Outline

Introduction
Angle and Magnitude Condition
Construction of Root Loci
Examples

Introduction
Consider a unity feedback control system
shown below.
R (s )

K
s 1

C (s )

The open loop transfer function G(s) of

K
the
is
G ( ssystem
)
s 1

And the closed transfer function is

C (s)
G(s)
K

R( s) 1 G ( s) s 1 K

Introduction
The open loop stability does not depend
upon gain K.
K
G (s)

s 1

Whereas, the location of closed loop

poles vary with the variation in gain.
C ( s)
K

R( s) s 1 K

Introduction
Location of closed loop Pole for different
values of K (remember
K>0).
C ( s)
K
R( s)
Pole
-1.5

s 1 K

Pole-Zero Map

0.5

-2
-3
-4
-6
-11
-16

Imaginary Axis

K
0.
5
1
2
3
5
10
15

K 0

K
-0.5

-16

-14

-12

-10

-8

-6

-4

-2

What is Root Locus?

The root locus is the path of the roots of the
characteristic equation traced out in the s-plane as
a system parameter varies from zero to infinity.
(Path of closed loop poles in s-plane as loop gain is
varied).
Contains information about stability of unity
feedback closed loop.
Also has some information about close loop system
response.
Ideal tool for understanding proportional controller.

How to Sketch root locus?

One way is to compute the roots of
the characteristic equation for all
possible values of K.
C ( s)
K

R( s) s 1 K

K
0.
5
1
2
3
5
10
15

Pole
-1.5
-2
-3
-4
-6
-11
-16

How to Sketch root locus?

Computing the roots for all values of
K might be tedious for higher order
systems.
K
Pole
C (s)
K

R( s ) s ( s 1)( s 10)( s 20) K

0.
5
1
2
3
5
10
15

?
?
?
?
?
?
?

Construction of Root Loci

Finding the roots of the characteristic equation of
degree higher than 3 is laborious and will need
computer solution.
A simple method for finding the roots of the
characteristic equation has been developed by W. R.
Evans and used extensively in control engineering.

This method, called the root-locus method, is one in

which the roots of the characteristic equation are
plotted for all values of a system parameter.

Construction of Root Loci

The roots corresponding to a particular value of
this parameter can then be located on the
resulting graph.
Note that the parameter is usually the gain, but
any other variable of the open-loop transfer
function may be used.
By using the root-locus method the designer
can predict the effects on the location of the
closed-loop poles of varying the gain value or
adding open-loop poles and/or open-loop zeros.

Angle & Magnitude

Conditions
constructing the root loci angle

In
magnitude conditions are important.

and

Consider the system shown in following

figure.

The closed loop transfer function is

C (s)
G (s)

R( s) 1 G ( s) H ( s)

Construction of Root Loci

The characteristic equation is obtained by
setting the denominator polynomial equal
to zero.
1 G ( s) H ( s) 0
Or

G ( s ) H ( s ) 1

Where G(s)H(s) is a ratio of polynomial in s.

Since G(s)H(s) is a complex quantity it can
be split into angle and magnitude part.

Angle & Magnitude

Conditions
The angle of G(s)H(s)=-1 is
G ( s ) H ( s ) 1
G ( s ) H ( s ) 180 (2k 1)

Where k=1,2,3
The magnitude of G(s)H(s)=-1 is
G(s) H (s) 1
G(s) H (s) 1

Angle & Magnitude

Conditions

Angle Condition

G ( s ) H ( s ) 180 (2k 1)

(k 1,2,3...)

Magnitude Condition
G (s) H (s) 1
The values of s that fulfill both the angle and
magnitude conditions are the roots of the
characteristic equation, or the closed-loop
poles.
A locus of the points in the complex plane
satisfying the angle condition alone is the root
locus.

