Feedback and Control Systems: Activity No. 4 - Root Locus Analysis of Systems
Feedback and Control Systems: Activity No. 4 - Root Locus Analysis of Systems
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I. ACTIVITY OBJECTIVE
This activity aims to equip the students with the skills and knowledge in analyzing control systems using the
root locus approach.
The root locus gives the control engineer to analyze and design higher-ordered system in graphical
approach. The use of computer-aided tools such as MATLAB and LabVIEW will also simplify the analysis
and design process, since these tools will take away the laborious mathematics and have the designer
focus more on interpreting the results.
V. LEARNING ACTIVITIES
Note: The following steps can be accomplished either in MATLAB or LabVIEW. In LabVIEW, the
MathScript tool can be accessed via the Welcome window on the Tools menu, then choose MathScript
Window. The Command Window of this tool works in the same manner as that of the MATLAB command
window.
1. The unity feedback system shown below will be analyzed using root locus techniques. Note that the
root locus is the plot of the open-loop transfer function KG(s)H(s) as K or the gain is varied.
( )( )
In this case, G(s) = ( )( )
and H(s) = 1. Define these transfer function in MATLAB or
LabVIEW using the commands
Note that the variable K is not included in the transfer function G(s). This is because the root locus
command of MATLAB and LabVIEW automatically assigns K as being multiplied to G(s).
2. The rlocus() command plots KG(s)H(s) as the function of K. To get more information about the
command, type in help rlocus on the command window. In this case, use the command
>> rlocus(G*H,0:0.01:1000);
which plots the root locus of the open-loop transfer function KG(s)H(s) from 0 < K < 1000 with
increments of 0.01 per point.
Q1.2(a) Sketch the root locus as shown in the plot generated by MATLAB or LabVIEW. Indicate the
location of the open-loop poles and zeros as applicable.
Q1.2(b) Based on the root locus, will the system break into oscillation at some gain ? Will it also
be unstable? Label on the sketch above these regions.
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3. The root locus sketch contains important points and information. Use the command rlocfind()to
locate important points in the root locus. (Tip: you might want to zoom into the point of interest first
before using the rlocfind()command for better accuracy.) The format of the command is
>> [K p] = rlocfind(G*H)
where G and H are the objects that represent the forward and the feedback transfer functions
respectively and K will contain the value of the gain at the selected point and p the location of the
closed-loop poles at that gain K.
Note: The command rlocfind()produces an interactive root locus graph for both MATLAB and
LabVIEW. In MATLAB, you will be allowed to choose a point on the root locus, and the value of the
gain and the closed-loop poles are returned by the command. In LabVIEW, you are allowed to select a
particular gain or drag the closed-loop poles (represented by red x’s) into your desired location. Still the
command returns the gain at the chosen point and the closed-loop poles at that particular gain.
Q1.3(a) Using the rlocfind()command, find the following points as indicated in the table
below. Verify the values using manual calculations.
Q1.3(b) What is the range of gain so that the system is stable? Discuss how this can be obtained
in the root locus.
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Q1.3(c) What are the rules for sketching the root locus that can be observed from the sketch?
Discuss each and how these rules are manifested in the sketch.
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4. Sketch the root locus of the system shown below. This system is to be analyzed for transient response
and steady-state error. The system is to operate with a 1.52% overshoot.
Q1.4(a) What is the damping ratio that corresponds to the operating overshoot of the system
above? This will be your
MATLAB. Superimpose the d line that corresponds to the operating overshoot of the system using
the command sgrid(dr,wn) where dr is the one computed above, and wn equals zero, so that
the ω circle will be suppressed.
LabVIEW. With the rlocfind() called, the complex s-plane grid is automatically displayed. You
might have to zoom and drag repeatedly to find the d line.
Once the d line is drawn, locate the intersection of the line to the root locus.
Q1.4(b) The root locus and the line will intersect at three points. Find each of those points, then
determine the gain and the closed-loop and open-loop poles for each case. Fill up the table below.
Dominant
Third-order
Gain complex closed- Closed-loop zero
closed-loop pole
loop poles
Case 1
Case 2
Case 3
Q1.4(c) In each cases, explain which case has a valid second-order approximation.
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5. With the gain in each case known, the closed-loop transfer function can now be computed. From here,
the step response parameters and the steady-state error can now be obtained.
Q1.5(a) Use MATLAB or LabVIEW to complete the table below. The programs and techniques
deployed in the previous activities can be used to complete the table.
Q1.5(b) Use the control design and simulation module of LabVIEW to simulate each of the cases
above and plot their step responses on separate sheets of paper.
VI. CONCLUSIONS
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2. It is important to precisely control the amount of organic fertilizer applied to a specific crop area in order
to provide specific nutrient quantities and to avoid unnecessary environmental pollution. A precise
delivery liquid manure machine has been developed for this purpose (Saeys, 2008). The system
consists of a pressurized tank, a valve and a rheo-logical flow sensor. After simplification, the system
can be modeled as a closed-loop negative feedback system with a forward-path transfer function
2057.38K(s − 120s + 4800)
G(s) =
s(s + 13.17)(s + 120s + 4800)
consisting of an electrohydraulic system in cascade with the gain of the manue flow valve and a
variable gain K. The feedback path is comprised of
10(s − 4s + 5.333)
H(s) =
(s + 10)(s + 4s + 5.333)
(a) Sketch the root locus of the system.
VIII. REFERENCES
N. Nise. (2011). Control Systems Engineering 6th Edition. United States of America: John Wiley & Sons.
R. Dorf& R. Bishop. (2011). Modern Control Systems 12th Edition. New Jersey: Prentice Hall.
National Instruments (2010 Nov 29). Root Locus for Control Systems. NI Developer Zone. From
http://www.ni.com/white-paper/6446/en retrieved 2012 Nov 03.
INTENDED LEARNING
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OUTCOMES
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