Beruflich Dokumente
Kultur Dokumente
THEORY
A Graphical Tool
CHAPTER 7
STB 35103
Objectives
To learn the definition of a root locus.
K in the feedback
system is called a
gain. Gain is used to
vary the system in
order to get a
different output
response.
Introduction
What does a
root locus look
like?
The line with arrow
is the movement
path for closed
loop poles as the
gain is varied on
the s-plane.
Figure 1 – An example of root locus.
1 Pole 1 zero
Drawing the root locus
First step in drawing the root locus is to draw
the open-loop poles and zeros in the s-plane.
(a)Feedback system
(b)Closed loop transfer function of
the system, T(s)
Drawing the root locus
Based on the video camera feedback
system, the open-loop transfer function is
*Fill up a table
with the
corresponding
K and pole
values
Drawing the root locus
Next step is to plot the poles values on the
s-plane by varying the gain, K, value.
Drawing the root locus
Join the poles with solid lines and you will
the shape of the locus (path)
Drawing the root locus
The process of drawing a root locus is
time consuming. If the system is complex,
the calculation will be much harder
especially if you use hand calculation.
real axis
Sketching the root locus
3. Real-axis segment. On the real-axis, for
K > 0 the root locus exists to the left of an
odd number of real-axis, finite open-loop
poles and/or finite open-loop zeros. Below is
an example of real-axis segment
a
2k 1
#finite poles # finite zeros
Where k = 0, ±1, ±2, ±3 and the angle is given in radians
with respect to the positive extension of the real axis
Sketching the root locus
We will sketch a root locus in Example 8.2
a
2k 1
# finite poles #finite zeros
/3 for k 0 There are 3
asymptotes so 3
for k 1 values of k=0,1,2
each representing
5 / 3 for k 2 the angle of each
7 / 3 for k 3 asymptote
Radial line
representing
overshoot value
on the s-plane
Plotting and calibrating the root
locus sketch
We learnt in Chapter 3, the value of zeta
on the s-plane is
cos
Given percent overshoot value we can
calculate the zeta value
ln %OS / 100
2 ln 2 %OS / 100
Plotting and calibrating the root
locus sketch
Example
Draw a radial line on an S-plane that
represents 20% overshoot.
Solution
Overshoot is represented by zeta (damping ratio) on
the S-plane. So, the first step is to find the value of
zeta. ln %OS /100
2 ln 2 %OS /100
ln(20 /100)
2 ln 2 20 /100
0.456
Plotting and calibrating the root
locus sketch
Next step is to find the angle of the radial line.
cos
0.456 cos
cos 1 0.456
j
62.87
Plotting and calibrating the root
locus sketch
The point where our root locus intersect with the
n percent overshoot radial line is the point when
the gain value produces a transient response with
n percent overshoot.
0.45
Plotting and calibrating the root
locus sketch
We can find the point on the radial line that crosses the
root locus by selecting a point with radius value then add
the angles of the zeros and subtract the angles of the poles
( =zero - pole =2 – [1 + 3 + 4 + 5]
b a c 2ac cos
2 2 2
Plotting and calibrating the root
locus sketch
Let us take r = 0.747 and check if this
point on the radial line intersects with the
root locus
Plotting and calibrating the root
locus sketch
We will calculate the value of A, B, C, D, and E
and also θ1, θ2, θ3, θ4, and θ5
E length is equal to the radius r because of the
poles is at origin. E
D
sin 4 sin( )
E 0.747
0.941sin(63.256)
5 180 63.256 4
0.941
116.744 45.141
D 2 E 2 12 2 E (1) cos(63.256)
D E
0.747 1 2(0.747) cos(63.25)
2
0.886
θ4 θ5
D 0.886
0.941 1
Plotting and calibrating the root
locus sketch
We will then calculate the length of C and θ3
You can either take the triangle E C or the
triangle D and C but the easiest is triangle E
and C.
C 2 E 2 22 2 E (2) cos
C 2 0.747 2 22 2(0.747)(2) cos(63.256)
C 1.793
E C C E
sin 3 sin( )
0.747 sin(63.256)
3 θ3 θ5
1.793
21.842 2
Plotting and calibrating the root
locus sketch
Calculate the length of B and θ2
E B
sin 2 sin( )
B E
0.747 sin(63.256)
2
2.746
14.06 θ2 θ5
3
Plotting and calibrating the root
locus sketch
Calculate the length of A and θ1
E A
sin 1 sin( )
A E
0.747 sin(63.256)
1
3.725
10.316 θ1 θ5
4
Plotting and calibrating the root
locus sketch
We can calculate the gain, K, value where
root locus intersect the radial line.
K
poles length hasil darab
zeros length
A C D E
K
B
3.725 1.793 0.941 0.747
2.746
1.71
Plotting and calibrating the root
locus sketch
For root locus that do not have zeros, the
equation to find the gain is
K poles length
hasil darab
Transient Response Design via Gain
Adjustment
In our previous example, the root locus
crossed the 0.45 damping ratio line with a
gain of 1.71.
K
G(s)
( S 2)( S 4)( S 6)
a) Sketch the root locus
b) Using a second order approximation, design the
value of K to yield 10% overshoot for a unit step
input (Hint r = 3.431).
c) Estimate the settling time, peak time, and steady-
state error for the value of K designed in (b)
d) Determine the validity of your second-order
approximation
Transient Response Design via Gain
Adjustment
If we look back at the equation for peak time, Tp and
settling time Ts.
4
Ts Tp
n n 1 2
Imaginary
Real
Transient Response Design via Gain
Adjustment
Solution
K=45.55
Ts=1.97
Tp=1.13
Kp=0.949, estep () 0.51
Comparing this value to the real part of the
dominant pole, -2.028, we find that it is not
five times further. The second-order
approximation is not valid