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Chapter 4
Root-Locus Analysis
and Design
Control Automático
3º Curso. Ing. IndustrialEscuela Técnica Superior de Ingenieros
Universidad de Sevilla
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Outline of the presentation
� Introduction to the Root Locus
� Root-Loci Plot for positive gains
� Controller gain design
� Improving the closed-loop behaviour:
� Transitory response
� Steady state response
� Controller design
� Extensions:
� Root-Loci Plot for negative gains
� Generalized Root-Locus
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Introduction to the Root Locus
� Introduction to the Root Locus
� The canonical problem
� Example
� Characterization of roots: Magnitude and angle conditions
� Root-Loci Plot for positive gains
� Controller gain design
� Improving the closed-loop behaviour:
� Transitory response
� Steady state response
� Controller design
� Extensions:
� Root-Loci Plot for negative gains
� Generalized Root-Locus
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The canonical Problem
� Objective: analysis of the effect of a single parameter variation on the location of the closed-loop poles (Evans, 1948)
RRG(s)C(s)
-
+ E U YG(s)C(s)
-
+
Controller
G(s)G(s)C(s)K
System-
+ E U Y
How does the location of closed-loop poles changeas K varies?
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The canonical Problem
� Purpose
� Analysis: How system behaviour changes with the parameter
� Synthesis: How to select K to obtain the desired behaviour
G(s)C(s)-
+R E U YG(s)C(s)
-
+
Controller
G(s)G(s)C(s)K
System-
+R E U Y
• Analitically: impossible for higher order systems
• Graphically: Parameterized plot in K
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Example
G(s)C(s)-
+R E U YG(s)C(s)
-
+G(s)G(s)C(s)K
-
+R E U Y
Closed-loop poles:
K=0
-2 -1
K=1 K>1
x
x
x
K<0
xx x x
Root-Loci
Controller System
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The Canonical Problem
What if ?
� Impossible to compute analytically the location of closed-loop poles depending on K
� Graphic Plot (approximate plot)
Root-Loci Construction(Evans, 1948)
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Characterization of Roots
� Angle Condition
� Magnitude Condition
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Characterization of Roots
� Angle Condition
G(s) takes the form
o x
x
x
x
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Example
G(s)C(s)-
+R E U YG(s)C(s)
-
+
Controller
G(s)G(s)C(s)K
System-
+R E U Y
-2 -1xx x
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Example
G(s)C(s)-
+R E U YG(s)C(s)
-
+G(s)G(s)C(s)K
-
+R E U Y
-2 -1
x
x
x x
Controller System
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Example
-2xx x
G(s)C(s)-
+R E U YG(s)C(s)
-
+G(s)G(s)C(s)K
-
+R E U Y
Controller System
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Example
-2
x
x x
x
G(s)C(s)-
+R E U YG(s)C(s)
-
+G(s)G(s)C(s)K
-
+R E U Y
Controller System
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Example
K=0
-2 -1
K<0
x x
K>0
Branch for the pole s=0
Branch for the pole s=-2
Break-away point
G(s)C(s)-
+R E U YG(s)C(s)
-
+G(s)G(s)C(s)K
-
+R E U Y
Controller System
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Root-Loci Plot for positive gains
� Introduction to the Root Locus
� Root-Loci Plot for positive gains
� Controller gain design
� Improving the closed-loop behaviour:
� Transitory response
� Steady state response
� Controller design
� Extensions:
� Root-Loci Plot for negative gains
� Generalized Root-Locus
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Root-Loci Plot: important facts
� Number of branches:
� If G(s)=n(s)/d(s) where n(s) and d(s) are polynomials of degree m and n respectivelly then the closed-loop roots are the solutions to
� The number of roots (branches) is constant and equal to n if the polynomial d(s)+Kn(s) has constant degree n for every K (this is satisfied, for example, if n>m).
�Moreover, if the degree of the characteristic polynomial does not change with K, the roots vary continuously with K.
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Root-Loci Plot: important facts
� Symmetry
� The root locus is symmetrical about the real axis.
� This is because complex closed-loop poles appear always in conjugate pairs.
� Starting points (K=0)
� For small values of K>0, the characteristic equation d(s)+Kn(s)=0 can be approximated by d(s)=0.
� Consequence: The root locus starts at the poles of G(s)=n(s)/d(s).
� End points (K→∞)� The characteristic equation can be rewritten as (1/K)d(s)+n(s)=0.