Angle and Magnitude Conditions (Graphically)

To apply Angle and magnitude conditions
graphically we must first draw the poles and
zeros of G(s)H(s) in s-plane.
For example if G(s)H(s) is
1
given byPole-Zero Map
0.5
Imaginary Axis

s 1
G ( s) H ( s)
s ( s 3)( s 4)

-0.5

-1
-4

-3.5

-3

-2.5

-2
Real Axis

-1.5

-1

-0.5

Angle and Magnitude Conditions

(Graphically)
s 1
G ( s) H ( s)
s ( s 3)( s 4)

Open Loop Poles (n) = No. of

starting points & Loci (K = 0)
Open Loop Zeros (m) = No. of finite
ending points (K=)

Angle and Magnitude Conditions (Graphically)

Pole-Zero Map

Imaginary Axis

0.5

G ( s ) H ( s ) s p 1 1 2 3
-0.5

-1
-4

If angle of G(s)H(s) at s=p is equal to

180o(2k+1) the point p is on root locus.
-3.5

-3

-2.5

-2

-1.5

-1

-0.5

Angle and Magnitude Conditions graphically

Pole-Zero Map

Imaginary Axis

0.5

B1

B2

B3
0

-0.5

-1
-4

G (s) H (s) s p

-3.5

-3

s 1 s p
s s p s 3 s p s 4 s p

-2.5

-2

-1.5

-1

B1 B2 B3

-0.5

Example#1
Apply angle and magnitude conditions
(Analytically as well as graphically) on
following unity feedback system at s=0.25.

Example#1
Here

K
G(s) H (s)
s ( s 1)( s 2)

For the given system the angle condition

becomes
K
G ( s ) H ( s )
s ( s 1)( s 2)
G ( s ) H ( s ) K s ( s 1) ( s 2)
K s ( s 1) ( s 2) 180(2k 1)

Example#1
G ( s ) H ( s ) s 0.25 K

s 0.25

s s 0.25 ( s 1) s 0.25 ( s 2) s 0.25

G ( s ) H ( s ) s 0.25 (0.25) (0.75) (1.75)

G ( s ) H ( s ) s 0.25 180 0 0

G ( s ) H ( s ) s 0.25 180(2k 1)

Example#1
Here

K
G(s) H (s)
s ( s 1)( s 2)

And the Magnitude condition becomes

K
G ( s) H ( s)
1
s ( s 1)( s 2)

Example#1
Now we know from angle condition that the
point s=-0.25 is on the rot locus. But we do
not know the value of gain K at that specific
point.
We can use magnitude condition to determine
the value of gain at any point on the root
K
locus.
1
s ( s 1)( s 2) s 0.25
K
1
(0.25)(0.25 1)(0.25 2) s 0.25

Example#1
K
1
(0.25)(0.25 1)(0.25 2) s 0.25
K
1
(0.25)(0.75)(1.75)

K
1
0.3285
K
1
0.328
K 0.328

Example#1
Home work:
Check whether following point are on
the root locus or not (Graphically as well
as analytically) ? If yes determine the
value of gain K.
1. s=-0.2+j0.937
2. s=-1+j2

Construction of root loci

Step-1: The first step in constructing a
root-locus plot is to locate the open-loop
Pole-Zero Map
poles and zeros in s-plane.
1

Imaginary Axis

0.5

K
G ( s) H ( s)
s ( s 1)( s 2)

-0.5

-1
-5

-4

-3

-2

-1

Real Axis

Construction of root loci

Step-2: Determine the root loci on the real axis.

Imaginary Axis

To determine the root

loci on real axis we
select some test points.
e.g: p1 (on positive real
axis).

The angle condition is

not satisfied.

Hence, there is no root

locus on the positive
real axis.

Pole-Zero Map

0.5

p1

-0.5

-1
-5

-4

-3

-2

-1

Real Axis

Construction of root loci

Step-2: Determine the root loci on the real axis.
Next, select a test point on
the
negative
real
axis
between 0 and 1.
Then

Pole-Zero Map

Thus

The angle condition is

satisfied.
Therefore,
the
portion of the negative real
axis between 0 and 1 forms
a portion of the root locus.

