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Automatic Control Systems

EE391

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Automatic Control Systems

Course website:
http://eng.staff.alexu.edu.eg/~alghoniemy/teaching/AC/auto
matic_control_systems.html

Office Hours: Tuesday and Wednesday, before lecture

Two quizzes to be held.

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Textbook

Modern Control Systems, 12/E

Richard C. Dorf, University of California, Davis
Robert H. Bishop, University of Texas at Austin
ISBN-10: 0136024580
ISBN-13: 9780136024583
2011 Prentice Hall, 1104 pp. Published 07/19/2010

http://www.pearsonhighered.com/product?ISBN=0136024580#s
thash.wTb78eoW.dpuf

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Root Locus Techniques

C ( s) G( s)

R( s) 1 G ( s) H ( s)
Characteristic equation

1 G( s) H ( s) 0
The characteristic equation can be written as

P ( s ) KQ ( s ) 0
Rearrange the characteristic equation with < as a parameter

Q( s)
1 K 0, 0 K
P( s)
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example

1 G( s) H ( s) 0
K s 1
1 0
s s 2 s 3
Q( s)
1 K 0
P( S )

= = = =

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example:
1 G( s) H ( s) 0
Consider the characteristic equation s 2 (3 2 K ) s 5
1 0
s s 1s 2

Rearrange the characteristic equation as P( s ) KQ ( s ) 0

s s 1s 2 s 2 (3 2 K ) s 5 0
Rearranging 2 Ks Q( s)
1 1 K 0
Q( s) 2s
s s 1 s 2 s 3s 5
2
P( s)
zeros : 0
P ( s ) s 3 4 s 2 5s 5
poles : -2.8637 - 0.5681 1.1930i
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Q( s) 2 Ks
K 3
P ( s ) s 4 s 2 5s 5
poles : - 2.8637 - 0.5681 1.1930i zeros : 0

=
= =

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Root Contour
Multiple-Parameter Variations

We need to study the locus of the roots of the characteristic equation as a

function of two parameters & or more!!

The characteristic equation

of the system with two parameters
& can be written as

P ( s ) K1Q1 ( s ) K 2Q2 ( s ) 0
0 K1 , 0 K 2
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The characteristic equation with 1 & 2 variables

P ( s ) K1Q1 ( s ) K 2Q2 ( s ) 0
since the system is linear, we can use superposition, set 2 = 0

0 K1 , K 2 0
the characteristic equation due to only defines an ordinary root locus
for
P ( s ) K1Q1 ( s ) 0
rearranging
Q1 ( s )
1 K1 0
P( s)
Q1 ( s )
G1 ( s ) H1 ( s ) K1
P( s)
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example: consider the characteristic equation

s 1 K 2 s s 2 2 s 2 K1 0

Set = , the characteristic equation becomes s s 2 s 2 K1
2
0
Rearranging with as a parameter, the characteristic equation becomes

Q1 ( s )
1 K1 0
P1 ( s )
K1
1 0
s s 2 2 s 2
=
=
poles:
=
= , , =

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Fix that satisfies a certain design criterion. (e.g., steady state error or
transient response)
For example, let the damping ratio = 0.5 1 = 1 = 1
The characteristic equation with = becomes

s 1 K 2 s s 2 2 s 2 1 0

Rearrange
K2 ( s4 2s3 2s2 ) =
1 3 0
s 2s2 2s 1
=

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the effect of

fix K1 K1* , 0 K 2 ,
The characteristic equation with 2 as a variable

P ( s ) K1*Q1 ( s ) K 2Q2 ( s ) 0
rearranging in root locus format
K 2Q2 ( s )
1 0
P ( s ) K1 Q1 ( s )
*

at =
K 2Q2 ( s )
G2 ( s ) H 2 ( s )
P ( s ) K1*Q1 ( s )

the Poles of G2(s)H2(s) are located on the root locus of

G1(s)H1(s) at =
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the Poles of G2(s)H2(s) are located on the root locus of G1(s)H1(s) at =

The zeros of G2(s)H2(s) are the zeros of 2 ()
K 2Q2 ( s ) K 2 s 4 2 s 3 2 s 2
G2 ( s ) H 2 ( s ) 3
P ( s ) K1*Q1 ( s ) s 2s2 2s 1
: =
: = , =

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K 2 s 4 2 s 3 2 s 2
Draw the root locus that corresponds to 2
G2 ( s ) H 2 ( s ) 3
s 2s2 2s 1

: =
Choose 2 to
: = , =
satisfy a certain
design criterion

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What if we chose = ? K 2 s 4 2 s 3 2 s 2
G2 ( s ) H 2 ( s ) 3
s 2 s 2 2 s 12
The system is unstable for all values of 2

=
= , =

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example

determine the values of the amplifier gain and the derivative feedback
gain such that

1. Damping ratio of dominant roots 0.707

2. 2% settling time 3 .

3. Steady state error for a ramp input 35% of input slope

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The inner loop

G( s)
G2 ( s )
1 G ( s ) H1 ( s )
K1
G2 ( s )
s ( s 2) K1K 2 s
let K1 & K1K 2

G2 ( s )
s 2 (2 ) s
The transfer function
Y ( s) G2 ( s )

R ( s ) 1 G2 ( s )
Y ( s)
2
R (4/10/2017
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The transfer function

Y ( s) G2 ( s )

R ( s ) 1 G2 ( s )
Y ( s)
2
R( s) s (2 ) s

The characteristic equation

s 2 (2 ) s 0
for parameter 0 < with = 0

1 0
s s 2
for parameter , with = fixed
s
1 0
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with = 0 and parameter 0 <

The characteristic equation with is a parameter

1 0
s s 2
=

let = = 20

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with 0 < parameter and = = 20

s
1 2 0
s 2 s 20
= , =

= , =

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1. Damping ratio of dominant roots 0.707

2. 2% settling time 3 .

4
Ts 3

4

3

all roots must lie within the

shaded area of the left-half plane

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choose = 1 2 = 4.3 for = 0.707

= .

= /

= .

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3. Steady state error for a ramp input 35% of input slope

1
E ( s) R( s)
1 G2 ( s )
G( s)
G2 ( s )
1 G ( s ) H1 ( s )
K1

s ( s 2) K 2 K1s
s R s2
ess lim sE ( s ) lim
s 0 s 0 1 G ( s )
2

ess 2 K1K 2 select small value of 2

0.35
R K1
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4 .3
K1 20 , K 2 0.215
K1 20
ess 2 K1K 2
0.315 0.35
R K1
4
2% settling time 1.27 3 seconds
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