Design Via Root Locus: Arfauz@utem - Edu.my Fakulti Kejuruteraan Pembuatan Universiti Teknikal Malaysia Melaka

CHAPTER 9
DESIGN VIA ROOT LOCUS
arfauz@utem.edu.my
Fakulti Kejuruteraan Pembuatan
Universiti Teknikal Malaysia Melaka
INTRODUCTION
 Objectives:
How to use the root locus to design cascade
compensators to improve the steady state error
compensators to improve the transient response
compensators to improve both the steady state error
and the transient response
How to use the root locus to design feedback
compensators to improve the transient response
How to realize the designed compensators physically
arfauz@utem.edu.my
INTRODUCTION
arfauz@utem.edu.my
IMPROVING TRANSIENT RESPONSE
 Rather than replacing the existing system with a system

whose root locus intersects the desired design of point
B, we can augment or compensate the system with
additional poles and zeros – so that the compensated
system has a root locus that goes through the desired
pole location for some value of gain
 Two methods – passive or active network
 Disadvantages – system order can increase,
subsequently effect the desired response
 One method of compensating for transient response is to
insert differentiator in the forward path in parallel with the
gain
arfauz@utem.edu.my
IMPROVING STEADY STATE ERROR
 Compensators are not only used to improve the

transient response of a system, they are also
used independently to improve steady state
error characteristics
 In Chapter 7 – steady state error can be
improved by adding an open loop pole at the
origin in forward path, thus increasing the
system type and driving the associated steady
state error to zero
 This additional pole at the origin requires an
integrator for its realization
arfauz@utem.edu.my
Compensators
arfauz@utem.edu.my
Configuration of Compensations
arfauz@utem.edu.my
System Improvement Technique
 Feeding method
Proportional – feed the error forward to the plant
Integral – feed the integral of the error to the plant
Derivative – feed the derivative of the error to the plant
 Implemented using active networks (PI/PD)
Using Amplifiers
Expensive
 Implemented using passive networks (Lag/lead)
Less expensive
no additional power required
arfauz@utem.edu.my
IMPROVING STEADY-STATE ERROR
VIA CASCADE COMPENSATION
arfauz@utem.edu.my
IMPROVING TRANSIENT RESPONSE
VIA CASCADE COMPENSATION
arfauz@utem.edu.my
IMPROVING STEADY-STATE ERROR
AND TRANSIENT RESPONSE
arfauz@utem.edu.my
PI, PD, PID CONTROLLER
arfauz@utem.edu.my
The Characteristics of P, I & D Controller
arfauz@utem.edu.my
Mathematical Representation of
Proportional Controller
arfauz@utem.edu.my
Mathematical Representation of Integral
Controller
arfauz@utem.edu.my
Mathematical Representation of
Derivative Controller
arfauz@utem.edu.my
Mathematical Representation of PI
Controller
arfauz@utem.edu.my
More on IDEAL INTEGRAL
COMPENSATION (PI Controller)
arfauz@utem.edu.my
-θ1-θ2-θ3- θ pc+θzc ≡ (2k+1)1800
arfauz@utem.edu.my
PI controller
arfauz@utem.edu.my
EXAMPLE:
Closed-loop
system
a. before
compensation;
b. after ideal integral
compensation
arfauz@utem.edu.my
Root locus for
uncompensated
system
arfauz@utem.edu.my
Root locus for
compensated
system
arfauz@utem.edu.my
Ideal integral compensated
system response and the
uncompensated system
response of previous example
arfauz@utem.edu.my
LAG COMPENSATION
 If use passive networks, the pole and zero are moved to
the left, close to the origin
 This placement usually will not increase the system type,
but will yield an improvement in the static error constant
over an uncompensated system
 Although the ideal compensator drives the steady state
error to zero, a lag compensator with a pole that is not at
the origin will improve the static error constant by a
factor equal to Zc/Pc
 There will also minimal effect upon the transient
response if the pole-zero pair of the compensator close
to the origin
arfauz@utem.edu.my
a. Type 1
uncompensated
system;
b. Type 1
compensated
system;
c. compensator
pole-zero plot
arfauz@utem.edu.my
Root locus:
a. before lag compensation;
b. after lag compensation
arfauz@utem.edu.my
EXAMPLE
arfauz@utem.edu.my
arfauz@utem.edu.my
arfauz@utem.edu.my
arfauz@utem.edu.my
Mathematical Representation of PD
Controller
arfauz@utem.edu.my
More on IDEAL DERIVATIVE
COMPENSATION (PD Controller)
To speed up the original system, we can
add a single zero to the forward path
This zero can be represented by a
compensator whose transfer function is
Gc(S) = s + Zc
This function, the sum of a differentiator
and a pure gain is called ideal derivative –
PD controller
arfauz@utem.edu.my
PD controller
arfauz@utem.edu.my
Using ideal derivative
compensation:
a. uncompensated;
b. compensator
zero at –2;
c. compensator
zero at –3;
d. compensator
zero at – 4
arfauz@utem.edu.my
 Zero is moved to a different position and for each
compensated case, the dominant, second order poles
are farther out along the 0.4 damping ratio line than the
uncompensated system
 However, each of the compensated case has dominant
poles with the same damping ratio as the
uncompensated case  thus the percent overshoot is
predicted to be similar for each case!
 The compensated dominant, closed loop poles has more
negative real parts than the uncompensated dominant,
closed loop poles  thus shorter settling time, Ts
 On top of that smaller peak time, Tp
arfauz@utem.edu.my
Predicted characteristics for the
previous shown systems
arfauz@utem.edu.my
Uncompensated
system and ideal
derivative
compensation
solutions from
previous table
arfauz@utem.edu.my
Example: Feedback control system
for Example 9.3
arfauz@utem.edu.my
Root locus for uncompensated
system shown in Previous Example
arfauz@utem.edu.my
Uncompensated and compensated
system characteristics for Previous
example
arfauz@utem.edu.my
Compensated
dominant pole
superimposed over
the
uncompensated
root locus for
previous example
arfauz@utem.edu.my
Evaluating the
location of the
compensating
zero
arfauz@utem.edu.my
Root locus for
the
compensated
system
arfauz@utem.edu.my
Uncompensated
and
compensated
system step
responses of
previous
example
arfauz@utem.edu.my
LEAD COMPENSATION
 Similar to the active ideal integral that can be
approximated with passive lag network, an
active ideal integral can be approximated with a
passive lead compensator
 Pole is farther from the imaginary axis then the
zero – will result in a positive angular distribution
of the compensator and thus approximates an
equivalent single zero
arfauz@utem.edu.my
Geometry of lead
compensation
arfauz@utem.edu.my
Three of the infinite
possible lead
compensator solutions
arfauz@utem.edu.my
EXAMPLE
arfauz@utem.edu.my
arfauz@utem.edu.my
arfauz@utem.edu.my
arfauz@utem.edu.my
Other Example
arfauz@utem.edu.my
arfauz@utem.edu.my
arfauz@utem.edu.my
arfauz@utem.edu.my
arfauz@utem.edu.my
Mathematical Representation of PID
Controller
arfauz@utem.edu.my
PID Controller Design
It has two zeros and a pole at the origin

