COMPENSATOR DESIGN

THE ROOT LOCUS TECHNIQUE

EE006-3.5-2
CONTROL ENGINEERING
 Outcome(s) for the Lecture

At the end of this lecture you will be able to:

Use the Root Locus technique to in improving system
performance
Satisfy performance specification based on the
transient response, steady-state response and stability
criteria.

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 RECAP OF THE PREVIOUS TOPICS
PART 1
The main objective is to be able to evaluate a system performance

Modeling of various engineering systems

Mechanical
Electrical
Electromechanical
System Response (Time Response Analysis)
First Order Transient Response
Second Order Steady-State Response
Simplification of a model Stability

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 RECAP OF THE PREVIOUS TOPICS
PART 1
The main objective is to be able to evaluate a system performance

Modeling of various engineering systems

Mechanical
Electrical
Electromechanical
System Response (Time Response Analysis)
First Order Transient Response
Second Order Steady-State Response
Simplification of a model Stability

PART 2
The main objective is to be able to improve a system performance

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

WHAT IS ROOT LOCUS ?

A technique introduced by W. R. Evans in 1948 for the

analysis of control system.

This technique is carried out by adjusting the location of

closed loop poles to achieve a desired system performance.

The technique can be employed by varying one or more

system parameters.

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

Consider the open loop transfer function of system:

K
G (s)
s ( s P1 )( S P2 )
The closed loop transfer function is:
K
T ( s)
s ( s P1 )( S P2 ) K
The characteristic polynomial is:

s(s P1 )( S P2 ) K 0

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

s(s P1 )(S P2 ) K 0
The root of this polynomial is a function of the open loop gain
K. The value of K can be varied from 0 - .

For

K = 0; the roots are given by the open loop poles

K = ; the roots will take the value of open loop zeros

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

The path taken by the roots of characteristics equation when

K is varied from 0 - is called ROOT LOCI or ROOT LOCUS

EXAMPLE
K
An open look system is given by;G ( s)
Sketch the root locus for K = 0 to 10 ( s 3)( s 4)

Solution
The characteristic equation of the closed loop is given by
( s 3)( s 4) K 0

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

( s 3)( S 4) K 0 increasing + side increasing - side

K Poles
0.00 -3 -4
0.10 -3.11 -3.89
0.20 -3.28 -3.72
0.25 -3.5 -3.5
0.50 -3.5 + 0.5i -3.5 - 0.5i
1.00 -3.5 + 0.866i -3.5 - 0.866i
2.00 -3.5 + 1.32i -3.5 - 1.32i
4.00 -3.5 + 1.94i -3.5 - 1.94i
7.00 -3.5 + 2.6i -3.5 - 2.6i
10.0 -3.5 + 3.12i -3.5 - 3.12i
EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN
 ROOT LOCUS

7
4
2
1
0.5

K: 0 0.1 0.2 0.25 0.2 0.1 0

1 0.5
2
4
7
K: 10
10

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

Matlab Command

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

Given the open loop transfer function is G(s), then the closed
loop
G( s)
transfer function is; T ( s)
1 G( s) H ( s)

The value of s is a point on a root locus if:

G ( s ) H ( s ) 1
Magnitude | G ( s ) H ( s ) | 1

Angle G( s) H ( s) 180o (2q 1)

G ( s ) H ( s )
where: q = 0, 1 , 2, 3, and is an odd number multiple of 180o
EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN
 ROOT LOCUS

Magnitude Criterion| G ( s ) H ( s ) | 1
( s z1 )( s z2 )( s z3 )......
G(s) H ( s) K
( s p1 )( s p2 )( s p3 )......