Imaginary Axis

0.5

p2

-0.5

-1
-5

-4

-3

-2

-1

Real Axis

Construction of root loci

Step-2: Determine the root loci on the real axis.
Now, select a test point on
the negative real axis
between -1 and 2.
Then

Pole-Zero Map

Thus

The angle condition is not

satisfied. Therefore, the
negative real axis between
-1 and 2 is not a part of
the root locus.

Imaginary Axis

0.5

p3

-0.5

-1
-5

-4

-3

-2

-1

Real Axis

Construction of root loci

Step-2: Determine the root loci on the real axis.

Therefore, the negative

real axis between -2 and
is part of the root locus.

0.5

Imaginary Axis

Similarly, test point on the

negative
real
axis
between -2 and
satisfies
the
angle
condition.

Pole-Zero Map

p4

-0.5

-1
-5

-4

-3

-2

-1

Real Axis

Construction of root loci

Step-2: Determine the root
lociMap
on the real axis.
Pole-Zero
1

Imaginary Axis

0.5

-0.5

-1
-5

-4

-3

-2

-1

Construction of root loci

Step-3: Determine the asymptotes of the root loci.
Asymptote is the straight line approximation of a curve

Actual Curve
Asymptotic Approximation

Construction of root loci

Step-3: Determine the asymptotes of the
root loci.

180(2k 1)
Angle of asymptotes
nm

where
n-----> number of poles
m-----> number of zeros
G( s) H ( s)

For this Transfer Function

K
s ( s 1)( s 2)

180( 2k 1)

30

Construction of root loci

Step-3: Determine the asymptotes of the root
loci.
180( 2k 1)

60
whe n k 0
3 0
180 when k 1
300 when k 2
420 when k 3
Since the angle repeats itself as k is varied, the
distinct angles for the asymptotes are determined
as 60, 60, -180and 180.

Thus, there are three asymptotes having

angles 60, 60, 180.

Construction of root loci

Step-3: Determine the asymptotes of the root
loci.
Before we can draw these asymptotes in the
complex plane, we must find the point where
they intersect the real axis.
Point of intersection of asymptotes on real axis
(or centroid of asymptotes) can be find as out

poles zeros

nm

Construction of root loci

Step-3: Determine the asymptotes of the root
loci.
G ( s) H ( s)

For

K
s ( s 1)( s 2)

( 0 1 2) 0

30
3

1
3

Construction of root loci

Step-3: Determine the asymptotes of the root
Pole-Zero Map
loci.
1

Imaginary Axis

60 ,60 , 180

0.5
180

60

60

-0.5

-1
-5

-4

-3

-2

-1

Real Axis

Home Work
Consider
system.

following

Determine
Root loci on real axis
Angle of asymptotes
Centroid of asymptotes

unity

feedback

Construction of root loci

Step-4: Determine the breakaway point.

It is the point from

which
the
root
locus
branches
leaves real axis
and
enter
in

0.5
Imaginary Axis

The
breakaway
point corresponds
to a point in the s
plane
where
multiple roots of
the characteristic
equation occur.

Pole-Zero Map

-0.5

-1
-5

-4

-3

-2

-1

Real Axis

Construction of root loci

Step-4: Determine the break-in point.

It is the point
where
the
root
locus
branches
arrives at real axis.

0.5
Imaginary Axis

The break-in point

corresponds to a
point in the s plane
where
multiple
roots
of
the
characteristic
equation occur.

Pole-Zero Map

-0.5

-1
-5

-4

-3

-2

-1

Real Axis

Construction of root loci

Step-4: Determine the breakaway point or
break-in point.
The breakaway or break-in points can be determined
from the roots of
dK
0
ds
It should be noted that not all the solutions of
dK/ds=0 correspond to actual breakaway points.
If a point at which dK/ds=0 is on a root locus, it is an
actual breakaway or break-in point.
Stated differently, if at a point at which dK/ds=0 the
value of K takes a real positive value, then that point
is an actual breakaway or break-in point.