One zero and the pole at the origin can be
designed as the ideal integral
compensator
Another zero can be designed as the ideal
derivative compensator
Follow steps in Text book – page 532
Evaluate – Design PD – Design PI
arfauz@utem.edu.my
PID controller
arfauz@utem.edu.my
LAG-LEAD COMPENSATOR DESIGN
First design the lead compensator to

improve the transient response
Next, evaluate the improvement in steady
state
Finally, design the lag compensator to
meet the steady state error requirement
Follow steps in Text Book – Page 537
Evaluate – Design Lead – Design Lag
arfauz@utem.edu.my
arfauz@utem.edu.my
arfauz@utem.edu.my
FEEDBACK COMPENSATION
Approach 1
Approach 2
arfauz@utem.edu.my
PHYSICAL REALIZATION OF
COMPENSATION
Active circuit Realization
Passive circuit Realization
arfauz@utem.edu.my

Design Via Root Locus: Arfauz@utem - Edu.my Fakulti Kejuruteraan Pembuatan Universiti Teknikal Malaysia Melaka

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Design Via Root Locus: Arfauz@utem - Edu.my Fakulti Kejuruteraan Pembuatan Universiti Teknikal Malaysia Melaka

Uploaded by

Copyright:

Available Formats

CHAPTER 9

DESIGN VIA ROOT LOCUS

 Rather than replacing the existing system with a system

 Compensators are not only used to improve the

It has two zeros and a pole at the origin

First design the lead compensator to

You might also like