Therefore the magnitude is:

| s z1 | x | s z2 | x | s z3 | .....
| G ( s ) H ( s ) | K
| s p1 | x | s p2 | x | s p3 | .....
m

|sz i |
where: m = number of zeros
| G ( s ) H ( s ) | K i 1
n
1 n = number of poles
|s p |
i 1
i

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

Magnitude Criterion| G ( s ) H ( s ) | 1

| s pi | Product of length of vector from open

loop poles to the point s = sa
K i 1
m

| s zi |
i 1
Product of length of vector from open
loop zeros to the point s = sa

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

Angle Criterion G ( s ) H ( s ) 180 o

(2q 1)
( s z1 )( s z2 )( s z3 )......
from G ( s ) H ( s ) K
( s p1 )( s p2 )( s p3 )......

G ( s) H ( s) ( s z1 ) ( s z2 ) ( s z3 ) ...
( s p1 ) ( s p2 ) ( s p3 )....
m n
G ( s ) H ( s ) ( s zi ) ( s pi )
i 1 i 1

where: m = number of zeros

n = number of poles

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

Angle Criterion G( s) H ( s) 180o (2q 1)

m n

( s
i 1
z i )
i 1
( s pi ) 180 o
(2q 1)

Sum of angles of vector Sum of angles of vector

from open loop zeros to from open loop poles to 180o (2q 1)
the point s = sa the point s = sa

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS

Step 1: Locate the poles and zeros of G(s)H(s) on the s-plance. The root locus branch start
from open loop poles and terminate at zeros.

Step 2: Determine the root locus on the real axis

Step 3: Determine the asymptotes of root locus branches and meeting point of
asymptotes with real axis.
Step 4: Find the break away and breakin points

Step 5: If there is a complex pole, determine the angle of departure from the complex
pole. If there is a complex zero, determine the angle of arrival at the complex
zero.

Step 6: Find the points where the root loci may cross the imaginary axis

Step 7: Take a series of test point in the broad neighborhood of the origina of the s-place
and adjust the test point to satify angle criterion. Sketch the root locus by joining
the test points by smooth curve.

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS
Step 8: Find the value of K at any point on the locus using the Magnitude
condition

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 ROOT LOCUS
Step 8: Find the value of K at any point on the locus using the Magnitude
condition

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 PID CONTROLLER

An input of a system can be altered/modified in three different ways:

Actual Input Modified/Changed

x(t ) K P x(t ) Proportional Changed

Scaled by KP
dx Derivative (rate of change )
x(t ) KD Scaled by KD
dt
x(t ) K I x(t )dt Integral (accumulated rate of change)
Scaled by KI

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 PID CONTROLLER

An input of a system can be altered/modified in three different ways:

Actual Input Modified/Changed

x(t ) K P x(t ) Proportional Changed

Scaled by KP

K P X (s) 1 C (s )
( s a)( s b)
A step response is just scaled
by Kp
C ( s) KP

X ( s) ( s a)( s b)
EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN
 PID CONTROLLER

An input of a system can be altered/modified in three different ways:

Actual Input Modified/Changed

dx
x(t ) KD Derivative (change of rate)
dt Scaled by KD

K D sX (s) 1 C (s )
( s a)( s b)
A step input produces an
impulse output !
C ( s) sK D
The input cannot be modified in this manner

X ( s) ( s a)( s b)
EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN
 PID CONTROLLER

An input of a system can be altered/modified in three different ways:

Actual Input Modified/Changed

x(t ) K I x(t )dt Integral (accumulated change of rate)

Scaled by KI

X (s)
KI 1 C (s )
s
( s a)( s b)
A step input produces a ramp
output !
C ( s) KI
The input cannot be modified in this manner

X ( s) s( s a)( s b)
EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN
 PID CONTROLLER

A system with scaled input is called Proportional Controlled System

X (s ) 1 C (s )
KP ( s a)( s b)

C ( s) KP

X ( s) ( s a)( s b)

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 PID CONTROLLER

A system with scaled input + input rate of change (derivative) is called

Proportional-Derivative Controlled System

X (s ) 1 C (s )
KP KDs ( s a)( s b)

C ( s) KP KDs

X ( s) ( s a)( s b)
Additional Zero is produced
Proportional and derivative are combined

