ENEL 441 Problem Set 4

Solutions

1. Given this unity negative feedback system,

R(s)

C(s)

K
(s + 1)(s2 + 4s + 5))

(a) Draw a root locus for this system. Indicate any departure angles, break-away
points, etc.
(b) What is the value of K when the branches cross into the right half plane?
(c) At what point do the traces cross the j axis?
(d) What is the minimum possible tracking error to a unit step input?
Solution:
Step 1: Plot the open loop poles and zeros in the complex plane. There are no
zeros. There are 3 poles located at s = 1 and s = 2 j.

Step 2: Fill in the real axis. Points on the real axis, for which s < 1 are on the
locus.
Root Locus Plot for Problem 1

Imaginary Axis

3
7

3
Real Axis

ENEL 441 Problem Set 4

Solutions

Step 3: Zeros at infinity. There are 3 zeros at infinity. The asymptotes will depart
at angles of
180o
= 60o
3
180o + 360o
= 180o
3
180o + 720o
= 300o
3
The asymptotes will cross the real axis at
=

5
2 j 2 + j 1
=
3
3

Step 4: Departure Angles. Consider the pole at s = 2 + j. Let the departure

angle be . Then, apply the angle condition when one is infinitesimally far away
from the pole,
arg(G(s)) = 135o 90o = 180
= 45o
b) When the branches cross into the right half plane, the system becomes unstable. Use the Routh Hurwitz test. The closed loop transfer function is
T (s) =

s3

5s2

K
+ 9s + 5 + K

Thus, K > 5, and the Routh array gives,

s3
s2
s1
s0

:
:
:
:

1
9
5
5+K
1
(45

(5
+
K))
5
5+K

Thus, for stability, we must have 5 < K < 40.

Since the root locus is drawn for K > 0, the two poles cross into the right half
plane when K = 40.
c) When K = 40, the poles are the solutions to
s3 + 5s2 + 9s + 45 = 0
but we know that they are purely imaginary, so
k 3 5 2 + 9j + 45 = 0
Solving the real part, we have
2
5
r + 45 = 0
45
=
=3
5
Thus, the root locus crosses the imaginary axis at = 3.

ENEL 441 Problem Set 4

Solutions

2. Consider the following plant, which has 2 real poles, and PI controller in a unity
negative feedback loop.
R(s)

Kp (s + a)
s

1
(s + 2)(s + 4)

C(s)

(a) Sketch root locus diagrams for the following values of the controller zero,
a=1
a=3
a=5
a=8
(b) What is the maximum value of a for which the closed-loop system is guaranteed
to be stable for all K > 0?
(c) Assuming that a > 0, Kp > 0, and that the closed-loop system is stable, what are
the steady state tracking errors in response to unit step, ramp and acceleration
inputs (express your answers in terms of a and Kp ).
Solution:
a) Sketch Root Loci
For each value of a, the system will have 3 open loop poles and one open loop
zero. Therefore, the root locus will have 3 branches. One of them will terminate
at s = a, while the other two will terminate at zeros at infinity.
Since there are 2 extra poles, the asymptotes will be at angles of
180o
= 90o
2
190o + 360o
= 270o
2

The asymptotes will cross the real axis at

=

6 + a
a6
=
2
2

Case 1: a = 1.

On the real axis, the locus will exist between s = 0 and s = 1, and between
s = 2 and s = 4.
The asymptotes will cross the real axis at = 5/2

ENEL 441 Problem Set 4

Solutions

There will be a breakaway point between s = 2 and s = 4. To find it

precisely, compute K(s)
K(s) =

s3 + 6s2 + 8s
s+1

and differentiate with respect to s.

K(s)
(3s2 + 12s + 8)(s + 1) (s3 + 6s2 + 8s)
=
=0
s
(s + 1)2
Thus,
2s2 + 9s2 + 12s + 8 = 0
Which has 3 solutions, s = 2.91, or s = 0.79 j0.86 However, only
s = 2.91 is on the locus, so it is the breakaway point.
Root Locus for Problem 2, PI controller with zero at s = 1
10
8
6

Imaginary Axis

4
2
0
2
4
6
8
10
10

Real Axis

Case 2: a = 3.