Construction of root loci

Step-4: Determine the breakaway point or
break-in point.
K
G (s) H (s)

s ( s 1)( s 2)

The characteristic equation Kof the system is

1 G ( s) H ( s) 1

s ( s 1)( s 2)

K
1
s( s 1)( s 2)
K s ( s 1)( s 2)

The breakaway dK
pointd can now be determined
s ( s 1)( s 2)
as
ds
ds

Construction of root loci

Step-4: Determine the breakaway point or
break-in point.
K
s 0.4226
G ( s) H ( s)
1.5774

s ( s 1)( s 2)

Since the breakaway point must lie on a root locus

between 0 and 1, it is clear that s=0.4226
corresponds to the actual breakaway point.
Point s=1.5774 is not on the root locus. Hence,
this point is not an actual breakaway or break-in
point.
In fact, evaluation of the values of K
corresponding to s=0.4226 and s=1.5774 yields

Construction of root loci

Step-4: Determine the breakaway point.
Pole-Zero Map

s 0.4226

Imaginary Axis

0.5
180

60

60

-0.5

-1
-5

-4

-3

-2

-1

Real Axis

Construction of root loci

Step-4: Determine the breakaway
point.
Pole-Zero Map
1

s 0.4226

Imaginary Axis

0.5

-0.5

-1
-5

-4

-3

-2

-1

Real Axis

Solution

K ( s 2 8s 15)
1
2
s 3s 2

( s 2 3s 2)
K 2
( s 8s 15)
Differentiating K with respect to s and setting the derivative equal to
zero yields;
2
2

dK
[( s 8s 15)( 2s 3) ( s 3s 2)( 2 s 8)]

0
2
2
ds
( s 8s 15)
11s 2 26s 61 0

Hence, solving for s, we find the

break-away and break-in points;

s = -1.45 and 3.82

Solution

-1.45

3.82

Construction of root loci

Step-5: Determine the points where root loci
cross the imaginary axis.
Pole-Zero Map

Imaginary Axis

0.5
180

60

60

-0.5

-1
-5

-4

-3

-2

-1

Construction of root loci

Step-5: Determine the points where root loci
cross the imaginary axis.
These points can be found by use of Rouths
stability criterion.
Since the characteristic equation for the present
system is
The Routh Array Becomes

Construction of root loci

Step-5: Determine the points where root loci
cross the imaginary axis.
The value(s) of K that makes the
system marginally stable is 6.

The crossing points on the

imaginary axis can then be
found by solving the auxiliary
equation obtained from the s2
row, that is,
Which yields

Construction of root loci

Step-5: Determine the points where root loci
cross the imaginary axis.
An alternative approach is to let s=j in the
characteristic equation, equate both the real part
and the imaginary part to zero, and then solve for
and K.

For present system

3
2 the characteristic equation
s 3s 2 s K 0
is
( j ) 3 3( j ) 2 2 j K 0
( K 3 2 ) j (2 3 ) 0

Construction of root loci

Step-5: Determine the points where root loci
cross the imaginary axis.
( K 3 2 ) j (2 3 ) 0

Equating both real and imaginary parts of this

equation to zero
(2 3 ) 0

Which yields

( K 3 2 ) 0

Root Locus

5
4
3

Imaginary Axis

2
1
0
-1
-2
-3
-4
-5
-7

-6

-5

-4

-3

-2

Real Axis

-1

Example#2
Consider following unity feedback system.

