OVERVIEW

EE3041 Review of root locus technique

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

FEEDBACK VS. CASCADE COMENSATION FEEDBACK VS. CASCADE COMENSATION

Methods of reshaping the root locus to intersect closed loop s-plane Feedback compensators
poles that yield a desired response Can yield faster response
Cascade compensator Can be used in cases where noise problems prevent the use of
FB compensator cascade compensation
Approach 1 Similar to cascade compensation, but poles and May not require additional amplification
zeros are added via H(s) Typically the design consists of finding the gains, K, K1, Kf
Approach 2 Design specified performance for the minor
loop then for the major loop
 RATE FEEDBACK COMPENSATION
Reduce the generic control system with feedback compensation to
the equivalent block diagram
Loop gain -> G(s)H(s) = K1G1(s)[KfHc(s)+KG2(s)]
Loop gain without feedback -> G(s)H(s) = K1G1(s)G2(s)
Adding feedback replaces the poles and zeros of G2(s) with those
of [KfHc(s) + KG2(s)]
MINOR-LOOP FEEDBACK COMPENSATION
Minor loop is a forward-path transfer function whose poles can be
adjusted with the minor-loop gain with a pure derivative rather
than with additional poles and zeros, as in cascade compensation
The closed loop poles are set by the major loop gain, as in cascade
compensation

PHYSICAL REALIZATION OF COMPENSATION PHYSICAL REALIZATION OF COMPENSATION

ACTIVE-CIRCUIT REALIZATION ACTIVE-CIRCUIT REALIZATION
Vo(s)/Vi(s) = Z2(s)/Z1(s)

Operational amplifier configured for transfer function realization

PHYSICAL REALIZATION OF COMPENSATION PHYSICAL REALIZATION OF COMPENSATION
ACTIVE-CIRCUIT REALIZATION ACTIVE-CIRCUIT REALIZATION
Consider the transfer function of the PID controller:
Lag-lead compensator implemented with operational amplifiers
s 55.92 (s 0.5) 27.96
Gc ( s ) Gc (s ) s 56.42
s s
By comparing the above equation
with PID controller in the table,
we obtain the following relationships:

R2 C1
56.42
R1 C2
R2 C1 1
1
27.96
R1C2
Note: operational amplifier provides isolation Choose C2 = R1 = 357.65 , R2 = 178,891 , and C1 = 5.59

PHYSICAL REALIZATION OF COMPENSATION

SENSITIVITY OF ROOT LOCUS
PASSIVE-CIRCUIT REALIZATION

Sensitivity of roots of characteristic equation with respect to

parameter changes is needed to study the influence of parameter
changes on the stability of the system
Let s = 1, n be the roots of char. Eq.,
System parameters be 1, n

j
S ij
i / i0

It gives the absolute amount of shift in the root location for a given
change in parameters
 EXAMPLE

Consider a unity feedback system with the open-loop transfer

function
0.5
G( s)
s( s 1)
Determine and compare the root sensitivity of the roots of the
above unity feedback system to variations Thank you !
(i) in the open-loop pole at s = -1
(ii) K in the open-loop gain of 0.5