On the real axis, the locus will exist between s = 0 and s = 2, and between
s = 3 and s = 4.
The asymptotes will cross the real axis at = 3/2
There will be a breakaway point between s = 0 and s = 2. To find it
precisely, compute K(s)
K(s) =

s3 + 6s2 + 8s
s+3

ENEL 441 Problem Set 4

Solutions

and differentiate with respect to s.

K(s)
(3s2 + 12s + 8)(s + 3) (s3 + 6s2 + 8s)
=0
=
s
(s + 3)2
Thus,
2s2 + 15s2 + 36s + 24 = 0
Which has 3 solutions, s = 1.08, or s = 3.21 j0.86 However, only
s = 1.08 is on the locus, so it is the breakaway point.
Root Locus for Problem 2, PI controller with zero at s = 3
10
8
6

Imaginary Axis

4
2
0
2
4
6
8
10
10

Real Axis

Case 3: a = 5.

On the real axis, the locus will exist between s = 0 and s = 2, and between
s = 4 and s = 5.
The asymptotes will cross the real axis at = 1/2
There will be a breakaway point between s = 0 and s = 2. To find it
precisely, compute K(s)
K(s) =

s3 + 6s2 + 8s
s+5

and differentiate with respect to s.

(3s2 + 12s + 8)(s + 5) (s3 + 6s2 + 8s)
K(s)
=
=0
s
(s + 5)2

ENEL 441 Problem Set 4

Solutions

Thus,
2s2 + 21s2 + 60s + 40 = 0
Which has 3 solutions, s = 0.96, s = 3.39 s = 6.15. However, only
s = 0.96 is on the locus, so it is the breakaway point.
Root Locus for Problem 2, PI controller with zero at s = 5
10
8
6

Imaginary Axis

4
2
0
2
4
6
8
10
10

Real Axis

Case 4: a = 8.

On the real axis, the locus will exist between s = 0 and s = 2, and between
s = 4 and s = 8.
The asymptotes will cross the real axis at = 1/2
There will be a breakaway point between s = 0 and s = 2. To find it
precisely, compute K(s)
K(s) =

s3 + 6s2 + 8s
s+8

and differentiate with respect to s.

(3s2 + 12s + 8)(s + 8) (s3 + 6s2 + 8s)
K(s)
=
=0
s
(s + 8)2
Thus,
2s2 + 30s2 + 96s + 64 = 0
Which has 3 solutions, s = 0.91, s = 3.24 s = 10.89. However, only
s = 0.91 is on the locus, so it is the breakaway point.

ENEL 441 Problem Set 4

Solutions
Root Locus for Problem 2, PI controller with zero at s = 8

10
8
6

Imaginary Axis

4
2
0
2
4
6
8
10
10

Real Axis

b) Stability: If aleq6, then < 0, so the asymptote will be in the left half plane.
In that case, the closed-loop poles will stay in the left half plane for all K > 0,
guaranteeing stability.
c) Tracking Errors: There is one open loop pole at s = 0, so this is a Type-I system.
Therefore
For a unit step input, ess = 0.

For a unit ramp input,

Kp a

=
Kv = sG(s)
8
s=0
8
1
=
ess =
Kv
aKp
For a unit parabola input, ess = .

ENEL 441 Problem Set 4

Solutions

3. Draw a root-locus diagram for this system:

R(s)

K
s+1

1
s

Y (s)

0.5

Clearly indicate any break-away and/or break-in points, asymptotes, and the points,
if any, where the loci cross into the right half plane.
Solution:
Since this isnt a unity negative feedback system, we cant apply the root locus
rules directly.
Compute the closed-loop transfer function. The innermost loop has the transfer
function
K
G1 (s) =
s + 1 + 0.5K
The closed-loop transfer function is therefore
T (s) =

K
s(s + 1 + 0.5K) + K

so that the closed-loop poles are the solutions to

s
s2 + s + K(1 + ) = 0
2
s+2
1 + 0.5K
= 0
s(s + 1)
Now, draw the root locus for the system
s+2
G(s) =
s(s + 1)
Since there are 2 poles and one zero, there is only one asymptote, at 180o .

