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The relative stability and the transient performance of a closedloop system are directly related to the location of the closed-loop
roots of the characteristic equation in the s-plane.
It is frequently necessary to adjust one or more system
parameters in order to obtain suitable root location.
It is useful to determine the locus of roots in s-plane as a
parameter varied since the roots is a function of the systems
parameter.
The root locus technique is a graphical method for sketching
the locus of roots in the s-plane as a parameter is varied and
has been utilized extensively in control engineering practice.
It provides the engineer with a measure of the sensitivity of
roots of the system a variation in parameter being considered.
The root locus technique may be used to great advantage in
conjunction with the Routh-Hurwitz criterion.
Who and when this method has been developed?
S-Plane
KG ( s )
1 + KG ( s )
characteristic equation:
1+KG(s)=0
KG(s)=-1
=>
=>
-1
KG(s)
KG(s)=-1+j0
KG(s) KG(s) = e j
(Cartesian form)
(Polar form)
KG ( s ) = 1
KG(s) = k 3600 +
The values of s that fulfill the angel and magnitude conditions are
The roots of the characteristic equation or the closed-loop poles.
T =
characteristic equation:
KG ( s )
1 + KG ( s )
1+KG(s)=0
N(s )=0,
If D(s)->
Geometric Interpretation
If
Geometric Interpretation
*
G(s* ) = 1 1 2 3 4
Geometric Interpretation
*
1 1 2 3 4
G(s* ) = 1 1 2 3 4
s 2 + 2n s + n2 = 0
Assume K>0.
For K=0 the roots are 0,-2.
For K=1 system is critically damped with
poles at
s=-1.
For 0<K<1, system is overdamped with
roots at:
s=
For K>1, system is underdamped with
roots at:
s=
Root locus as
a function of
parameter a
X,o
( sr + zi ) = ( sr + p j ) = 1800
Sr
( s r + z i ) = ( s r + p j ) = 0
GH ( s) = 1800 (n zr n pr )
n = 0,1,2,3...
The root locus exists on the real axis to the left of an odd
number of poles and zeros.
?
?
q = 0,1,2,...(n p nz 1)
nz
p z
j =1
i =1
n p nz
nz
p z
j
j =1
i =1
n p nz
as approaches infinity :
nz
(
)
s
z
i
i =1
k
=
(
)
GH
s
k
= 1
lim
lim n p
n p nz
(
)
s
s l arg e
s l arg e
(s p j )
j =1
n p nz
n p nx
k = (s )
If the angle of
asymptotes is
when s ,
= ( s )
( magnitude condition )
n p nz
= (1 + 2 q )180 0
( angle condition )
( n p nz )( s ) = ( n p nz ) = (1 + 2q)1800
(1 + 2q)1800
=
n p nz
q = 0,1,..., (n p nz 1)
(1 + 2q)1800
n p nz
(1+ 2q)1800
=
np nz
np
q = 0,1,...,(np nz 1)
nz
p z
j=1
i=1
np nz
20
= 1
20
q( s ) = s 3 + 2 s 2 + 4 s + K ,
s3
s2
s1
s0
1
2
8 K
2
K
0 < K < 8.
4
K
q(s) / qa (s)
2s2 + 8 s3 + 2s2 + 4s + 8
+ 4s
s3
qa (s )
2s2
2s2
0
0
When K=8
1/ 2s +1
+8
+8
Marginal stable
( when K = 8)
Breakaway Points
If the root locus branches away (or break-in) the real axis
then K has an extremum there for real s .
Define
1
= p(s)
k (s) =
GH ( s )
dk
This means to evaluate the points on the real axis where ds = 0
Why?
Let us assume that
p ( s ) = ( s r1 ) n ( s r2 )K( s rm ) = K .
Breakaway Points
dK dp ( s )
=
= n( s r1 ) n 1 ( s r2 )...( s rm )
ds
ds
+ ( s r1 ) n ( s r3 )...( s rm ) + ...
+ ( s r1 ) n ( s r2 )...( s rm 1 ) = 0
+ ( s r1 ) n 1 ( s r3 )...( s rm ) + ...
