𝑠𝑠 + 0.001 𝑠𝑠 𝑠𝑠 + 2 𝑠𝑠=−1+𝑗𝑗 3 −0.999 + 𝑗𝑗 3 −1 + 𝑗𝑗 3 1 + 𝑗𝑗 3
= 1 ⟹ 𝑘𝑘𝑐𝑐 ≈ 1
Lag Controller Design
Therefore, the controller that needs to be used to achieve the desired performance
characteristics is given as
𝑠𝑠 + 0.01
𝐺𝐺𝑐𝑐 (𝑠𝑠) = 1
𝑠𝑠 + 0.001
𝑠𝑠 + 0.01 4
𝑘𝑘𝑣𝑣 = lim 𝑠𝑠𝐺𝐺𝑂𝑂𝑂𝑂 𝑠𝑠 = lim 𝑠𝑠 × × = 20
𝑠𝑠→0 𝑠𝑠→0 𝑠𝑠 + 0.001 𝑠𝑠 𝑠𝑠 + 2
The gain requirement is satisfied.
Lead-Lag Controller Design
If both the dynamic performance and the steady state performance are not
satisfactory. This means that the desired closed-loop poles are not on the root
locus using the basic controller 𝐺𝐺𝑐𝑐 = 𝑘𝑘 as well as the gain is not sufficient.