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Department of Mechanical Engineering
3M Machine System Dynamics
Control Tutorial 3
Root Locus Analysis
1. Open loop transfer function of a unity feedback closed loop system is
3
Find the gain K that will result in the closed loop system having the settling time 0.2 s to within
2% of the final value following a step input. Plot the open‐loop and the corresponding closed‐loop
poles.
Answer
Closed loop transfer function
3
1 3
3
Closed loop pole at: 3
Natural mode:
Settling time: 0.02
3 0.2 ln 0.02 3.91
.
Open loop pole at
Closed loop pole at .
2. Open loop transfer function of a unity feedback closed loop system is
2
Sketch the root locus diagram. Suggest the position of the closed loop poles corresponding to a
critically damped response 1 and find corresponding gain .
Answer
Closed loop transfer function:
2
1 1 2
2
Characteristic equation: 2 0
2 0
1 at the breakaway point 1:
1 2 0
1
3. Open loop transfer function of a unity feedback closed loop system is
2 4
(a) Sketch the shape of the root locus for this system.
(b) Write the closed loop characteristic equation. Hence find the points where the root locus
crosses the imaginary axis (i.e. )
(c) From the characteristic equation find the gain K for which the system is marginally stable and
the corresponding frequency of sustained oscillations
Answer
(a)
j
(b) Closed loop transfer function:
2 4
1 1 2 4
2 4
Characteristic equation:
2 4 0
6 8 0
Let .
6 8 0
6 8 0
Equating parts: 8 0
√8 2.82 /
(c) The above is the frequency of self‐sistained oscillations of the marginally stable closed loop system.
The corresponding gain is obtained by equating parts of the characteristic equation
6 0
48
4. The root locus diagram shown below was produced using Matlab and shows closed loop poles for a
gain setting 7.5.
a) Write the open loop transfer function for this system
b) Write the expressions for the natural modes of response of the closed loop system at this gain
setting. Sketch the corresponding time signals.
c) Find the closed loop system damping ratio and settling time
d) Calculate the steady state error due to unit step and unit ramp for the closed loop system
Root Locus
-2
-4
-12 -10 -8 -6 -4 -2 0
Real Axis (seconds -1)
Answer
a) Open loop:
Poles at 0, 2, 5, 10
Poles at 2 3
2 3 2 3 4 13
2 5 10 2 5 10
b) Closed loop poles for 7.5 are 7.6 0.92, 0.9 0.93 (approx.)
. .
So natural modes of response are: cos 0.92 and cos 0.93
c) Damping ratio and settling time dominated by the pole pair nearer to the Im‐axis.
.
tan 44° sin 44° 0.69 0.7
.
.
Settling time to within 2% of final value: 0.02 → 4.3
d)
1 2 5 10
4 13 2 5 10 4 13
1
2 5 10
Unit step
2 5 10 1
lim
→ 2 5 10 4 13
Unit ramp
2 5 10 1 100 100
lim .
→ 2 5 10 4 13 13 7.5 13
5. The diagram shows a closed loop positioning system which is subject to external load . The closed
loop system should be designed to have damping ratio 0.7.
1
10 5
The root locus diagram is shown below.
Root Locus
8
0.7
4
Imaginary Axis (seconds-1)
-2
-4
-6
0.7
-8
-16 -14 -12 -10 -8 -6 -4 -2 0 2
-1
Real Axis (seconds )
(a) Assuming , use Matlab to produce the above root locus plot. Find the gain that would
result in ratio . . Estimate the corresponding settling time.
{Hint: use commands plant=tf (num,den) , rlocus(plant), sgrid(0.7,0) ,
[k,poles] = rlocfind(plant) }
(b) Find the corresponding steady state error due to (i) unit step input and (ii) unit ramp input.
(c) If the system experiences a constant external load of magnitude , find the corresponding
steady state error.
Answer
(a)
clear all;
num = [1];den = [1,15,50,0];plant = tf (num,den);
rlocus(plant)
axis([-15,1,-8,8])
axis('equal')
sgrid(0.7,0)%damping ratio line 0.7
[k,poles] = rlocfind(plant)
Returns:
k =
85.2795
poles =
‐11.2215
‐1.8892 + 2.0076i
‐1.8892 ‐ 2.0076i
Root Locus
8
0.7
4
Imaginary Axis (seconds-1)
-2
-4
-6
0.7
-8
-16 -14 -12 -10 -8 -6 -4 -2 0 2
-1
Real Axis (seconds )
Therefore:
.
Dominant poles (complex conjugate) have . , therefore
.
Settling time to within 2%: . → .
(b)
Error in response to input
;
Unit step input:
→
Unit ramp input:
.
→ →
(c)
Assume
Constant load applied as a step at :
.
→
6. The open loop transfer function of a unity feedback closed loop system and the corresponding root
locus diagram are given below:
1
1 6
Root Locus
8
0.7
4
Imaginary Axis (seconds-1)
-2
-4
-6
0.7
-8
-16 -14 -12 -10 -8 -6 -4 -2 0 2
-1
Real Axis (seconds )
(a) Use Matlab to produce the above the root locus plot for this system. Estimate the minimum and
maximum gains for which the system is stable.
(b) It is required that the settling time to within 2% of the steady state value is . Indicate
the region in the s‐plane where acceptable closed loop poles should lie.
(c) If , estimate the corresponding gain and the damping ratio.
Answer
(a)
clear all;
num = [1,1];den = [1,5,-6,0];plant = tf (num,den);
rlocus(plant)
axis([-15,1,-8,8])
axis('equal')
sgrid(0.7,0)%damping ratio line 0.7
[k,poles] = rlocfind(plant)
See RL plot below. For stability 7.3 ∞.
Note that this system is unstable for 7.3 due to the open loop pole in the right half plane.
(b)
.
. . , therefore
Region: left half of the s‐plane, to the left of
(c) Using Matlab
selected_point = ‐1.0180 + 2.3602i
k = 18.6430
poles =
‐2.8586 + 0.0000i
‐1.0707 + 2.3185i
‐1.0707 ‐ 2.3185i
.
For complex poles: . . ° → . ° .
.
Root Locus
8
0.7
4
Imaginary Axis (seconds-1)
-2
-4
-6
0.7
-8
-16 -14 -12 -10 -8 -6 -4 -2 0 2
-1
Real Axis (seconds )
______________________________________________________________________________
Answers
1. 16.6, 3, 19.6
2. Both poles at 1, 1
3. b) 2.82 / ; c) 48
. .
4. a) ; b) cos 0.92 , cos 0.93 ; c) 0.7, 4.3 ; d) step: 0, ramp: 1.03
5. a) 85 , 2.06 ; b) (i) 0, (ii) 0.588; c) 0.235
6. a) 7.3 ∞ ; b) 1; c) 18.5 approx., 0.42