Determine the value of K such that the

damping ratio of a pair of dominant complexconjugate closed-loop poles is 0.5.
K
G ( s) H ( s)
s ( s 1)( s 2)

Example#2
The damping ratio of 0.5 corresponds to
cos
cos 1
cos 1 (0.5) 60

Example#2
The value of K that yields such poles is found
from the magnitude condition
K
1
s ( s 1)( s 2) s 0.3337 j 0.5780

Example#2
The third closed loop pole at K=1.0383 can be
obtained as
K
1 G ( s) H ( s) 1
0
s ( s 1)( s 2)
1.0383
1
0
s ( s 1)( s 2)

s ( s 1)( s 2) 1.0383 0

Root Locus
2
1.5

-0.2+j0.96

Imaginary Axis

0.5
0
-0.5
-1
-1.5
-2
-3

-2.5

-2

-1.5

-1

-0.5

0.5

1.5

Example#3
Sketch the root locus of following
system and determine the location of
dominant closed loop poles to yield
maximum overshoot in the step
response less than 30%.

Example#3
Step-1: Pole-Zero Map
Pole-Zero Map

1
0.8
0.6

Imaginary Axis

0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-5

-4

-3

-2
Real Axis

-1

Example#3
Step-2: Root Loci on Real axis
Pole-Zero Map

1
0.8
0.6

Imaginary Axis

0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-5

-4

-3

-2
Real Axis

-1

Example#3
Step-3: Asymptotes

Pole-Zero Map

1
0.8
0.6

90
Imaginary Axis

0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-5

-4

-3

-2
Real Axis

-1

Example#3
Step-4: breakaway point
Pole-Zero Map

1
0.8
0.6

Imaginary Axis

0.4
0.2
0

-1.55

-0.2
-0.4
-0.6
-0.8
-1
-5

-4

-3

-2
Real Axis

-1

Example#3
Root Locus

8
6

Imaginary Axis

4
2
0
-2
-4
-6
-8
-4.5

-4

-3.5

-3

-2.5

-2
Real Axis

-1.5

-1

-0.5

0.5

Example#3
Mp<30% corresponds to
Mp e

30% e

1 2

100

1 2

100

0.35
cos 1 (0.35)
69.5

Example#3
Root Locus

8
6

Imaginary Axis

4
2
0
-2
-4
-6
-8
-4.5

-4

-3.5

-3

-2.5

-2
Real Axis

-1.5

-1

-0.5

0.5

Example#3
Root Locus

8
6

System: sys
Gain: 28.9
Pole: -1.96 + 5.19i
Damping: 0.354
Overshoot (%): 30.5
Frequency (rad/sec): 5.55

Imaginary Axis

4
2
0
-2
-4
-6
-8
-4.5

-4

-3.5

-3

-2.5

-2
Real Axis

-1.5

-1

-0.5

0.5

Example-4: For the system shown below, find the

frequency and gain, K, for which the root locus crosses
the imaginary j-axis. For what range of gain K is the
system stable?

The closed-loop transfer function for the

system is;

Example-4: Continue.

A complete row of zeros yields the possibility for imaginary axis roots.
For positive values of gain, K > 0, those for which the root locus is
plotted, only the s1 row can yield a row of zeros. Thus,
From the above equation, K is evaluated as; K = 9.65, -74.6.
Forming the even polynomial by using the s2 row with K = 9.65, we
obtain
Thus the root locus crosses the j-axis at s = j1.59 at a gain,
K = 9.65.

Practice Exercise-1
PROBLEM: Given a unity feedback system that has the forward
transfer function;

Do the following:
a. Calculate the angle of G(s) at the point (3 + j0) by finding the
algebraic sum of angles of the vectors drawn from the zeros and
poles of G(s) to the given point.
b. Determine if the point specified in part (a) is on the root locus.
c. If the point specified in part (a) is on the root locus, then find the
gain, K, using the lengths of the vectors.

Answers of Practice Exercise-1

Practice Exercise-2
PROBLEM: Sketch the root locus and its asymptotes for
a unity feedback system that has the forward transfer
function

Answers of Practice Exercise-2

Root Locus of Higher Order System

Sketch the Root Loci of following unity feedback
system

K ( s 3)
G ( s) H ( s)
s ( s 1)( s 2)( s 4)

 Let us begin by calculating the asymptotes. The realaxis intercept is evaluated as;

The angles of the lines that intersect at - 4/3, given by

 The Figure shows the complete root locus as well as

the asymptotes that were just calculated.