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 PID CONTROLLER
A system with scaled input + accumulated input rate of change (Integral) is called
Proportional-Integral Controlled System

X (s ) KI 1 C (s )
KP ( s a)( s b)
s

C ( s) KPs KI

X ( s) s( s a)( s b)

Additional Zero and Pole are

produced
Proportional and derivative are combined

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 PID CONTROLLER

A system with scaled input + input rate of change (derivative) + accumulated

input rate of change (Integral) is called PID Controlled System

X (s ) KI 1 C (s )
KP KDs
s ( s a)( s b)

C ( s) K D s 2 K P s K I

X ( s) s( s a)( s b)
Additional Zeros and Pole are
produced
Proportional and derivative are combined

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 PID CONTROLLER

P controller PI controller
C ( s)

KP C ( s) KPs KI
X ( s) ( s a)( s b)
X ( s) s( s a)( s b)

PD controller PID controller

C ( s) KP KDs C ( s) K D s 2 K P s K I

X ( s) ( s a)( s b) X ( s) s( s a)( s b)

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 PID CONTROLLER

P controller
C ( s) KP

X ( s ) ( s a )( s b) K P

C ( s) KP
2
X ( s ) s (a b) s ab K P

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 PID CONTROLLER

PD controller

C ( s) KP KDs

X ( s ) ( s a)( s b) K P K D s

C (s) KP KDs
2
X ( s ) s (a b K D ) s ab K P

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 PID CONTROLLER

PI controller
KI
KP
C ( s) s

X ( s) ( s a)( s b) K K I
P
s
C ( s) KPs KI
3
X ( s ) s (a b) s 2 ab K P s K I

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 PID DESIGN VIA ROOT LOCUS

DOMINANT POLE

s
Let the dominant pole defined by; d n n 1 2

Magnitude

D sd n
2

n 1 2
2
n 2 n 2 1 2

Phase Angle
1 2
tan 1 n tan 1 2 1
n
EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN
 PID DESIGN VIA ROOT LOCUS

Let the controller (PID) transfer function be Gc(s)

and the open loop transfer function be G(s)
Therefore the open loop transfer function of the controlled
system is Gc(s)G(s)

For the dominant pole sd to a point on root locus, the

Magnitude criterion satisfies
Gc(sd)G(sd) + 1 = 0
Gc(sd)G(sd) = -1
EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN
 PID DESIGN VIA ROOT LOCUS

Let the magnitude and phase angle of G(sd) to be;

Magnitude A d G(s d )

Phase Angle d G(s d )

G(s d ) A d d

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 PID DESIGN VIA ROOT LOCUS

Now from G c (s d )G(s d ) 1

Which is also G c (s d )G(s d ) 1180 o

1180 1180
o o
G c (s d )
G(s d ) A d d

G c (s d )
1
Ad
180 d
o

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN
 PID DESIGN VIA ROOT LOCUS

The transfer function of PID is

K i K ds K ps K i
2

G c (s ) K p K d s
s s
and when s = sd

K d s d K ps d K i
2

G c (s d )
sd
EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN
 PID DESIGN VIA ROOT LOCUS

sin d 2K i cos
KP
A d sin D

sin d Ki
Kd 2
DA d sin D
EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN
 PID DESIGN VIA ROOT LOCUS

sin d
KP
A d sin
PD
CONTROLLER
sin d
Kd
DA d sin
EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN
 PID DESIGN VIA ROOT LOCUS

D sin d
Ki
A d sin

PI
CONTROLLER
sin d 2K i cos
KP
A d sin D

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 PID DESIGN VIA ROOT LOCUS

EXAMPLE 1
20
Design a PD controller for the open loop system G(s)
s(s 2)(s 4)

so that the step response of the closed loop with unity feedback will

have a damping ratio of 0.8 and a natural frequency oscillation of 2

rad/sec

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN

 Q&A

EE006-3.5-2-CONTROL ENGINEERING COMPENSATOR DESIGN