Root locus based design

Effects of Addition of Poles and Zeros

Figure: Effect of Adding Poles

Figure: Effect of Adding Zero

1. Addition of poles pulls the root locus to the right

2. Additional zero pulls the root-locus to the left

Controller Design

A compensator or controller placed in the forward path of a control system will modify
the shape of the loci if it contains additional poles and zeros.
 Compensator Characteristics
PD One additional zero
PI One additional zero and a pole at origin
PID Two additional zeros and a additional pole at origin

rlocus(num, den)
sgrid(Z, Wn)
[K, poles] = rlocfind(num, den)

Example
A control system has the open-loop transfer function,
K
G f (s) = ; k = 1.
s( s + 2)( s + 5)
A PD compensator of the form Gc ( s ) = K1 ( s + a ) is to be introduced in the forward
path to achieve the performance specification:

Overshoot less than 5%, settling time less than 2seconds

Determine the values of K1 and a to meet the specification.

Original Controller

For z = 0.5,
P.O. = 16.3%
For z = 0.7,
P.O. = 4.6%

z = 0.7, corresponds to
the controller gain of
K = 7.13 .

Settling time condition is

not met.

PD compensator design
When PD compensator is used, we actually add a zero in the open-loop transfer function.
Potential locations of zero include:
1. At s = -1 , 2. At s = -2 , 3. At s = -3

K1 ( s + 1)
G (s) H ( s) =
s ( s + 2)( s + 5)

z = 0.7, K1 = 15, t s = 3.9 sec,

Here, the closed-loop pole in the root locus branch between 0 and -1 dominate the time
response with oscillatory 2nd-order response superimposed.

K1 ( s + 2)
G (s) H ( s) =
s ( s + 2)( s + 5)
z = 0.7, K1 = 12.8, ts = 1.7 sec,
P.O. = 4.1%

K1 ( s + 3)
G (s) H ( s) =
s ( s + 2)( s + 5)
z = 0.7, K1 = 5.3, ts = 3.1 sec,
P.O. = 5.3%

Summary
Of the three compensators considered, only option 2 meets the performance
specifications. The recommended compensator is therefore, Gc ( s ) = 12.8( s + 2) .
The time-domain responses for the four conditions are shown in Figure below.
Realization of Compensator using Passive Components
It is not possible to design isolated zero or pole at origin using passive components. In
that case a pair of pole and zero is produced. Compensators may be of four types: Lead
compensator, Lag compensator, Lag-lead compensator, and feedback compensator.
[Cascade compensator]*

A. Lead Compensator
 Eo ( s ) R2 R1Cs + 1 where t = R1C and
= =
Ei ( s ) R + R1 / Cs R1R2Cs + R1 + R2 R2
2 a= < 1.
R1 + 1/ Cs R1 + R2
s + 1/ R1C s + zc s + 1/ t
= = =
s + [( R1 + R2 ) / R2 ] / R1C s + pc s + 1/ at
zc
; =a
pc

The pole-zero configuration is shown in figure above on the right side. The zero
frequency gain is cancelled by an amplifier of gain 1/ a .

B. Lag Compensator

R2 + 1/ Cs 1 + R2Cs
Gc ( s ) = =
R1 + R2 + 1/ Cs 1 + ( R1 + R2 )Cs where, t = R C and
2
s + 1/ R2C R2 s + 1/ R2C
= = R1 + R2
R + R2 b= >1
1/ R2C + 1 s R1 + R2 s + �
�
R2 �
�/ R2C R2
R2 �R1 + R2 �
1 s + 1/ t
=
b s + 1/ bt

The pole-zero configuration is shown in figure (a) above.

C. Lag-lead Compensator

� 1 �� 1 �
�s + ��s + �
� R1C1 �� R2C2 � �s + 1/ t 1 ��s + 1/ t 2 �
Gc ( s) = =� �
� ;
�
�1 1 1 � 1 �s + 1/ bt 1 �
� s + 1/ at 2 �
s +�
2
+ + �s+
�R1C1 R2C2 R2C1 � R1R2C1C2
 where, b > 1, a < 1.
Comparing left and right side we get,

R1C1 = t 1 ; R2C2 = t 2 ; R1 R2C1C2 =abt 1t 2 . Therefore, ab = 1 .