Which, for large values of K>0, is approximated by n(s)=0.
� Consequence: From the n branches, m converge to the m zeros of G(s) (the n-m remaining branches converge to n-m asymptotes).
� .
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-7 -6 -5 -4 -3 -2 -1 0 1 2 3-6
-4
-2
0
2
4
6Root Locus
Real Axis
Imag
inar
y A
xis
RL example
� 4 open loop poles (n=4)
� 1 zero. m=1
� 4 branches
� 1 break away point
� 1 break in point
1 zero
3 asymptotesxx
x
x
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Root-loci plot for K>0
� We start from the following canonical form
� The Root Loci consists of n branches
� The branches start from the open-loop poles
�m branches tend to the open-loop zeros
� n-m branches tend to infinity in an asymptotic way.
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Root-Loci plot for K>0
� Root-Loci plot
� There exists a systematic procedure to obtain the plot
� The obtained plot is an approximation
� Important qualitative information
� Illustrative example
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Steps for the Root-Loci plot
Step 1: Place open-loop poles and zeros
-7 -6 -5 -4 -3 -2 -1 0 1 2 3-6
-4
-2
0
2
4
6Root Locus
Real Axis
Imag
inar
y A
xisx → pole
o → zero
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Steps for the Root-Loci plot
Step 2: Root-Loci Plot on the real axis
so ∈ RL if it is to the left of an odd number of real poles and zeros.
-7 -6 -5 -4 -3 -2 -1 0 1 2 3-6
-4
-2
0
2
4
6Root Locus
Real Axis
Imag
inar
y A
xis
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Steps for the Root-Loci plot
Step 3: Determination of the break away and break in points
-7 -6 -5 -4 -3 -2 -1 0 1 2 3-6
-4
-2
0
2
4
6Root Locus
Real Axis
Imag
inar
y A
xis
Break away point
Break in point
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Steps for the Root-Loci plot
Computation of the break away and break in points
They are roots with multiplicity of the characteristic polynomial
• They are roots of the closed-loop denominator
• They are roots also of the derivative of the denominator
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Steps for the Root-Loci plot
� Example
Roots
-7 -6 -5 -4 -3 -2 -1 0 1 2 3-6
-4
-2
0
2
4
6Root Locus
Real Axis
Imag
inar
y A
xis
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Steps for the Root-Loci plot
Step 4: Asymptotes computationm branches tend to the zerosn-m branches converge to the asymptotesn branches
Centroid
Asymptote angles
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Steps for the Root-Loci plot
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Steps for the Root-Loci plot
� Example
-7 -6 -5 -4 -3 -2 -1 0 1 2 3-6
-4
-2
0
2
4
6Root Locus
Real Axis
Imag
inar
y A
xis
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Steps for the Root-Loci plot
Step 5: Computation of the possible crossings with theImaginary axis
Routh-Hurwitz Table
Second order even factor
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Steps for the Root-Loci plot
� Example
-7 -6 -5 -4 -3 -2 -1 0 1 2 3-6
-4
-2
0
2
4
6Root Locus
Real Axis
Imag
inar
y A
xis
Second order even factor
Subsidiary equation
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Steps for the Root-Loci plot
Step 6: Angle of departure from complex poles and angle of arrival at complex zeros
Departure angle from a complex pole
Arrival angle at a complex zero
o x
x
x
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Steps for the Root-Loci plot
� Example
-7 -6 -5 -4 -3 -2 -1 0 1 2 3-6
-4
-2
0
2
4
6Root Locus
Real Axis
Imag
inar
y A
xis
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
-7 -6 -5 -4 -3 -2 -1 0 1 2 3-6
-4
-2
0
2
4
6Root Locus
Real Axis
Imag
inar
y A
xis
Steps for the Root-Loci plot
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Controller gain design� Introduction to the Root Locus
� Root-Loci Plot for positive gains
� Controller gain design:
� Hypothesis for the design
� Control specifications and admisible regions
� Computing the controller gain
� Examples
� Improving the closed-loop behaviour:
� Transitory response
� Steady state response
� Controller design
� Extensions:
� Root-Loci Plot for negative gains
� Generalized Root-Locus
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General assumption
Im
Re
<=>
:1
:1
:1
δδδ Overdamped
Critically damped.
Underdamped.
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Underdamped system
00
Tiempo
y(t)
)(
)()(..
