Root Locus Method 446446-20

Prof. Neil A. Duffie University of WisconsinWisconsin-Madison

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Neil A. Duffie, 1996 All rights reserved

Importance of Pole Location

Performance is a function of pole location - transient response - absolute stability (stable or not?) - relative stability (how stable?) Poles migrate as control parameters vary - function of controller gains, zeros, poles - what values produce good locations? - design (place poles) using root locus
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Transient Response
Im

Re

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Absolute Stability
Im left 1/21/2-plane

Re Unstable region (non(non-negative real parts)

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Stable region (negative real parts)

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RouthRouth-Hurwitz Stability Criterion

Rouths criterion is a method for assessing stability without finding roots. The method is tabular, finds the number of roots with positive real parts, and is described in most controls textbooks. The method was developed in the late 1800s when finding roots was difficult. Powerful calculation tools on the desktop have made the method less useful. Review it at a high level at this point.
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Characteristic Equation
R(s) Control Process E(s) M(s) C(s) Gc(s) Gp(s) C(s)

+-

System transfer function: G c (s)Gp (s) C(s) N(s) = = R(s) 1 + G c (s)Gp (s) D(s) Characteristic equation:
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D (z ) = 1 + G c(s )G p(s ) = 0

Signs in Characteristic Equation

All coefficients of characteristic equation: - must have the same sign - must be nonnon-zero Necessary (but not sufficient) condition for absolute stability (from Rouths Criterion) Examples: s3 + 2s2 + s + 5 = 0 s3 + 2s2 - s + 5 = 0
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(may be stable) (unstable) (unstable)

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s3 + 2s2 + 5 = 0

Relative Stability
How stable is a system? - compared to another system - distance to the border of instability Measures of relative stability - damping associated with each root - real parts of roots - gain and phase margins (frequency response concept: study later)
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System #1

Relative Stability
Im

System #2
Im

1 d1
0 Re

2 d2
0 Re

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1 < 2 (1 > 2) System #2 is relatively more d1 < d2 stable than System #1! 9

Step Response of Systems #1 and #2

System #1 System #2

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System #1: - is relatively less stable than System #2 - has more oscillatory step response 10

Root Locus
Definition: The root locus is the path of the roots of the characteristic equation plotted in the ss-plane as a system parameter is changed. Design: Choose a parameter value for which the locus lies in a good area of the ss-plane (where dynamics meet specs). Iteration: If no part of the root locus lies in a good area of the ss-plane, then change the structure of the controller to modify the locus. Then choose parameter value.

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Root Locus of 3rd-Order System

G(s) = k k C(s) = s(s + 3)(s + 2) R(s) s(s + 3 )(s + 2) + k
6 4 Im 2 300 0 -2 -4 -6 -6 -4 -2 Re 30 2 0 3.5 0 30 3.5 2 0 3.5 30 300

k < 2: > 1 k > 2: < 1 k < 30: stable k > 30: unstable
300 2 4 6

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Choice of k for = 0.707

G(s) = k k C(s) = s(s + 3)(s + 2) R(s) s(s + 3 )(s + 2) + k
6 4 Im 2 300 0 -2 -4 -6 -6 -4 -2 Re 300

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30 2 0 3.5 0

30 3.5 2 0 3.5 30

For = 0.707: k 3.5

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300 2

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Unit Step Response for k = 3.5

1.2

c(t)

1 0.8 0.6 0.4 0.2 0 0 1 2 3 4 5 6 7 8 9 10

0.707

t
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