Example: Sketch the root locus for the system with the
characteristic equation of;

a)
b)
c)
d)

Number of finite poles = n = 4.

Number of finite zeros = m = 1.
Number of asymptotes = n - m = 3.
Number of branches or loci equals to the number of finite
poles (n) = 4.
e) The portion of the real-axis between, 0 and -2, and between,
-4 and -, lie on the root locus for K > 0.
Using Eq. (v), the real-axis asymptotes intercept is evaluated as;

The angles of the asymptotes that intersect at - 3, given by Eq.

(vi), are;
For K = 0, a = 60o

o
For K = 1, a = 180
For K = 2, a = 300o

 The root-locus plot of the system is shown in the figure below.

It is noted that there are three asymptotes. Since n m = 3.
The root loci must begin at the poles; two loci (or branches) must leave
the double pole at s = -4.
Using Eq. (vii), the breakaway point, , can be determine as;

The solution of the above equation is

Example: Sketch the root loci for the system.

A root locus exists on the real axis between points s = 1 and s = 3.6.
The intersection of the asymptotes and the real axis is determined as,

The angles of the asymptotes that intersect at 1.3, given by Eq. (vi),
are;

For K = 0, a = 90o
For K = 1, a = -90o or 270o

Since the characteristic equation is

(a)
We have

 The breakaway and break-in points are found from Eq. (a) as,

From which we get,

Point s = 0 corresponds to the actual breakaway point. But points

are neither breakaway nor break-in points, because the
corresponding gain values K become complex quantities.

 To check the points where root-locus branches may cross the imaginary
axis, substitute into the characteristic equation, yielding.

Notice that this

satisfied only if

equation

can

be

Because of the presence of a double

pole at the origin, the root locus is
tangent to the axis at .
The root-locus branches do not cross
the axis.
The root loci of this system is shown in
the Figure.

MATLAB SIMULATION

em Performance Using MATLAB and Simulink

em Performance Using lsim (Linear simulation)

tem Performance Using MATLAB and Simulink

System Performance Using MATLAB and Simulink

System Performance Using MATLAB and Simulink

he Design of Feedback Control Syste

PID

Different Types of Feedback

Control
On-Off Control
This is the simplest form of
control.

Proportional Control
A proportional controller attempts to perform better
than the On-off type by applying power in
proportion to the difference in temperature
between the measured and the set-point. As the
gain is increased the system responds faster to
changes in set-point but becomes progressively
underdamped and eventually unstable. The final
temperature lies below the set-point for this system
because some difference is required to keep the
heater supplying power.

Proportional, Derivative Control

The stability and overshoot problems that arise
when a proportional controller is used at high gain
can be mitigated by adding a term proportional to
the time-derivative of the error signal. The value of
the damping can be adjusted to achieve a critically
damped response.

Proportional+Integral+Derivative Control
it is possible to eliminate steady-state error
while using relatively low gain by adding an
integral term to the control function which
becomes

The Characteristics of P, I, and D

controllers
A proportional controller (Kp) will have the
effect of reducing the rise time and will
reduce, but never eliminate, the steadystate error.
An integral control (Ki) will have the effect of
eliminating the steady-state error, but it
may make the transient response unstable.
A derivative control (Kd) will have the effect
of increasing the stability of the system,
reducing the overshoot, and improving

Drawbacks of the Individual

Controllers
Proportional Control
By only employing proportional control,
a steady state error occurs.
Proportional and Integral Control
The response becomes more oscillatory
and needs longer to settle, the error
disappears.
Proportional, Integral and
Derivative Control
All design specifications can be reached.

e Characteristics of P, I, and D controllers

CL
RESPONSE

RISE TIME

OVERSHOOT

SETTLING TIME

S-S ERROR

Kp

Decrease

Increase

Small Change

Decrease

Ki

Decrease

Increase

Increase

Eliminate

Kd

Small
Change

Decrease

Decrease

Small
Change

Tips for Designing a PID Controller

1.