∞∞−
=y
ytyOS p
)(∞y
etptst
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Underdamped system
00
Tiempo
y(t)
)(
)()(..
∞∞−
=y
ytyOS p
)(∞y
etptst
Settling time T5%: The time required to reach and stay within 5% of the steady-state value.
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Normalized rise time
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.91.5
2
2.5
3
3.5
4
4.5
5
5.5
6
6.5
00
Tiempo
y(t)
)(
)()(..
∞∞−
=y
ytyOS p
)( ∞y
etptst
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Underdamped system
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Example 1:
-2.5 -2 -1.5 -1 -0.5 0 0.5-3
-2
-1
0
1
2
3
Real Axis
Imag
Axi
s
Root Locus Editor (C)
xx
x
xK=1.38
G(s)C(s)-
+R E U YG(s)C(s)
-
+G(s)G(s)C(s)K
-
+R E U Y
Controller System
Which is the overshoot and the rise time for a proportional controller with K=1.38 ?
From the closed-loop characteristic polynomial we obtain that the closed-loop poles are placed at -1.5+2.57j and -1.5-2.57j
-1.5
2.57
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Example 1:
-2.5 -2 -1.5 -1 -0.5 0 0.5-3
-2
-1
0
1
2
3
3
0.64 0.5 0.38 0.28 0.17 0.08
0.38 0.08
0.94
0.8
2
2.5
1
1.5
0.28 0.17
0.8
2.5
0.5
2
0.50.64
1.5
0.94
0.5
1
Real Axis
Imag
Axi
s
Root Locus Editor (C)
xx
x
x
K=1.38A
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Example 1:
Step Response
Time (sec)
Am
plitu
de
0 0.5 1 1.5 2 2.5 3 3.5 40
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
ts=0.84 tp
� Since the open-loop transfer function has no integrators, the steady state position error is different from zero
� The expressions for the overshoot and rise time are exact in this case because the closed-loop system is a second-order system without zeros.
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• Dominant dynamics: poles with the slowest response
• In practice, dominant poles are determined through their relative distance to the imaginary axis.
Re
Imp1
p’1
p2
p’2
d2
d1
p1 are dominant if d2/d1>5
Re
Im
p1
p2
p’2
d2
d1
The static gain must be the same
Closed-loop dominant poles
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Closed Loop Dominant Poles
-1 is dominant. The remaining poles are neglected
Re
Im
-1-16
-17
Tiempo(s)0 1 2 3 4 5 6
0
0.5
1
1.5
2
2.5
y(t)
1
2
)17)(16)(1(
544
)17)(16)(1(
544)(
+=
+≈
+++=
ssssssG
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Proportional controller
� The root locus illustrates how the transient response varies with the proportional gain� The overshoot and the rise time corresponding to each point of the root locus can be estimated (assuming the existence of dominant poles)� Design process:� Given a set of control specifications, it is possible to determine
if there is a point (belonging to the root locus) satisfying all the specifications� If such a point exits, then the corresponding gain is obtained by
means of the magnitude condition: If A belongs to the root locus and satisfies all the specifications, then the corresponding gain is obtained from:
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Specifications on the complex plane
G(s)C(s)-
+R E U YG(s)C(s)
-
+G(s)G(s)C(s)K
-
+R E U Y
Controller System
xx
Im
Rex
The region in green corresponds to the simultaneous satisfaction of SO and settling time specifications.
Similar regions are obtained for simultaneous SO and wn specifications.
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Example 2:
� Design a proportional controller in such a way that the system is as fast as possible and the SO is not greater than 20%
G(s)C(s)-
+R E U YG(s)C(s)
-
+G(s)G(s)C(s)K
-
+R E U Y
Controller System
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Example 2:
-2.5 -2 -1.5 -1 -0.5 0 0.5-3
-2
-1
0
1
2
3
Real Axis
Imag
Axi
s
Root Locus Editor (C)
xx62.87º
A
Step Response
Time (sec)
Am
plitu
de
0 0.5 1 1.5 2 2.5 3 3.5 40
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
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Example 3:
Proportional control of servo system
G(s)C(s)-
+R E U YG(s)C(s)
-
+G(s)G(s)C(s)K
-
+R E U Y
Controller System
Is it possible to obtain a proportional controller such that SO and is not greater than 10% and the rise time is not greater than 5 seconds ? xx
Im
Rex
-5 -0.05
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G(s)C(s)-
+R E U YG(s)C(s)
-
+G(s)G(s)C(s)K
-
+R E U Y
Controller System
The characteristic polynomial can be approximated by a second order one: Im
Re In the region of interest, one can make the approximation:
region of interest
xx x-5 -0.05
Example 3:
Proportional control of servo system
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In the region of interest, the root locus can be approximated by the root locus corresponding to:
Re
That is,
Im
x x-0.05 -0.025
Example 3:
Proportional control of servo system
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In order to satisfy the SO specification:
Re
Im
x x-0.05 -0.025
A
53.75º
Example 3:
Proportional control of servo system
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Step Response
Time (sec)
Am
plitu
de
0 50 100 150 200 2500
0.2
0.4
0.6
0.8
1
1.2
1.4
ts
Since the assumption of dominant poles is valid, the transient behaviour of the closed loop third order system is the one predicted.