1 1 1 1 1 1 b
And, + + = + = + .
R1C1 R2C2 R2C1 bt1 at 2 bt 1 t 2
The pole-zero configuration is shown in figure below.
jw

zc2 zc1

s
pc2 pc1

Cascade Compensation in Time Domain

Here the design specifications are converted to z and wn of a complex conjugate pairof
closed-loop poles based on the assumption that the system will be dominated by these
two complex poles and therefore its dynamic behavior can be approximated by that of a
second-order system. A compensator is designed so that closed-loop poles other than the
dominant poles are located very close to the open-loop zeros or far away from the jw -
axis so that they make negligible contribution to the system dynamics.

Lead Compensation

Let us consider a unity feedback system with a forward

path transfer function G f ( s) . Let, sd be the location of
dominant complex closed-loop pole. If the angle
condition at that point is not met for uncompensated
system, a compensator has to be designed so that the
compensated root locus passes through sd . Let the
compensator has transfer function Gc ( s) . Applying angle
condition we get
�Gc ( sd )G f ( sd ) = �Gc ( sd ) + �G f ( sd ) = �180o
or, �Gc ( sd ) = f = �180o - �G f ( sd )
For a given f there is no unique location for the pole-zero pair.
Procedure for designing lead compensator is as follows:
1. From specification determine sd .
 2. Draw the root-locus plot of uncompensated system and see whether only gain
adjustment can yield the desired closed-loop poles. If not, calculate the angle
deficiency, f . This angle will be contributed by the lead compensator.
1
s+
3. Gc ( s ) = K c T ; a <1
1
s+
aT
4. Locate c and c so that the lead compensator will contribute necessary f .
z p
5. Determine K of the compensated system from magnitude condition.

If large error constant is required, cascade a lag network.

K
Example 01 Let, G f ( s) = s 2 (s + 1.5) . Compensate the system so as to meet the
transient response specifications: settling time �4 second. Peak overshoot for step input
�20% .

This specifications imply that, z �0.45 and zwn �1 .

�
M = e -pz / 1 - z 2 and t s = 4 / zwn �
�P �
The desired dominant roots lie at sd = -1 �j 2. �
-zw �jwn 1 - z 2 �
� n �
z-line

sd

2
F

-19.8
-1.5
The angle contribution required for the lead compensator is,
f = �180 - (-2 �117 - 75) = 129o .
As f is large, a double lead network is appropriate. Each section of double lead network
will then contribute an angle of 64.5o at sd .
Let us now locate compensator zero at s = -1.7. Join the compensator zero to sd and
locate the compensator pole by making an angle of f . The pole is found to be at -19.8.
The open-loop transfer function of the compensated system thus becomes,
 8.30( s + 1.7) 2
G ( s) = .
s 2 ( s + 1.5)( s + 19.8) 2
Dominance of the closed-loop poles (-1 ± j2) is preserved.

K
Example 02 G f (s) = . z = 0.5, wn = 2.
s ( s + 1)( s + 4)
The desired dominant closed-loop poles are located at, sd = -1 �j1.73 . The angle
condition required from the lead compensator pole-zero pair is,
f = �180 - (-120 - 90 - 30) = 60 .o

Place a compensator zero close to the pole -1 at s = -1.2. Join the zero to sd and make an
angle of 60° to the left of the line. The compensator pole will be found at -4.95. The
open-loop transfer function of the transfer function becomes,
K ( s + 1.2)
G ( s) = .
s ( s + 1)( s + 4)( s + 4.95)
The gain K can be evaluated using magnitude condition at sd .
s s + 1 sd + 4 sd + 4.95 -1 + j1.73 j1.73 j1.73 + 3 j1.73 + 3.95
K= d d =
sd + 1.2 j1.73 + 0.2
1.99 �1.73 �3.463 �4.312
or, K= = 29.527 �30
1.741

zc = 1/ t � t = 0.833 � zc
�a= = 0.2424
pc = 1/ at � at = 0.202 � pc

We can select R1 , R2 , C to any suitable value.

Prob-2