EE3331C Feedback Control System L6: Root Locus Analysis: Arthur TAY
EE3331C Feedback Control System L6: Root Locus Analysis: Arthur TAY
Arthur TAY
ECE, NUS
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Outline Motivations Examples A final note Summary
Outline
Motivations
Review
Key idea
Examples
Example 1: Simple first-order system
Example 2: Motor position control
Example 3: Root locus with respect to open-loop pole
Example 4: Unstable open-loop system
Example 5: Unstable system with extra zero
Example 6: 3rd order loop transfer function
Example 7: Two complex poles and one zero
Example 8: Conditionally stable system
Example 9: Unstable system
A final note
Summary
Summary
Practice Problems 6–2 / 23
Outline Motivations Examples A final note Summary
Review Key idea
Review:
I In our earlier heater example, we show a plot of how the closed-loop
poles varies by solving the closed-loop c.e. for different values of
gain, k.
Closed-loop poles locations as k varies
1.5
k=6
1
k = 3.96
k=1
k = 0.05
0.5
Imag
0
0.5
k=0
1
1.5
1.5 1 0.5 0 0.5
Real
I Key Idea: Consider the feedback system in Figure 6.1, the closed-loop
transfer function is
Y (s) G(s)K(s)
=
R(s) 1 + G(s)K(s)Gs (s)
with the closed-loop poles given by
1 + G(s)K(s)Gs (s) = 0
d
r e + y
+
K(s) G(s)
- +
n
Gs(s)
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Outline Motivations Examples A final note Summary
Review Key idea
b(s)
1+K = 0
a(s)
a(s) + Kb(s) = 0 (6.1)
a(s)
+ b(s) = 0
K
where a(s) and b(s) are of order n and m respectively and n ≥ m.
I As K → 0, the poles of the closed-loop system are a(s) = 0 or the
poles of L(s)
I As K → ∞, the poles of the closed-loop system are b(s) = 0 or the
zeros of L(s).
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Outline Motivations Examples A final note Summary
Review Key idea
I In Matlab,
1. Describe L(s) in Matlab as a transfer function.
2. Plot the root locus with ‘rlocus(sys)’ where ‘sys’ is L(s).
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Outline Motivations Examples A final note Summary
Example 1 Example 2 Example 3 Example 4 Example 5 Example 6 Example 7 Example 8 Example 9
1
Imaginary Axis
increasing k
0
− τ1
1
0
Real Axis
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Outline Motivations Examples A final note Summary
Example 1 Example 2 Example 3 Example 4 Example 5 Example 6 Example 7 Example 8 Example 9
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Outline Motivations Examples A final note Summary
Example 1 Example 2 Example 3 Example 4 Example 5 Example 6 Example 7 Example 8 Example 9
I Two branches of the root locus: the locus starts from the open-loop poles
and ends at the open-loop zeros or infinity.
I As K increases, the poles moved towards each other along the real-axis,
meeting at s = −0.5 before breaking away from the real-axis towards
infinity with real-part of the poles at s = −0.5.
I By varying the gain K, we can have any closed-loop poles along the locus
to meet design specifications. e.g. plot shows ζ > 0.5.
1.5
u sin21 z 30!