The proportional controller fails to meet the rise time specification. In order to make the closed loop faster, one requires to increase the gain K, however, this increases the SO beyond its specified value.
Example 3:
Proportional control of servo system
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Improving the closed-loop behaviour
� Introduction to the Root Locus
� Root-Loci Plot for positive gains
� Controller gain design
� Improving the closed-loop behaviour:
� Transitory response
� Steady state response
� Controller design
� Extensions:
� Root-Loci Plot for negative gains
� Generalized Root-Locus
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US. 55
Design for transient specifications
� The root locus illustrates how the transient response varies with the proportional gain.
� The overshoot and the rise time corresponding to each point of the root locus can be estimated (assuming the existence of dominant poles)
� Design process (First case):
� Given a set of control specifications, it is possible to determine if there is a point A (belonging to the root locus) satisfying all the specifications
� If such a point exits, then the corresponding gain is obtained by means of the magnitude condition:
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US. 56
Design for transient specifications
� Design process (second case):
� If there is no point in the root locus satisfying all the transient specifications then it is necessary to modify the root locus (a simple proportional controller is not able to meet the transient specifications).� One should determine a point A in the complex plane with
damping ratio and natural frequency satisfying the transient specifications.� Once this point is chosen, the root locus is modified by means of
the inclussion of a compensator.� The compensator (PD or Lead compensator) is designed in such
a way that the compensated root locus goes through the desired point A (the parameters of the compensator can be obtained from the angle condition at A)� Once the zeros and poles of the compensator are obtained, the
gain of the compensator is obtained from the application of the magnitude condition at A
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G(s)C(s)-
+R E U YG(s)C(s)
-
+G(s)G(s)C(s)K(s+c)
-
+R E U Y
Controller System
Example 4:
Proportional Derivative control of servo system
Rex
-5x x
x
-0.05
A
Im
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Rex
-5x x
x
-0.05
A
Im
� Including a zero (PD controller) it is possible to modify the angle condition in such a way that the desired point A belongs to the new root locus� The gain of the PD controller is used to make the point satisfy the magnitude condition
� The uncompensated root locus does not go through the desired point ( A does not satisfy the angle condition)� This means that it is impossible to meet the specifications with a proportional controller
Example 4:
Proportional Derivative control of servo system
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Rex
-5x x
x
-0.05
A
Im
Example 4:
Proportional Derivative control of servo system
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Rex
-5x x
x
-0.05
A
Im
o-c
Example 4:
Proportional Derivative control of servo system
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Rex
-5x x
x
-0.05
A
Im
o-c
� Root locus of the compensated system� The gain of the controller is obtained from the magnitude condition
Example 4:
Proportional Derivative control of servo system
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� The closed loop behaviour of the compensated system does not correspond to the predicted overshoot and rise time.
0 2 4 6 8 10 12 14 16 180
0.2
0.4
0.6
0.8
1
1.2
1.4Step Response
Time (sec)
Am
plitu
de
� This is because the closed transfer function has a closed loop zero at –c which is not cancelled by any closed-loop pole
� Closed loop transfer function:
Example 4:
Proportional Derivative control of servo system
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Example 4 (revisited):
Proportional derivative control of servo system
Rex
-5x x
x
-0.05
A
Im
o-c
� Notice that point Bcorresponds to the same overshoot as point A, that is, same δ.� However, it has faster response (wn is larger)
� Also, point B has associated a greater value of controller gain. � This implies better steady state behaviour.
xB
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Example 4 (revisited):
Proportional derivative control of servo system
Rex
-5x x
x
-0.05
A
Im
o-c
� Approximating the vertical branch by the asymptote one obtains:
xB
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Example 4 (revisited):
Proportional derivative control of servo system
Rex
-5x x
x
-0.05
A
Im
o-c
� Applying the magnitude condition: xB
� Predicted values for overshoot and rise time:
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
� The closed loop behaviour of the new compensated system (in red) is much faster than the original one.
