OVERVIEW

EE3041 Review of root locus technique

CONTROL SYSTEM DESIGN Compensator design
Lead Compensator
Lag Compensator
Lag-Lead Compensator
Minor loop feedback compensation
Sensitivity of root locus

OBJECTIVES FOR DESIRED RESPONSE GAIN ADJUSTMENT

Improving transient response Higher gain -> smaller steady stead error, larger percent overshoot
Percent overshoot, damping ratio, settling time, peak time

Lower gain -> smaller percent overshoot, higher steady state error
Improving steady-state error
Error constants
 COMPENSATOR IMPROVING TRANSIENT RESPONSE

Improves both transient and steady state response Point A and B have the same
Composed of poles and zeros damping ratio
Increases order of the system Starting from point A, cannot
The system can be approx. to 2nd order using some techniques reach a faster response at point
B by adjusting K
Compensator is preferred

COMPENSATOR CONFIGULATIONS TYPES OF COMPENSATOR

Active compensator
Cascade PI, PD, PID controllers use active components, i.e., OP-AMP
Compensator Require power source
Steady state error converge to zero
Expensive

Passive compensator
Lag, Lead controllers use passive components, i.e., R L C
Feedback No need of power source
Compensator Steady state error nearly reaches zero
Less expensive
 IMPROVING STEADY-STATE ERROR IMPROVING STEADY-STATE ERROR
Placing a pole at the origin to increase system order -> decreasing
steady state error as a result
The pole at origin
affects the transient
response
Add a zero close to
the pole to get an
ideal integral
compensator

IMPROVING STEADY-STATE ERROR

ROOT LOCUS WITHOUT COMPENSATOR
EXAMPLE

Draw root locus

without compensator
Draw a straight line of
damping ratio
Evaluate K from the
intersection point
From K, find the last
pole (at -11.61)
Calculate steady-state
error
Damping ratio = 0.174 in both uncompensated and PI cases
 FINDING AN INTERSECTION BETWEEN FINDING AN INTERSECTION BETWEEN
DAMPING RATIO LINE AND ROOT LOCUS DAMPING RATIO LINE AND ROOT LOCUS

Damping ratio line has an equation: b ma a -1.5893 (invalid)

where a = real part 0.6936 (valid) b - 3.9255
b = imaginary part of the intersection point
m tan(cos 1 ( )) Magnitude of open loop system is 1

p1 p 2 p3
Summation of angle from open-loop poles and zeros to the point is K No open loop zero
180 degrees 1

2 2 2
1 b 1 b 1 b 1 a b2 2 a b2 10 a b2
tan tan tan 180 K 164.53
1 a 2 a 10 a 1

COMPARISON OF STEP RESPONSE OF

ROOT LOCUS WITH COMPENSATOR
SYSTEMS
Draw root locus with
compensator (system order is
up by 1 -> from 3rd to 4th)
Need complex poles
corresponding to damping
ratio of 0.174 (K=158.2)
From K, find the 3rd and 4th
poles (at -11.55 and -0.0902)
Pole at -0.0902 can do phase
cancellation with zero at -0.1
(3rd order approx.)
Compensated system and
uncompensated system have
similar transient response
(closed loop poles and K are
approx.. The same)
 PI CONTROLLER LAG COMPENSATOR

Build from passive

elements
Improve steady
state error by a
factor of Zc/Pc
To improve both
transient and steady
state responses, put
pole and zero close
K1 to the origin
K1 s
K2 K2
Gc ( s ) K1
s s

LAG COMPENSATOR LAG COMPENSATOR - EXAMPLE

Uncompensated system With lag compensation

(root locus remains the same) With damping ratio of 0.174, add lag Compensator to improve
steady-state error by a factor of 10
 LAG COMPENSATOR - EXAMPLE LAG COMPENSATOR - EXAMPLE

Step I: Find an intersection of root locus and damping ratio line (-0.694+j3.926
with K=164.56)

Step II: find Kp (Kp = lim G(s) as s 0 which gives Kp = 8.228)

Step III: steady-state error = 1/(1+Kp)= 0.108

Step IV: want to decrease error down to 0.0108 3rd order approx. for lag compensator
[Kp = (1 0.0108)/0.0108 = 91.593]
similar to uncompensated system
Step V: require a ratio of compensator zero to pole as 91.593/8.228 = 11.132 same transient response but 10 times improvement in steady
state response
Step VI: choose a pole at 0.01, the corresponding Zero will be at 11.132*0.01 =
0.111

LAG COMPENSATOR - EXAMPLE LAG COMPENSATOR - EXAMPLE

 LAG COMPENSATOR - EXAMPLE LAG COMPENSATOR - EXAMPLE

If we choose a compensator pole at 0.001 (10 times closer

compensator zero at 0.0111 (Kp=91.593)
4th pole is at -0.01 (compared to -0.101) producing a longer transient response

STEADY STATE RESPONSE IMPROVEMENT

CONCLUSIONS

Can be done either by PI controller (pole at origin) or lag

compensator (pole closed to origin)
Improving steady state error without affecting the transient
response
How to improve the transient response ?
Thank you !