SCHOOL OF ELECTRONIC & ELECTRICAL ENGINEERING THE UNIVERSITY OF LEEDS

ROOT LOCUS DESIGN ELEC5570 LAB 2

SUBMITTED BY

RAJESH GUNASEKAR (200578848)

SUBMITTED TO

Dr.BENJAMIN CHONG

INTRODUCTION:

Designing a controller using root locus method with the MATLAB instruction and then to obtain the open loop system by system G(s) and compensator K(s) ,to design the given specification in order to meet the Rise time =2.5 second , overshoot=10% , settling time =7 seconds with the closed system.

THEORY ,CONCEPTS AND CALCULATION:

In this system G(s), compensator K(s) is defined as G(s) = 1 s (1 + 10 s ) K(s)= Where, 1+s 1 1 + s 2

1 = 2 2 = 0.17
The open loop transfer function Q(s) can be derived from 1 1 + s 1 G(s)K(s)=Q(s)= s(1+sT) 1 + s 2 Appling the values in the Q(s) 1 + 2s 1 Q(s)= s(1+10s) 1 + 0.17s

With the help of G(s) system and K(s) dynamic compensator the MATLAB program was done and the root locus is plot with the open loop transfer function Q(s) There are TWO root locus on the real axis ANGLE OF ASYMPTOTES: Q(s) is the Root locus of the given system -(Qas ) n + (Qas )m = 2 l -Qas ( m n ) = 2 l

Qas =

2 l (l=0,1,2,3,) nm nm

Qas= - 60 , 60 , 180

INTERSECTION OF ASYMPTOTES:
X= (0 4) + (0 1) + (0 1) + (0 2) 3 = 4 3

X=1.33 The points on the real axis determined by satisfying the equation dQ( s ) =0 ds

( 21 2T ) s3 + (1 + 1 2 + 3 2 )s2 + 2(2 + )s+1=0

Verification of polynomial by using the third order polynomial in s,whose coefficients deponds on 1 , 2 and T. Q(s) = 1 + s 1 2s + (T+ 2 )s2 + s
3

T 21s 3 + 1 (T + 2 ) s2 + 1 s 3T 2 s2 2(T + 2 ) s 1 3T2 1 s3 21 (T + 2 ) s2 1 s = 0

( 21 2T ) s3 + (1 + 1 2 + 3 2 )s2 + 2(2 + )s+1=0

2.a) The design specifications for closed loop system:

i) Rise time (tr) 2.5 seconds .

1.8 tr 1.8 =0.72 2.5

Frequency n

ii) Overshoot 10% or 0.1 0.6(1 - os)=0.5 0.54

iii) settling time (to) 7 seconds. - n 4.61 to

- n 0.659 n 0.659 b) By using the compensator used in section 1 the root locus is drawn and take the lowest value of gain K is obtained from the MATLAB , from the section 1 learned about how to plot the root locus with the help of MATLAB and determined the value of gain K.

Root Locus 2 0.96 1.5 0.984 1 0.996 System: ols Gain: 0.0383 Pole: -0.054 + 0.031i Damping: 0.868 Overshoot (%): 0.417 Frequency (rad/sec): 0.0623 3 2 1 System: ols Gain: 0.0383 Pole: -0.054 - 0.031i Damping: 0.868 Overshoot (%): 0.417 Frequency (rad/sec): 0.0623 0.92 0.86 0.76 0.58 0.35

0.5 Imaginary Axis 7 0

-0.5

0.996

-1 0.984 -1.5 0.96 -2 -7 -6 -5 0.92 -4 0.86 -3

0.76 -2

0.58 -1

0.35 0 1

Real Axis

In this root locus the lowest gain K is obtained with the rise in time of tr=2 seconds , overshoot = 10 % or 0.1 and settling time = 7 seconds.

RESULTS AND DISCUSSION : MATLAB code:

sys=tf(1,[10,1,0]);%system G(s) con=tf([2.6,1],[0.17,1]);%dynamic controller K(s) ols=sys*con;%open loop system Q(s)=G(s)*K(s) figure(1); %plot the root locus rlocus(ols); grid cls=feedback(1.56*ols,1);%closed loop system [y,t]=step(cls);%step response of closed loop system figure(2);%plot step response of closed loop system plot(t,y);%plot result grid

ROOT LOCUS with 1 =2.6, 2 =0.17

Root Locus 2 0.96 1.5 0.984 System: ols 1 Gain: 4.52 Pole: -4.51 0.996 Damping: 1 0.5 Overshoot (%): 0 Frequency (rad/sec): 4.51 7 6 5 0 System: ols Gain: 4.51 Pole: -0.735 + 0.217i Damping: 0.959 Overshoot (%): 0.0024 Frequency (rad/sec): 0.766 4 3 2 1 0.92 0.86 0.76 0.58 0.35

Imaginary Axis

-0.5

0.996

-1 0.984 -1.5 0.96 -2 -7 -6 -5 0.92 -4 0.86 -3 Real Axis 0.76 -2 0.58 -1

System: ols Gain: 4.51 Pole: -0.735 - 0.217i Damping: 0.959 Overshoot (%): 0.0024 Frequency (rad/sec): 0.766

0.35 0 1

STEP RESPONSE

s pepne t r sos e 1 . 4

1 . 2

0 . 8

0 . 6

0 . 4

0 . 2

0 0

T e e) i ( c m s

1 0

1 5

2 0

2 5

CONCLUSION: The given transfer function G ( s ) = s (1 + 10s ) is done and obtain the values of parameters with the given specification such as rise time 2.5 seconds , overshoot 10% and settling time is 7 seconds and the lowest value of gain K is also plotted, got the angle of asymptotes and intersection of the asymptotes with real axis. REFERENCE: MODULE 5570 control systems and design Dr.benjamin Chong handnotes.
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