The real axis between 0 and -1, and to the left of -2 is on the locus.

Solve for the break-in and break-away points.

s2 + s
s+2
(2s + 1)(s + 2) (s2 + s)
dK(s)
=
ds
(s + 2)2
0 = 2s2 + 5s + 2 s2 s = s2 + 4s + 2

s = 2 2
K(s) =

ENEL 441 Problem Set 4

Solutions

since both of these are on the locus, one is a breakaway point, the other is a
break-in point.
Root Locus for Problem 3

1.5

Imaginary Axis

0.5

0.5

1.5
4

3.5

2.5

1.5

Real Axis

Figure 1: Root Locus for Question 3

.

0.5

ENEL 441 Problem Set 4

10

Solutions

4. Draw a root locus for the this positive feedback system. Show any points of interest:
asymptotes, breakaway points, points where the branches cross into the right half plane,
etc.
R(s)

K
s+2

C(s)

1
2
s + 2s + 2

Solution:
Since the feedback is positive, the closed-loop transfer function is
T (s) =

KG(s)
1 KG(s)

G(s) =

(s +

1
+ 2s + 2)

2)(s2

Thus, finding the closed-loop poles involves solving KG(s) = 1, so that drawing
the root locus requires finding all points on the plane where 6 G(s) = 0o + n360o .
The open loop poles are at s = 2 and s = 1 j.

There will be 3 asymptotes, corresponding to the 3 poles, however their angles

will be 0o , 120o and 240o . They will originate from the point s = 4/3.
The departure angles can be found by solving
45o 90o = 0o

= 135o

Root Locus for Problem 4

4
3
2

Imaginary Axis

1
0
1
2
3
4
4

Real Axis

Figure 2: Root Locus for Question 4

.

ENEL 441 Problem Set 4

Solutions

11

5. Draw a root-locus diagram for a unity negative feedback system, whose open loop
transfer function is
KG(s) =

K
(s2 + 2s + 2)(s2 + 2s + 5)

Clearly indicate any break-away and/or break-in points, asymptotes, and the points,
if any, where the loci cross into the right half plane.
Solution:
The open loop transfer function is
G(s) =

(s2

K
+ 2s + 2)(s2 + 2s + 5)

This has no zeros, and 4 poles at s = 1 j2 and s = 1 j. The asymptotes are

at angles of 45o and 135o , and cross the real axis at = 1. Points on the vertical
line between the upper pair of poles are on the root locus, since the 3 poles below each
contribute 90o , while the pole above contributes +90o , for a total of 180o . Similarly,
points between the lower pair of poles are also on the locus. Also, we know that there
are no points on the real axis that are part of the root locus, since there are no real
poles or zeros. Thus, the two upper poles must join and then break away to follow the
two upper asymptotes, and the two lower poles must come together, and then go to
the two lower asymptotes.
To solve for the break-away points:
K = s4 + 4s3 + 11s2 + 14s + 10
dK
= 4s3 + 12s2 + 22s + 14 = 0

ds
Thus, s = 1, 1 j1.58. Clearly, the latter two solutions are the break-away points.

To find the point where the locus crosses the imaginary axis, compute the closed loop
transfer function,
H(s) =

s4

4s3

K
+ 14s + 10 + K

11s2

and use the Routh test to see when it becomes unstable. All coefficients are present
and positive, therefore, construct the array,
s4 :
1
11
10 + K
s3 :
4
14
s2 :
7.5
10 + K
s : 16.25 K
1:
10 + K

ENEL 441 Problem Set 4

12

Solutions

Thus, when K = 16.25, the system becomes unstable. To find the precise point where
the locus crosses the imaginary axis, let K = 16.25, and solve the equation
s4 + 4s3 + 11s2 + 14s + 26.25 = 0
Since we are looking for a purely imaginary solution, solve the equation for the odd
powers of s
4s3 + 14s = 0
r
14
Thus, s = j
j1.87 is the point where the root locus crosses the imaginary axis.
4
Root Locus

5
4
3

Imaginary Axis

2
1
0
1
2
3
4
5
5

Real Axis

Figure 3: Root Locus for Problem 5

ENEL 441 Problem Set 4

13

Solutions

6. Given the plant

Gp (s) =

1
s(s + 3)(s + 4)

design a controller that meets all of the following design specifications:

(a) Peak Overshoot less than 16%
(b) Peak Time less than 1.5 seconds.
(c) Kv 10
Draw a root locus for the system with your controller. Use Matlab to generate the
step response, and verify that the transient response specifications have been met.
Check the steady state error performance by applying a ramp input.
Solution:
The first thing that we must do, is to find the pole locations for a pair of dominant
closed loop poles that will satisfy the design specifications.
(a) Peak Overshoot less than 16% requires 60o
(b) Peak Time less than 1.5 seconds requires d > /1.5 2.1

Plot these constraints on the s-plane, along with the root-locus of the uncompensated system.
Uncompensated Root Locus

4
3
2

Imaginary Axis

1
0
1
2
3
4
6

Real Axis

Figure 4: Uncompensated Root Locus for the System in Problem 6. Shaded region corresponds to desired closed loop pole locations
Meeting the transient response specs is pretty easy. For example, you could use
a PD controller to cancel the pole at s = 3. This would give you a system with
two poles (or two very dominant poles if the cancellation wasnt perfect).

ENEL 441 Problem Set 4

14

Solutions
PD Controller used to cancel plant pole

4
K = Kmax
3
2

Imaginary Axis

1
0
1
2
3
4
6

Real Axis

Figure 5: PD compensation used to cancel the plant pole at s = 3. When K Kmax , the
closed loop poles cross out of the desireable region (and the overshoot exceeds 16%)
.
The maximum gain, Kmax , that can be used with this controller is given by
Kmax =

= 4 4 = 16
|G(2 + j2 3)|

so that the minimum possible value of Kv is

3 16
K(s + 3)
=
=4
Kv = s

s(s + 3)(s + 4) s=0

12

Thus, we cannot meet the steady state error specs with this design.
Alternately, one might try placing the controller zero very, very close to the origin.
The idea would be to place the zero so close to the origin that the two complex
closed-loop poles would dominate the transient response. Unfortunately, as in the
previous case, it isnt possible to increase K far enough to meet the error spec,
without violating the overshoot requirement (especially since Kv = K/12, so
the smaller is chosen, the larger K will have to be.
One approach, is to place one of the controller zeros very close to the origin, and
use the other to cancel the plant pole at s = 3.

Initially, place a controller zero at s = 0.1. The resulting locus is very similar to
the PD control solution. However, the step response includes a very slow decay to
the final value, which is caused by the third closed-loop pole, which is very close
to the origin.

ENEL 441 Problem Set 4

15

Solutions
Step Responses using PID Design 1

PID Controller Design 1

1.2

3
1

2
0.8
Amplitude

Imaginary Axis

1
0

0.6

1
0.4

2
0.2

3
4
6

K=8
K = 12
16% Overshoot

0
0

Real Axis

5
Time (sec)

10

Figure 6: PID controller, with a one zero very close to the origin. Root Locus (left) and step
response (right)
.
Choosing the controller gain requires a little trial and error. The controller zero
at s = 3 should be cancelled by the plant pole, however the controller zero at
s = 0.1 will probably have a small effect on the transient response. It can be
expected to increase the overshoot slightly. Thus, start with the gain, K = 8,
that causes the closed-loop poles to cross into the desired region, and then increase
the gain until the step response has nearly 16% overshoot, K = 12. Note that
K = 16, where the locus crosses back out of the desired region, has slightly more
than 16% overshoot.
Ramp Response with PID Design 1

100

Amplitude

80
60
40
20
0
0

Ramp Response
Ramp Input
10

20

30

40

50

60

70

80

90

100

70

80

90

100

Tracking Error

Amplitude

10

10

10

20

30

40

50
60
time (sec)

Figure 7: Response to a unit ramp input for the PID controller, with a one zero very close
to the origin. Input and response (above) and error (semi-log plot, below)
.
To generate the ramp response, add an integrator to the closed-loop transfer

ENEL 441 Problem Set 4

Solutions

16

function, and then compute the step response of this combined system. Notice
that the tracking error is decreasing linearly on a semi-log scale. Thus, when
t , the tracking error can be expected to be zero.