Design of Control Systems

Control Systems Design

by the Root-Locus Method
Compensation is the modification of the system dynamics to satisfy the given specifications.

Approaches: Root locus approach, the frequency-response approach, the state-space approach
and computational approach

The requirements imposed on the control system are usually spelled out as performance
specifications. The specifications may be given in terms of transient response requirements
(such as the maximum overshoot and settling time in step response) and of steady-state
requirements (such as steady-state error in following ramp input).

Design by Root-Locus Method is based on reshaping the root locus of the system by adding
poles and zeros to the system's open loop transfer function and forcing the root loci to pass
through desired closed-loop poles in the s plane.

Commonly used compensators and controllers are lead, lag, and lag-lead compensators
and PID controllers.
 Series Compensation Parallel (feedback) Compensation

Lead compensators,
Lag compensators,
Lag-lead compensators
PID controllers.
 PRELIMINARY DESIGN
CONSIDERATIONS
We place a compensator in series with the transfer function G(s) to obtain desirable behavior.
The main problem then involves the choice of the pole(s) and zero(s) of the compensator
G(s) to alter the root loci so that the performance specifications will be met.
The addition of a pole to the open-loop
transfer function

Pulls the root locus to the right

Lowers the system's relative stability,

Slows down the settling of the response.

The addition of a zero to the open-loop transfer

function

Pulls the root locus to the left

Makes the system more stable and

Speeds up the settling of the response.
 LEAD COMPENSATION
General form of a Lead Compensator:
1
s
Gc K c T , (0 1)
1
s
T Im
Zero at -1/T

Pole at -1/T
1. From the performance specifications, determine the desired location for the dominant
closed-loop poles.

2. By drawing the root-locus plot of the uncompensated system (original system), ascertain
whether or not the gain adjustment alone can yield the desired closed loop poles. If not,
calculate the angle deficiency . This angle must be contributed by the lead compensator if the
new root locus is to pass through the desired locations for the dominant closed-loop poles.

3. Assume the lead compensator G(s) to be

Where and T are determined from the angle deficiency. Kc is determined from the
requirement of the open-loop gain.

4. If static error constants are not specified, determine the location of the pole and zero of the
lead compensator so that the lead compensator will contribute the necessary angle . If no
other requirements are imposed on the system, try to make the value of as large as possible.
K v lim sGc ( s )G ( s )
s 0

5. Determine the open-loop gain of the compensated system from the magnitude condition.
 Example
For uncompensated closed-loop system :
=0.5 Wn = 2 rad/sec.
It is desired to modify the closed-loop poles so
that wn = 4 rad/sec is obtained, without changing
the value of the damping ratio, =0.5.
Note that the damping ratio determines the
angular location of the complex-conjugate
closed loop poles, while the distance of the
pole from the origin is determined by the
undamped natural frequency wn.
The desired locations of the closed-loop poles
of this example are
Remember 2nd order TF
 ...
The desired locations of the closed-loop poles

A general procedure :
i) find the sum of the angles at the
desired closed-loop pole with the open-
loop poles and zeros of the original
system,

ii) determine the necessary angle to be

added so that the total sum of the angles -180= -210 +
is equal to 180(2k + 1). =30

The lead compensator must contribute

this angle . MANY POSSIBILITIES!!

Useful Approach
1. Draw horizontal Line passing throuh P (PA)
2. Draw a line connecting point P and the origin (PO)
.3. Bisect the angle between the lines PA and PO,
4. Draw lines PC and PD that make angles /2
5. The intersections with the negative real axis give the
pole and zero of the lead network
 ...
iii) The open-loop transfer function of the compensated system becomes

The lead compensator, therefore,

has the transfer function

Root-locus plot of the

compensated system.
...
 LAG COMPENSATION
For the case where the system has transient-response characteristics but unsatisfactory steady-
state characteristics.

Increases the open loop gain without appreciably changing the transient-response characteristics

This means that the root locus in the neighborhood of the dominant closed-loop poles should
not be changed appreciably, but the open-loop gain should be increased as much as needed.

The angle contribution of the lag network should be limited to a small amount, say 5.To
assure this, we place the pole and zero of the lag network relatively close together and near
the origin of the s plane.

If gain Kc of the lag compensator is set

equal to 1, then the transient response
characteristics will not be altered.
 ...

An increase in the gain means an increase in The main negative effect of the
the static error constants. lag compensation is that the
compensator zero that will be
generated near the origin creates
a closed-loop pole near the
origin. This closed loop pole and
For the compensated system the static velocity compensator zero will generate a
error constant becomes long tail of small amplitude in the
step response, thus increasing
the settling time.

Velocity error constant is increased. Therefore, steady-state error will decrease !

Design Procedures for Lag Compensation by the Root-Locus Method:

1. Draw the root-locus plot for the uncompensated system. Based on the transient-response
specifications, locate the dominant closed-loop poles on the root locus.

2. Assume the transfer function of the lag compensator to be

3. Evaluate the particular static error constant specified in the problem.

4. Determine the amount of increase in the static error constant necessary to satisfy the
specifications.

5. Determine the pole and zero of the lag compensator that produce the necessary
increase in the particular static error constant without appreciably altering the original root loci.

6. Draw a new root-locus plot for the compensated system. Locate the desired dominant
closed-loop poles on the root locus.

7. Adjust gain K, of the compensator from the magnitude condition so that the dominant
closed-loop poles lie at the desired location. ( will be approximately 1.)
 Example

The dominant closed-loop poles are

The damping ratio is 0.491.

