Design via Root Locus

In this Lecture:
 Phase Lead Design Using Root Locus
 Closed-Loop Design by Root Locus

 Place closed-loop poles at desired

location
 By tuning the gain Gc(s) = K

 If the root locus does not pass the

desired location, then reshape the
locus
 By adding poles/zeros to G(s)
 Improving Transient Response

a. Sample root locus, showing possible

design point via gain adjustment
(A) and desired design point that
cannot be met via simple gain
adjustment (B);

b. responses from
poles at A and B
 General Effect of Addition of Poles

 Pulling root locus to the RIGHT

 Less stable
 ƒSlow down the settling
 General Effect of Addition of Zeros

 Pulling root locus to the LEFT

 More stable
 ƒSpeed up the settling
 Some Remarks

 Adding only zero

 often problematic because such controller amplifies
the the high-frequency noise.
 ƒSpeed up the settling

 Adding only pole

 often problematic because such controller generates
a less stable system
 ƒSpeed up the settling

 Add both zero and pole

Lead and Lag Compensators
Lead Compensator
Lag Compensator
 Roles of Lead and Lag compensators

 Lead compensator
 Improve transient response
 Improve stability

 Lag compensator
 Reduce steady state errors
PHASE LEAD DESIGN USING THE ROOT LOCUS
THE COMPENSATION METHOD USING ROOT LOCUS (LEAD)
THE COMPENSATION METHOD
ROOT LOCUS ANALYSIS USING MATLAB

Use the Matlab command

rltool(transfer function)
EXAMPLE
NEXT
THE ROOT LOCUS OF 𝑮(𝒔)=𝟏/s2
 NEXT

We place the zero of the compensator just below the

dominant poles 𝒓𝟏,𝟐⋅
We chose the real pole from applying the angle condition at the
desired root

𝟗𝟎° − 𝟐 𝟏𝟏𝟔 − 𝜽𝒑 = −𝟏𝟖𝟎°

and the compensated loop transfer function for the system is

𝐾1 (𝑠 + 1)
𝐿 𝑠 = 𝐺𝑐 𝑠 𝐺 𝑠 =
𝑠 2 (𝑠 + 3.6)
The gain K1 is evaluated by measuring the vector lengths from the
poles and zeros to the root location. Hence ,

2.23 2 (3.25)
𝐾1 = = 8.1
2

Finally, the error constants of this system are evaluated. We find that this
system with two open-loop integrations will result in a zero steady-state
error for a step and ramp input signal. The acceleration constant
8.1
𝐾𝑎 = = 2.25
3.6
 EXAMPLE

Let us consider the uncompensated loop transfer function

𝐾
𝐺 𝑠 =
𝑠(𝑠 + 2)

Design phase lead element using root locus to satisfy the following requirements:
1. steady speed error constant K v  20s 1
2. damping ratio of the dominant roots of the system to be ζ = 0.45

𝐾
𝐾𝑣 = lim 𝑠𝐺(𝑠) 𝐾𝑣 = = 20 so 𝐾 = 40
𝑠→0 2

With this value of K the characteristic equation of the uncompensated system

𝑠 2 + 2𝑠 + 40 ζ = 0.16 so we need compensator
 EXAMPLE

To achieve a rapid settlement time, we will select the real part of the desired roots as 𝜁𝜔𝑛 = 4 and
therefore 𝑇𝑠 =1

𝜔𝑛 = 9

The location of the desired roots are -4±j8

The zero of the compensator is placed at z = -4

The angle of the pole

8 8
90 − 𝑡𝑎𝑛−1 − 𝑡𝑎𝑛−1 − 𝜃𝑝 = −180
4 2
𝜃𝑝 = 50°

So p = -10.6
 EXAMPLE

The gain of the compensated system is then

9 8.25 10.4
𝐾= = 96.6
8

and the compensated loop transfer function for the system is

96.5 (𝑠 + 4)
𝐿 𝑠 = 𝐺𝑐 𝑠 𝐺 𝑠 =
𝑠(𝑠 + 2)(𝑠 + 10.6)

Therefore, the velocity constant of the compensated system

96.5 (4)
𝐾𝑣 = lim 𝑠𝐺𝑐 𝑠 𝐺 𝑠 = = 18.2
𝑠→0 𝑠(𝑠 + 2)(𝑠 + 10.6)
 EXAMPLE

The velocity constant of the compensated system is less than the desired value of 20.

We must repeat the design procedure for a second choice of a desired roots

If we chose 𝜔𝑛 = 10 , then the velocity constant is 𝐾𝑣 = 22.7 when z = 4.5 and p 11.6