� The closed transfer function has a closed loop zero at –c which is partially cancelled by a closed loop pole.
� Closed loop transfer function:
Example 4 (revisited):
Proportional derivative control of servo system
0 2 4 6 8 10 12 14 16 180
0.2
0.4
0.6
0.8
1
1.2
1.4Step Response
Time (sec)
Am
plitu
de
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
-
Example 5:
Lead compensator+R E U Y
Rex x
xA
Im
x-6 -2 -1
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example 5:
Lead compensator
Rex x
xA
Im
x-6 -2 -1
o-3
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example 5:
Lead compensator
-18 -16 -14 -12 -10 -8 -6 -4 -2 0
-6
-4
-2
0
2
4
6
Root Locus
xxxx
Ax
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example 5:
Lead compensator
-150
-100
-50
0
50
Mag
nitu
de (
dB)
10-2
10-1
100
101
102
103
-270
-180
-90
0
Pha
se (
deg)
Bode DiagramGm = 16.4 dB (at 10.3 rad/sec) , Pm = 55.6 deg (at 3.35 rad/sec)
Frequency (rad/sec)
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example 5:
Lead compensator
0 0.5 1 1.5 2 2.5 30
0.2
0.4
0.6
0.8
1
1.2
1.4Step Response
Time (sec)
Am
plitu
de
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US. 72
Design for steady state
specifications
� Suppose that a compensator (proportional controller, PD, lead compensator) has been designed for the system taking into account ONLY control transient specifications (the closed loop system has a (dominant) pole at a desired location A).
� It is possible to improve (a posteriori) the steady state specifications including (in series) with the initial compensator a PI or a Lag compensator
� The idea is very simple: if the zero and pole of the compensator are close to the origin then the new compensated root locus will be almost identical to the original one in the proximity of A.
� For that purpose, it suffices to take the zero of the compensator smaller than |A|/10.
� The ratio between the zero and the pole determine the improvement in the steady state response
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-
Example 6:
Proportional Integral controller +R E U Y
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Example 6:
Proportional Integral controller
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Example 6:
Proportional Integral controller
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Example 6:
Proportional Integral controller
-20 -15 -10 -5 0
-8
-6
-4
-2
0
2
4
6
Root Locus
Real Axis
Imag
inar
y A
xis
-18 -16 -14 -12 -10 -8 -6 -4 -2 0
-6
-4
-2
0
2
4
6
Root Locus (Lead compensator)
xxxx
Ax
xA
The PI does not modify the root locus around A
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example 6:
Proportional Integral controller
10-2
10-1
100
101
102
103
-270
-225
-180
-135
-90
-45
Pha
se (
deg)
-150
-100
-50
0
50
Mag
nitu
de (
dB)
Bode DiagramGm = 15.4 dB (at 9.76 rad/sec) , Pm = 47.5 deg (at 3.37 rad/sec)
Frequency (rad/sec)
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example 6:
Proportional Integral controller
0 1 2 3 4 5 6 70
0.2
0.4
0.6
0.8
1
1.2
1.4Step Response
Time (sec)
Am
plitu
de
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example 6:
Proportional Integral controller
0 1 2 3 4 5 6 70
0.2
0.4
0.6
0.8
1
1.2
1.4Step Response
Time (sec)
Am
plitu
de
The high settling time is due to the slow pole close to the origin
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
-
Example 7:
Lag compensator +R E U Y
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Example 7:
Lag compensator
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Example 7:
Lag compensator
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-18 -16 -14 -12 -10 -8 -6 -4 -2 0 2
-6
-4
-2
0
2
4
6
Root Locus
Real Axis
Imag
inar
y A
xis
Example 7:
Lag compensator
-18 -16 -14 -12 -10 -8 -6 -4 -2 0
-6
-4
-2
0
2
4
6
Root Locus (Lead compensator)
xxxx
Ax
xA
The Lag compensator does not modify the root locus around A
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
0 1 2 3 4 5 60
0.2
0.4
0.6
0.8
1
1.2
1.4Step Response
Time (sec)
Am
plitu
de
Example 7:
Lag compensator
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Extensions
� Introduction to the Root Locus
� Root-Loci Plot for positive gains
� Controller gain design
� Improving the closed-loop behaviour:
� Transitory response
� Steady state response
� Controller design
� Extensions:
� Root-Loci Plot for negative gains
� Generalized Root-Locus
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Root Locus for K<0
K<0
In some situations, one is interested in a negative gain (K<0)
• Inverse action:
If ↑↑↑↑u � ↓↓↓↓y, then ↑↑↑↑e � ↓↓↓↓ u
(Negative controller gain )
G(s)C(s)-
+ E U YG(s)C(s)
-
+
Controller
G(s)G(s)C(s)K
System-
+ E U Y
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example
Negative Bode Gain !
