Root location in the splane

Importance of Root Locations

Transient response is closely related to

the location of roots (poles and zeros).
Graphical presentation of root locations:

relationships between poles and zeros

dominant and insignificant roots
stability

Design tools and methods:

root locus (root change vs. parameters)

compensation to modify root location

Step Response vs s-plane

location

Addition of a pole to 1-st

order system

Transfer function with one pole :

Transfer function with additional pole :

Step response with added

pole

Dominant and Insignificant

Pole

Addition of a pole to 2-st

order system

Transfer function with two pole :

Underdamped

Transfer function with additional pole :

Step response with added

pole

Dominant and Insignificant

Pole

Dominant and Insignificant

Pole

Pole-Zero Cancellation

Assume a three pole system with a zero as shown in

equation below. If the zero at z is very close to the
pole at p3, then the partial fraction of the equation
show that the residue of the exponential decay is
much smaller than the amplitude of the second-order
response. In other word, the zero and the pole
cancel out.

K (s z)
T ( s)
2
( s p3 )( s as b)

Making second order

approximation

Making second order

approximation

Example 1

Find the step response

for:

24.542
T1 ( s ) 2
s 4s 24.542

245.42
T2 ( s )
s 10 s 2 4s 24.542

73.626
T3 ( s )
s 3 s 2 4s 24.542

Example 1.

Example 2

Find the step response for:

26.25( s 4)
C1 ( s )
s ( s 3.5)( s 5)( S 6)
26.25( s 4)
C2 ( s )
s ( s 4.01)( s 5)( S 6)

The Exspansion of those equation:

1
3.5
3.5
1
C1 ( s )

s ( s 5) ( s 6) ( s 3.5)

0.87
5.3
4.4
0.033
C2 ( s)

s
( s 5) ( s 6) ( s 4.01)

Review
Second Order System
Specification
s1, 2 n n 2 1

cos

Review
Second Order System
Specification

cos

Tp
d

cos
1

4
Ts
n
Tp

%OS1 < %OS2

Tp2 < Tp1
Ts2 < Ts1

Specification on the s-plane

max

Overdamped system within

specs

max

Underdamped system
within specs

max

3-order system within

specs

max

3-order system out of specs

4-order system within

specs

max

4-order system out of specs

max

Transient Response Design via Gain

Adjustment

Example: Third-order gain design

Design the value of gain, K, to yield 1.52%

overshoot. Also estimate the settling time,
peak time, and steady-state error.

Example: Third-order gain design

Original Root Locus
6
4

Imag Axis

2
0
-2
-4
-6
-10

-9

-8

-7

-6

-5
-4
Real Axis

-3

-2

-1

Example: Third-order gain design

-line
ln(%OS / 100)

2 ln 2 (%OS / 100)

A 1.52% overshoot
corresponds to a
damping ratio of 0.8.

Imag Axis

2
0
-2
-4
-6
-10

-9

-8

-7

-6

-5
-4
Real Axis

-3

-2

-1

Example: Third-order gain design

Closed-loop Poles
6
4

Imag Axis

2
0
-2
-4

Second-order
system
approximation

-6
-10

-9

-8

-7

-6

-5
-4
Real Axis

-3

-2

-1

Example: Third-order gain design

Closed-loop Poles & Characteristic
of System

Case 1 and 2 yield third poles that are relatively far from the
closed-loop zero. For this two cases there is no pole-zero
cancellation, and the second-order system approximation is not
valid.
In case 3 yield, the third closed-loop pole and the closed-loop
zero are relatively close to each other, and the second-order
system approximation can be considered valid.

Example: Third-order gain design

Example: Third-order gain design