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Root Locus
Ahmed Abu‐Hajar, Ph.D.
Ahmed Abu‐Hajar, Ph.D.
The Characteristic Equation
The Characteristic Equation
R(s) + C(s)
G(s)
• The Transfer Function -
H(s)
• The locations of the poles affect the stability of the system.
The locations of the poles affect the stability of the system
• Adjusting the location of the poles requires adjusting some
parameters‐ usually the gain of the controller
• Th Ch t i ti E ti f th l d L S t
The Characteristic Equation of the closed Loop System
• Two conditions that full fill the closed loop poles
pp
– Angle Condition
– The Magnitude Condition
g
Ahmed Abu‐Hajar, Ph.D.
The Concept of Root Locus
The Concept of Root Locus
• Root Locus: it is a graph that illustrates the
oot ocus: t s a g ap t at ust ates t e
location of the poles by adjusting some
parameter.
– Mostly it is the gain K.
– Where K varies form 0 to ∞
Wh K i f 0t
– Example
– The root loci start at the
Poles and at the zeros.
Ahmed Abu‐Hajar, Ph.D.
Examples of root locus
Examples of root locus
Ahmed Abu‐Hajar, Ph.D.
Examples of root locus
Examples of root locus
Ahmed Abu‐Hajar, Ph.D.
Steps for Root Locus
Steps for Root Locus
1‐ Write the characteristic
equation with the parameter
k as follows:
-5 -4 -2
Locate the poles and zeros of
G(s)H(s) on the s plane (loci
G(s)H(s) on the s‐plane (loci
begin @ the poles and they
end @ the zeros)
3‐ Locate the segments of the
3 Locate the segments of the
real axis that are root loci.
– Lie on the left to the odd
number of poles.
p
Ahmed Abu‐Hajar, Ph.D.
Steps for Root Locus
Steps for Root Locus
• 4
4‐ Determine the
Determine the
number of separate -3+5j
branches = # of poles
5‐ Root loci is symmetric -5 -1
around the horizontal axis.
Th
The number of loci
b fl i
-3+5j
asymptotes move to
infinity is
y
# finite poles ‐ # finite
zeros
Ahmed Abu‐Hajar, Ph.D.
Steps for Root Locus
Steps for Root Locus
6‐ The loci proceed to
6 The loci proceed to
zero at infinity along
asymptotes centered
asymptotes centered
at σ x and an angle ϕx
where
Ahmed Abu‐Hajar, Ph.D.
Steps for Root Locus
Steps for Root Locus
7‐ Find the points that
7 Find the points that
cross the imaginary axis.
Ahmed Abu‐Hajar, Ph.D.
Steps for Root Locus
Steps for Root Locus
8‐ determine the
8 determine the
breaking point on the
real axis
– Set K = p(s)
– Obtain dK/ds = 0
– Determine the roots
– Or determine the max
of p(s) graphically.
f () h ll
Ahmed Abu‐Hajar, Ph.D.
Steps for Root Locus
Steps for Root Locus
9‐ determine the angle
9 determine the angle
of departure from the
complex pole and the
complex pole and the
angle of arrival at the
complex zero using
complex zero, using
the phase criterion
Ahmed Abu‐Hajar, Ph.D.
Steps for Root Locus
Steps for Root Locus
10‐Determine
10 Determine kkx at a given sx
at a given s
Ahmed Abu‐Hajar, Ph.D.
Changing the shape of Root Locus by adding Poles and zeros.
Adding a pole to the system will pull root locus to the right
Ahmed Abu‐Hajar, Ph.D.
Changing the shape of Root Locus by adding Poles and zeros.
Adding a zero to the system will pull root locus to the left
Ahmed Abu‐Hajar, Ph.D.
Control System Design Using Root Locus
Control System Design Using Root Locus
• The
The Specification of the system (Most
Specification of the system (Most
common)
– Overshoot MP,
Overshoot MP
– Steady State error (velocity error constant)
– Time rise.
Time rise
Ahmed Abu‐Hajar, Ph.D.
Control System Design Using Root Locus
Control System Design Using Root Locus
General steps
General steps
– Determines the location of the desired poles of
the feedback system from the specifications
the feedback system from the specifications
– If the root locus will pass through the desired
poles.
poles.
– Determine the gain K @ the desired pole using
this equation:
q
Ahmed Abu‐Hajar, Ph.D.
Control System Design Using Root Locus
Control System Design Using Root Locus
Ahmed Abu‐Hajar, Ph.D.
Configurations of Compensators
Configurations of Compensators
Typical Feedback System R(s) C(s)
G(s)
H(s)
Series Configuration
g
R(s) C(s)
Gc(s) G(s)
R(s)
C(s)
G1(s) G2(s)
Gc(s)
H(s)
Ahmed Abu‐Hajar, Ph.D.
Types of Compensators
Types of Compensators
• Lead Compensators
Lead Compensators
• Lag Compensators
• Lead‐Lag Compensators
d C
• PID Compensators
Advantage:
May be implemented using RC Op‐Amp
May be implemented using RC Op Amp
Circuits (Active Filters)
Ahmed Abu‐Hajar, Ph.D.