Obtain an open-loop response and determine what needs to be improved

2.

Add a proportional control to improve the rise time

3.

Add a derivative control to improve the overshoot

4.

Add an integral control to eliminate the steady-state error

5.

Adjust each of Kp, Ki, and Kd until you obtain a desired overall
response.

Lastly, please keep in mind that you do not need to implement all three controllers
(proportional, derivative, and integral) into a single system, if not necessary. For
example, if a PI controller gives a good enough response (like the above
example), then you don't need to implement derivative controller to the system.
Keep the controller as simple as possible.

Open-Loop Control - Example

G( s )

1
2

s 10s 20
num=1;
den=[1 10 20];
step(num,den)

Proportional Control - Example

The proportional controller (Kp) reduces the rise time, increases
the overshoot, and reduces the steady-state error.
Kp
T( s )
MATLAB Example
2
s 10 s ( 20 Kp )
Step Response
From: U(1)

1.4

1.2

To: Y(1)

Amplitude

0.8

Step Response

0.6

From: U(1)

1
0.4

0.9
0.8

0.2

0.7
0

0.2

0.4

0.6

num=[Kp];
den=[1 10 20+Kp];
t=0:0.01:2;
step(num,den,t)

0.8

1.2

Time (sec.)

K=300

1.4

1.6

1.8

0.6
To: Y(1)

Amplitude

Kp=300;

0.5

K=100

0.4
0.3
0.2
0.1
0

0.2

0.4

0.6

0.8

Time (sec.)

1.2

1.4

1.6

1.8

Proportional - Derivative - Example

The derivative controller (Kd) reduces both the
overshoot and the settling time.
Kd s Kp

T( s )

MATLAB Example

s ( 10 Kd ) s ( 20 Kp )
Step Response
From: U(1)

1.4

1.2

Step Response

0.9
0.4

0.8

0.2

den=[1 10+Kd 20+Kp];

0

t=0:0.01:2;
step(num,den,t)

From: U(1)

0.6

0.2

0.4

0.7

Kd=10
0.6

0.8

Time (sec.)

1.2

1.4

1.6

1.8

0.6
To: Y(1)

num=[Kd Kp];

0.8

Amplitude

Kd=10;

To: Y(1)

Kp=300;

Amplitude

2 0.5
0.4
0.3

Kd=20

0.2
0.1
0

0.2

0.4

0.6

0.8

Time (sec.)

1.2

1.4

1.6

1.8

Proportional - Integral - Example

The integral controller (Ki) decreases the rise time,
increases both the overshoot and the settling time,
and eliminates the steady-state error
Kp s Ki

T( s )

MATLAB Example

s 10 s ( 20 Kp ) s Ki
Step Response
From: U(1)

1.4

1.2

Step Response

0.8

0.6
1.2

0.4

step(num,den,t)

Ki=70

0.2

0.4

0.6

0.8

Time (sec.)

1.2

1.4

1.6

1.8

To: Y(1)

0.2

den=[1 10 20+Kp Ki];

t=0:0.01:2;

From: U(1)

1.4

A m plitude

num=[Kp Ki];

To: Y(1)

Ki=70;

Amplitude

Kp=30;

0.8

2
0.6

0.4

Ki=100

0.2

0.2

0.4

0.6

0.8

Time (sec.)

1.2

1.4

1.6

1.8

RLTOOL

Syntax
rltool
rltool(sys)
rltool(sys,comp)

RLTOOL

RLTOOL

RLTOOL

RLTOOL

Example - Practice

Consider the following configuration:

Example - Practice

The design a system for the following specifications:

Zero steady state error

Settling time within 5 seconds

Rise time within 2 seconds

Only some overshoot permitted

REFERENCE:
http://imtiazhussainkalwar.weebly.com /
http://ctms.engin.umich.edu/CTMS/index.php?
example=Introduction&section=ControlPID