0 10 20 30 40 50 60−10
−8
−6
−4
−2
0
2
Step Response
Time (sec)
Am
plitu
de
In order to guarantee the stability of the negative feedback we require negative controller gain
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Characterization of the roots
� Angle condition
� Magnitude condition
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Root Loci Plot for K<0
1- Placement of open loop poles and zeros
2- Root Loci on the real axis
3- Break away and break in points
4- Asymptotes and centroid
5- Crossing points at the imaginary axis
6- Departure and arrival angles at complex poles and zeros
s0 2 RL if it is to the left of an even number of real poles and zeros.
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example
-1
-1.5+j
-1.5-j
Step 1. Placement of open-loop poles and zeros
Step 2. Root-loci on the real axis
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example
-1
-1.5+j
-1.5-j
0.12
Step 3. Breaking away and breaking in points
Roots of:
Root-Loci on the real axis for K<0
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Example
Step 4. Asymptotes and centroid
n=2,m=1 implies the existence of a unique asymptote
-1
-1.5+j
-1.5-j
0.12
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example
Step 5. Crossing points at the imaginary axis
Routh-Hurwitz
-1
-1.5+j
-1.5-j
0.12
Subsidiary equation K=-3
Subsidiary equation K=-3.25
0.5j
-0.5j
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example
Step 5. Departure angle from complex poles116.6º
90º
-1.5+j
-1.5-j
1
-1
-1.5+j
-1.5-j
0.12
0.5j
26.6º
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Generalized Root-Locus
� Introduction to the Root Locus
� Root-Loci Plot for positive gains
� Controller gain design
� Improving the closed-loop behaviour:
� Transitory response
� Steady state response
� Controller design
� Extensions:
� Root-Loci Plot for negative gains
� Generalized Root-Locus
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Generalized Root-Locus
G(s)C(s)-
+R E U YG(s)C(s)
-
+
Controller
G(s)G(s)C(s)K
System-
+R E U Y
Root Locus:
G(s)C(s)-
+R E U YG(s)C(s)
-
+G(s)G(s)C(s)C(s)
-
+R E U Y
Generalized Root Locus: Parameters different from K
Example: C(s) = PD, PI, PID...
Controller System
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Generalized Root-Locus
The closed loop system depends on a parameter αin such a way that
Ths is the same structure considered for the Root Locus:
Canonical problem with
We can use the same strategies !!
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Exampe
+R E U Y
-
Objective: Analysis of the effect of the parameter T in the closed-loop poles.
1) Characteristic equation:
2) Computation of
T>0
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Example
-1
-0.5+0.866j
-0.5-0.866j
Step 1. Placement of poles and zeros
Step 2. Root-Loci on the real axis
T>0
0
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example
Step 3. Breaking away and breaking in points
Roots of :
They do not belong to the real axis for T>0
-1
-0.5+0.866j
-0.5-0.866j
0
There are no breaking away points
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Example
Step 4. Asymptotes and centroid
n=3,m=1 implies the existence of two asymptotes
-1
Centroid
270º
90º
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example
Step 5. Crossing point with the imaginary axis
Routh-Hurwitz The third entry of the first column vanishes for
T = -3/2 <0
The Root Locus for T>0 does notcross the imaginary axis.
-1
-0.5+0.866j
-0.5-0.866j
0
Depto. Ing. de Sistemas y Automática. Control Automático. 3º Ing. Industrial. ESI.US.
Example
Step 5. Departure angle from complex poles120º
90º
-0.5+0.866j
-0.5-0.866j
0-1
60º
-1
-0.5+0.866j
-0.5-0.866j
0
150º