For a second order system

The poles of this TF are

 Example - 1
• Consider following unity feedback system.

• Determine the value of K such that the damping ratio of a

pair of dominant complex-conjugate closed-loop poles is
0.5.
K
G( s) H ( s) 
s( s  1)( s  2)
• The damping ratio of 0.5 corresponds to
  cos 

  cos 1 

  cos 1 (0.5)  60

?
• The value of K that yields such poles is found from the
magnitude condition

K
1
s( s  1)( s  2) s 0.3337 j 0.5780
Example - 2
• Sketch the root locus of following system and
determine the location of dominant closed loop poles
to yield maximum overshoot in the step response less
than 30%.
• Step-1: Pole-Zero Map
Pole-Zero Map
1

0.8

0.6

0.4
Imaginary Axis

0.2

-0.2

-0.4

-0.6

-0.8

-1
-5 -4 -3 -2 -1 0 1
Real Axis
• Step-2: Root Loci on Real axis
Pole-Zero Map
1

0.8

0.6

0.4
Imaginary Axis

0.2

-0.2

-0.4

-0.6

-0.8

-1
-5 -4 -3 -2 -1 0 1
Real Axis
• Step-3: Asymptotes
Pole-Zero Map
1

0.8

0.6
  90 0.4

Imaginary Axis
0.2

  2 0

-0.2

-0.4

-0.6

-0.8

-1
-5 -4 -3 -2 -1 0 1
Real Axis
• Step-4: breakaway point
Pole-Zero Map
1

0.8

0.6

0.4
Imaginary Axis

0.2

-0.2 -1.55
-0.4

-0.6

-0.8

-1
-5 -4 -3 -2 -1 0 1
Real Axis
 Root Locus
8

2
Imaginary Axis

-2

-4

-6

-8
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
• Mp < 30% corresponds to


1 2
Mp e 100



1 2
30%  e 100

  0.35