The undamped natural frequency of the dominant

closed-loop poles is 0.673 rad/sec.

The static velocity error constant is 0.53 sec-1.

It is desired to increase the static velocity error constant Kv to

about 5 sec-1 without appreciably changing the location of the
dominant closed-loop poles.
 ...
To increase the static velocity error constant
by a factor of about 10, let us choose = 10
and place the zero and pole of the lag
compensator at s = -0.05 and s = -0.005,
respectively.

If the damping ratio of the new dominant

closed-loop poles is kept the same, then the
poles are obtained from the new root-locus
plot as follows:
 LAG-LEAD COMPENSATION
If improvements in both transient response
Lead compensation basically speeds up
and steady-state response are desired,
the response and increases the stability of
then both a lead compensator and a lag
the system.
compensator may be used simultaneously.
Lag compensation improves the steady-
Rather than introducing both a lead
state accuracy of the system, but reduces
compensator and a lag compensator as
the speed of the response.
separate elements, however, it is economical
to use a single lag-lead compensator.
 ...
In designing lag-lead compensators, we consider two cases where

1. From the given performance specifications, is approximately unity, where s = s1 is one of

determine the desired location for the the dominant closed-loop poles, choose the
dominant closed-loop poles. values of T1 and from the requirement that

2. Using the uncompensated open-loop

transfer function G(s), determine the angle
deficiency if the dominant closed-loop
poles are to be at the desired location. The
phase-lead portion of the lag-lead
compensator must contribute this angle .

3. Assuming that we later choose T2 The choice of T1 and is not unique.

sufficiently large so that the magnitude of (Infinitely many sets of T1 and are possible.)
the lag portion
 ...
Then determine the value of Kc from the where Kc and are already determined in step
magnitude condition: 3. Hence, the value of can be determined
from this last equation.

Then, using the value of thus determined,

choose the value of T2 such that

4. If the static velocity error constant Kv is

specified, determine the value of to
satisfy the requirement for Kv. The static
velocity error constant Kv is given by
 4. For the lag-lead compensator, we later
choose T2 sufficiently large so that
1. From the given performance specifications,
determine the desired location for the
dominant closed-loop poles.
2. The lag-lead compensator is modified to

is approximately unity, where s = s1 is one of

the dominant closed-loop poles. Determine
the values of TI and from the magnitude
and angle conditions:

Where > 1. If the static velocity error

constant Kc is specified, determine Kc from: 5. Choose T2 so that

3. To have the dominant closed-loop poles at

the desired location, calculate the angle
Contribution needed from the phase lead
portion of the lag-lead compensator.
 Example
Let us assume

This system has closed-loop poles at

The damping ratio is 0.125, the undamped From the performance specifications, the
natural frequency is 2 rad/sec, and the static dominant closed-loop poles must be at
velocity error constant is 8.
Since
It is desired to make the damping ratio of the
dominant closed-loop poles equal to 0.5 and
to increase the undamped natural frequency
to 5 rad/sec and the static velocity error
constant to 80 . the phase lead portion of the lag-lead
compensator must contribute
Design an appropriate compensator to meet 180-(-255)= 55 =
all the performance specifications.
Determine the location of the zero and
pole that will give 55 contribution
There are many possible choices!!!
We shall choose the zero at s = -0.5
By simple calculation, the pole must
be at s = -5.021.
Next we determine the value of Kc from the
magnitude condition:
The phase lag portion:
First the value of P is determined to satisfy the
requirement on the static velocity error constant:
Choose the value of T2 large enough so that
T2 = 5 (or any number greater than 5) satisfies
the above two requirements.
Choose T2 = 5
 Example

Assuming the specifications are the same as in

previous example, design a compensator.

The desired locations:

The phase lead portion:

For the phase lag portion, we may choose
The closed-loop poles are :
the dominant closed-loop poles
Very close to the desired poles!
(accept as equal)
Since the closed-loop pole at s = -0.1003 is
very close to a zero at s = -0.1, they almost
cancel each other. Thus, the effect of this
closed-loop pole is very small.
The remaining closed-loop pole (s = -3.8604)
does not quite cancel the zero at s = -2.4. The
effect of this zero is to cause a larger overshoot
in the step response than a similar system
without such a zero
 PARALLEL COMPENSATION
Series Compensation Parallel or Feedback Compensation

(Char. Eq.) (Char. Eq.)

Since Gf is a fixed transfer function, the design of Gc

becomes the same as the case of series compensation.
 Example

Consider the system shown in above. Draw a root-locus diagram. Then determine the
value of k such that the damping ratio of the dominant closed-loop poles is 0.4.

=K
 ...
The intersection of the asymptotes with the real axis:
The angle of departure from the pole at s = j2
Note that the closed-loop poles
with = 0.4 must lie on straight
lines passing through the
origin and making the angles
66.42 with the negative real axis.
 ... we have two solutions for this problem related to two different K values

the three closed-loop poles are located at the three closed-loop poles are located at

Dominant poles
 ...
Notice that the response of the system
with k = 0.4490 is oscillatory. (The
effect of the closed-loop pole at s = -
2.9021 on the unit-step response is
small.)

For the system with k = 1.4130, the

oscillations due to the closed-loop
poles at s = -2.1589 j4.9652 damp
out much faster than purely
exponential response due to the
closed-loop pole at s = -0.6823.

k = 0.4490 a faster response with relatively small overshoot

k = 1.4130 a slow overdamped response

We should choose k = 0.4490 for the present system.