+ ( s r1 ) n 1 ( s r2 )...( s rm 1 )] = 0
Hence,
Breakaway Points
Breakaway Points
Breakaway Points
Obtaining the breakaway points
Rewriting the characteristic equation to isolate :
Breakaway Points
Third-Order System
np
nz
p z
j =1
( 2 q + 1)( 180 0 )
=
n p nz
i =1
n p nz
q = 0,1,2,...(n p nz 1)
Third-Order System
Third-Order System
np
nz
p z
j =1
( 2 q + 1)( 180 0 )
=
n p nz
i =1
n p nz
S=-2.45
q = 0,1,2,...(n p nz 1)
K
.
2
2
( s + p 3 )( s + 2 n s + n )
q = 1,2,....
F ( s) = G( s) H ( s) =
p ( s ) = 1800 q3600 ,
Phase criterion
0
Therefore since 2 = 90, we have
1 + 2 + 3 = 1 + 90 0 + 3 = +180 0 ,
1 = 90 0 3 ,
1 = 90 0 3 ,
1 + 2 + 3 = 90 0 + 2 + 3 = +180 0 ,
or
2 = 270 0 3 = 90 0 3
2 3 = 1 + 270 0
90 0 + 2 3 = 1 + 360 0.
Since ( 2 3 ) = ,
we find that the departure angle is
1 + 360 = 1 = 90 + .
0
q = 1,2,....
Kx =
| (s + p j ) |
j =1
M
| ( s + zi ) |
i =1
s = sx
Fourth-Order System
Fourth-Order System
n=4 and m= 0 implies that there are 4 infinite zeros.
N=4 implies that there are 4 separate loci
Fourth-Order System
Asymptotes:
Angles:
Centroid:
np
nz
p z
j =1
i =1
n p nz
Fourth-Order System
Intersection with imaginary axis
=0
Fourth-Order System
Breakaway point:
s -1.6
Fourth-Order System
Angle of departure:
Angle of departure at pole
Because
Fourth-Order System
=0.707
Fourth-Order System
Step 3:
Step 6:
s +1
s2 + 3s +1
1
0.8
0.6
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-4
-3
-2
-1
Real Axis
1
0.8
0.6
0.4
0.2
Imag Axis
0
-0.2
-0.4
-0.6
-0.8
-1
-3
-2.5
-2
-1.5
-1
Real Axis
-0.5
0.5
1
0.8
0.6
0.4
0.2
Imag Axis
0
-0.2
-0.4
-0.6
-0.8
-1
-3
-2.5
-2
-1.5
-1
-0.5
Real Axis
0.5
1.5
1.5
0.5
Imag Axis
-0.5
-1
-1.5
-2
-1.5
-1
-0.5
Real Axis
0.5
GH(s) =
1
(s2 +3s +3)(s +2)
2
1.5
1
0.5
Imag Axis
0
-0.5
-1
-1.5
-2
-2.5
-3
-2.5
-2
-1.5
-1
-0.5
Real Axis
0.5
1.5
s 1
(s2 + 3s + 3)(s + 2)
8
6
4
2
Imag Axis
0
-2
-4
-6
-8
-3
-2.5
-2
-1.5
-1
-0.5
Real Axis
0.5
1.5
Self-Balancing Scale
Self-Balancing Scale
For small deviations
Lead screw:
Specifications
Self-Balancing Scale
Type 1 system
Design by adjusting Km
Self-Balancing Scale
60
?
?
Type 1 system
double
poles
n>2
Self-Balancing Scale
60
Type 1 system
n>2
PID Controller
Textbook
PID controller:
which corresponds to
In practice:
PID Controller
PI controller: Used extensively in process
control on a broad range of applications due
to simplicity and relatively good performance
PI controller:
PD controller: Used extensively in controlling
electromechanical systems
PD controller:
PID Controller
Consider the PID controller
PID Controller
Using a PID:
Z2
Z* 2
where
Hence
Complex zeros:
Complex poles:
double
poles
?
?
double
poles
We select
in order
to the adjustable zero near
the origin for canceling the
affect of the poles.
The system has 5 zeros and
7 poles.
?
Using steps 3-4
to check.
Double poles
Departure
angle
Type two
System
ess=?