Design via Root Locus

(OGATA)

November 2017
Effects of the Addition of Poles

The addition of a pole to the open-loop transfer function has the effect of
pulling the RL to the right, tending to lower the system’s relative stability and
to slow down the settling of the response.
The addlition of integral control adds a pole at the origin, thus making the
system less stable.
Effects of the Addition of Zeros

The addition of a zero to the open-loop transfer function has the effect of
pulling the RL to the left, tending to make the system more stable and to
speed up the settling of the response.
The addlition of a zero in the feedforward transfer function means the
addition of derivative control to the system.
Lead Compensator
Design procedures :

1. From the performance

specifications, determine
the desired location for the
dominant closed-loop poles.

2. By drawing the root-locus plot of the uncompensated system,

ascertain whether or not the gain adjustment alone can yield the
desired closed-loop poles. If not, calculate the angle deficiency 𝜙. This
angle must be contributed by the lead compensator if the new RL is to
pass through the desired locations for the dominant closed-loop
poles.
Lead Compensator
Design procedures :

3. Assume the lead compensator 𝐺𝑐 (𝑠) to be :

where 𝛼 and 𝑇 are determined from the angle deficiency.

𝐾𝑐 is determined from the requirement of the open loop gain.
Lead Compensator
Design procedures :
4. If static error constants are not specified, determine the location of
the pole and zero of the lead compensator so that the lead
compensator will contribute the necessary angle 𝜙. If no other
requirements are imposed on the system, try to make the value of 𝛼
as large as possible. A larger value of 𝛼 generally results in a larger
value of 𝐾𝑣 , which is desirable.

5. Determine the value of 𝐾𝑐 of the lead compensator from the

magnitude condition.
Lead Compensator
Example :

Closed-loop TF :

The closed-loop poles are located at :

Lead Compensator
Example :
Damping ratio :
Natural freq. :
It is desired to design a lead compensator 𝐺𝑐 (𝑠) so that the dominant closed-loop
poles have the damping ratio 𝜁 = 0.5, and the undamped natural freq.
Lead Compensator
Example :
After the root loci of the original system have been obtained, the dominant closed-
loop poles may be moved to the desired location by simple gain adjustment. This is,
however, not the case for the present system. Therefore, we insert a lead
compensator in the feedforward path.
Compensator design procedures :
1. Find the sum of the angles at the desired location of one of the dominant closed-
loop poles with the open-loop poles and zeros of the original system, and
determine the necessary angle 𝜙 to be added so that the total sum of the angles
is equal to ±180° (2𝑘 + 1).
The lead compensator must contribute this angle 𝜙.

Deficit angle 40.894⁰ must be contributed by a lead compensator.

The solution is not unique.
Lead Compensator
Example :
2. Assume the lead compensator 𝐺𝑐 (𝑠) has the transfer function :
Lead Compensator
Example : Method 1.
In order to improve steady state response, we will obtain
the largest possible value for ∝, so it will produce a larger
value of 𝐾𝑣 .
Draw a horizontal line passing through point P, the desired
location for one of the dominant closed-loop poles, shown
as line PA.
Draw a line connecting P and the origin.
Bisect the angle between the lines PA and PO.
Draw two lines PC and PD that make angles ±𝜙/2 with the bisector PB.
The intersections of PC and PD with the negative real axis give the necessary locations
for the pole and zero of the lead network.
The compensator thus designed will make point P a point on the root locus of the
compensated system.
Lead Compensator
Example : Method 1.
The open-loop gain is determined by use of the magnitude
condition.
The angle of G(s) at the desired closed-loop pole is :

If we need to force the root locus to go through the desired closed-loop pole, the lead
compensator must contribute 𝜙 = 40.894° at this point.
If we bisect angle APO and take 40.894⁰/2 each side, the the location of the zero and
pole are found as follows :
Lead Compensator
Example : Method 1.
𝐺𝑐 (𝑠) can be given as :

The value of ∝ is :
The value of 𝐾𝑐 can be determined by use of the magnitude condition.
Lead Compensator
Example : Method 1.
The lead compensator 𝐺𝑐 (𝑠) is given by :

The open-loop transfer function of the designed system becomes :

The closed-loop transfer function of the compensated system becomes :

Lead Compensator
Example : Method 1.

Left : Pole and zero locations of the lead compensator.

Right : Root Locus plot of the designed system.
Lead Compensator
Example : Method 1.
Check the velocity error constant 𝐾𝑣 of the system :

The third closed-loop pole of the designed system is found by dividing the
characteristic equation by the known factors as follows :
Lead Compensator
Example : Method 2.
If we choose the zero of the lead compensator at s = -1, so that it will cancel the plant
pole at s = -1, then the compensator pole must be located at s = -3.
The lead compensator becomes :
The value of 𝐾𝑐 can be determined by use of the
magnitude condition.

Hence
Lead Compensator
Example : Method 2.
The lead compensator 𝐺𝑐 (𝑠) is given by :

The open-loop transfer function of the designed system becomes :

The closed-loop transfer function of the compensated system becomes :

Note : in method 2, the zero of the lead compensator will cancel a pole of the plant,
resulting in the second-order system, rather than the third-order system as we
designed using method 1.
Lead Compensator
Example : Method 2.
The static velocity error constant is obtained as follows :

The system designed by Method 1 gives a larger value of static velocity error constant,
which will give smaller steady-state errors in ramp inputs, comparing to the system
designed by Method2.
For different combinations of a zero and pole of the compensator that contributes
40.894⁰, the value of 𝐾𝑣 will be different.