1
0.5
Imag axis
20.5
21
21.5
22 21 0 1 2
Real axis
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Outline Motivations Examples A final note Summary
Example 1 Example 2 Example 3 Example 4 Example 5 Example 6 Example 7 Example 8 Example 9
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Outline Motivations Examples A final note Summary
Example 1 Example 2 Example 3 Example 4 Example 5 Example 6 Example 7 Example 8 Example 9
1.5
0.5
Imag axis
20.5
21
21.5
22 21 0 1 2
Real axis
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Outline Motivations Examples A final note Summary
Example 1 Example 2 Example 3 Example 4 Example 5 Example 6 Example 7 Example 8 Example 9
0.8
>> sys = tf(1, [1 1 −1]);
0.6 >> rlocus(sys)
0.4
Imaginary Axis
0.2
0.2
0.6
0.8
2 1.5 1 0.5 0 0.5 1
Real Axis
0.5
>> sys = tf([1 1], [1 1 −1]);
>> rlocus(sys)
0.3
Imaginary Axis
0.1
0.1
K = K0
0.3
0.5
4 3 2 1 0 1
Real Axis
2
>> sys = tf([1], [1 1 1 0]); At K = K0 , s = jω
1.5 >> rlocus(sys)
1
Imaginary Axis
0.5
0.5
1.5
2
2.5 2 1.5 1 0.5 0 0.5 1
Real Axis
I 3 branches of root locus, the locus starting from s = 0 is always stable, the
other 2 locus becomes unstable for K > K0 .
I Closed-loop c.e.: s3 + s2 + s + K = 0. How to find K0 ?
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Outline Motivations Examples A final note Summary
Example 1 Example 2 Example 3 Example 4 Example 5 Example 6 Example 7 Example 8 Example 9
Example 7: loop transfer function with two complex poles, one zeros
s+1
L(s) =
s2 + 2s + 4
√
open-loop poles at s = −1 ± j 3, zero at s = −1.
2
>> sys = tf([1 1], [1 2 4]);
1.5 >> rlocus(sys)
0.5
Imaginary Axis
−0.5
−1
−1.5
−2
−5 −4 −3 −2 −1 0
Real Axis
I determine the range of K for which the closed loop system is stable
I for what values of K > 0 do purely imaginary roots exist? what are
the values of these roots?
I would the use of the dominant roots approximation for an estimate of
settling time be justified in this case if K is large (K > 50)?
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Outline Motivations Examples A final note Summary
Example 1 Example 2 Example 3 Example 4 Example 5 Example 6 Example 7 Example 8 Example 9
25
20
(s+2) 2
15 L(s) = s(s2 +1)(s+8)
10
−5
−10
−15
−20
−25
−8 −7 −6 −5 −4 −3 −2 −1 0 1
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Outline Motivations Examples A final note Summary
Example 1 Example 2 Example 3 Example 4 Example 5 Example 6 Example 7 Example 8 Example 9
1.8
1.2
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6
Time (sec)
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Outline Motivations Examples A final note Summary
Example 1 Example 2 Example 3 Example 4 Example 5 Example 6 Example 7 Example 8 Example 9
s−1 K0 (s + 2)
G(s) = , K(s) =
s3 + s2 + s + 1 s
I Using Matlab, plot the root locus and determine if the CL system is
stable for any values of K0 > 0.
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Outline Motivations Examples A final note Summary
Example 1 Example 2 Example 3 Example 4 Example 5 Example 6 Example 7 Example 8 Example 9
3
s−1
G(s) = s3 +s2 +s+1
2
K0 (s+2)
K(s) = s
1
Imaginary Axis
3
2 1.5 1 0.5 0 0.5 1
Real Axis
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Outline Motivations Examples A final note Summary
A final note:
I What we have covered: the use of Matlab for root locus analysis,
very powerful tool for controller design.
I What we have not covered:
I Without Matlab, how to sketch the root locus?
I In control system design, we are interested to know how to modify
the dynamics in such a way as to achieve the desired performance
specifications
→ useful to know how to sketch root locus for controller design
→ help to check if computer program is right
I For the interested reader, please check Section 5.2 of Franklin’s book!
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Outline Motivations Examples A final note Summary
Summary Practice Problems
Summary
Practice Problems
Figure shows the root locus for 1 + k s(s+2)(s12 +4s+5) .
1. What is the maximum k before the system becomes unstable?
2. At k = 6.5, the roots are s1,2 = −2.65 ± j1.23 and s3,4 = −0.35 ± j0.8.
What is the settling time and percentage overshoot of its step response?
Justify your answer.
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