CHEN3005 Process Instrumentation and Control

Revision Exercises 2
Problem 1. Sketch the root-locus diagram for the open-loop transfer function given as

  =



 +
 + 

Solution:

Step 1: No of poles = 3; the at poles at  = 0, 1, 5

Step 2: No. of zeros  = 1; the zero is at  = 1

Step 3: No. of separate root loci  =  = 3 1 = 2 i.e., for > 

Step 4: No. of asymptotes  =  = 3 1 = 2

Step 5: Angles of asymptotes with real axis:

 =

2 + 1
;  = 0, 1


 =


3
;  =
2
2

Step 6: Find the centre of gravity, i.e., the point where all asymptotes intersect at real axis.
& #$% %# 0 1 5 1
!=
=
= 3.5

2

Step 7: Find the breakaway point from which real poles will converge and diverge into
becoming complex poles.
()*+
(
 1
=, .=0
(  + 1 + 5
(

 & + 6 1 + 5 3 1 + 12 + 5 1

=0
 & + 6 1 + 51
2 & 3 1 + 12 + 5 = 0

The roots are (after solving by trial-and-error using s = -3.5 as an initial guess, i.e., guess at a
value closed to centre of gravity):  = 3.15, 2.04, 0.389. Choose the value closest to the
centre of gravity, so the breakaway point is 5 = 3.15
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Step 8: Sketching the root locus diagram. First, mark on the complex plane, the points
corresponding to the poles, zeros, centre of gravity and breakaway points. Draw the asymptotes
which intersect at the centre of gravity.
Identify the existence of root loci between the intervals made the points marked on the complex
plane, i.e., between 1 and 0, 0 and -1, -1 and -3.15, -3.15 and -3.5, -3.5 and -5. For each interval,
take an arbitrary point, and check how many poles and zeros together to the right of the point; if
the number is ODD, the root loci exists in the interval, otherwise does not exist. The root-locus
diagram is shown below.

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Problem 2. Based on the standard feedback block diagram in Fig. 1, find:

a) Overall open-loop or loop transfer function
 . Based on this loop transfer function,
draw the root-locus diagram without using Graph paper.
b) What is the steady-state offset for a step change in setpoint (R) of magnitude 5 units.

7  =

7 


;
9  =
8
+

 ++

Fig. 1. Standard single-loop feedback control structure

Solution:
The closed-loop (servo) transfer function is
:=

,= )>
;
=
< 1 + ,= )> )?

The overall open-loop (or loop) transfer function is )*+ = ,= )> )? , i.e. all the block transfer
function in the feedback loop in Fig. 1.
The solution for part (a) for root locus can be obtained similarly to Problem 1.
For part (b): Note that < = A ,
@

,>  1
,= - 1
.
5
 ++1
;=
- .
,>  1

1
1 + ,= - 1
. B + 1 C
 ++1

Apply Final Value Theorem to find new steady-state value

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,>  1
,
.
=
5,= ,>
5 L
I
1 +  + 1
;AA = lim; = lim H
- .K =
,>  1
A
A

1 ,= ,>
1
1 + ,= - 1
.B
C
 ++1 +1
G
J
The offset is difference between the setpoint and the new steady-state value
MNN%O = < ;AA = 5

5,= ,>
1
=
1 ,= ,> 1 ,= ,>

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Problem 3. For the cascade control strategy shown in Fig. 2, find:

a) The servo (Y/R) and regulatory (Y/D) transfer functions.
b) Obtain the overall characteristic equation.
c) Find the range of P
for which the cascade control system is stable.

P8 =
Q;
8  =


Q.

Q +

;

 =

Q +

8Q +
 +


Fig. 2. Cascade control strategy

Solution:
Simplify the inner loop into a transfer function. The closed-loop transfer function Y2/C:
)RS =

,=1 )1
1 + ,=1 )1

Thus, Fig. 2 can be reduce to Fig. below

From the reduced Fig. above, the servo transfer function is

:=

;
,= )RS )
=
< 1 + ,= )RS )

The overall Characteristic Equation (CE) is

1 + ,= )RS ) = 0

Substitute all the values into the CE. First note that
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)RS

5
50
10
+ 1C =
=
5
1 + 0B
C 10 + 51
10 + 1

So CE
1 + ,= Simplify

10 B

50
0.110 + 1
.
=0
10 + 51 20 + 15 + 1

1000 & + 5400 1 + 1295 50,=  + 51 + 5,=  = 0

Use Routh Stability Criteria: The first criterion is the necessary condition says that all
coefficients must be positive.
1295 50,= > 0 ,= < 25.9 U % $VWVO 1
51 + 5,= > 0 ,= > 10.2 $#X% $VWVO 1

Apply sufficient condition:

1000
Y5400
Z

1295 50,=
51 + 5,= [

Calculate b
Z=

54001295 50,=  100051 + 5,= 

> 0 ,= < 25.41 U % $VWVO 2
5400

Since more than 1 upper limit, choose the lowest upper limit value. Therefore the range for
stability is
10.2 < ,= < 25.41

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