Root-Locus Design and Analysis

Design and Analysis of
Controllers with Root-Locus
Dr. Viboon Sangveraphunsiri
Advanced Robotic Lab, Chulalongkorn University
Root-Locus Design and Analysis
Pole and Zero of the Transfer Function
Example
zeros
poles
G(s) =
b ( s)
a ( s)
1
2(s )
2s 1
2
G(s) 2
s 3s 2 (s 1)(s 2)
1
b(s) 2s 1 2(s )
2
a(s) s2 3s 2 (s 1)(s 2)
1
3
G ( s)
s1 s2
- e -t 3e 2 t
g(t)
0
t0
t0
S-Plane
Second Order System
n2
G(s) 2
s 2n s n2
s1 n n 1 2 j
s2 n n 1 2 j
1
n t
x(t) = 1 e
(cos(dt)
sin(dt))
2
K
1
2
1
1
e n t
1
x(t) 1
sin dt tan
2
K
1
n 1 2 d
cos
(t 0)
Close-loop and Open-loop Transfer Function
K AK PG(s )
Y (s )
=
R(s ) 1 + K AK PG(s )H(s)
Close-loop Transfer Function
Close-loop Characteristic Equation
1 + K AK PG(s )H (s ) = 0
1 + KG(s )H (s ) = 0
G(s )H (s ) = -
Open-loop Transfer Function
Go = K AK PG (s )H (s ) = K AK P
N (s ) = s m + b1s m -1 + + bm -1s + bm
= (s - z1 )(s - z 2 )(s - zm )
i =1
N (s )
D(s )
D(s ) = s n + a1s n -1 + a2s n -2 + + an -1s + an

= (s-p1 )(s - p2 )(s - pn )
= (s - z i )
1
K
(s - p )
i =1
Example of Root-Locus Concept
G (s ) =
s2 + s + K = 0
1
1 - 4K
s1,2 = -
2
2
1
s(s + 1)
KA
N (s )
=
=
D(s )
pi
= s2 + s
= 0,-1
1
1
1+K
1
s(s + 1)
Example: Locus of roots
R(s)
Open-loop transfer function
system
Y(s)
G(s)
G(s ) =
H(s)=1
Closed-loop transfer function =
Closed-loop characteristic equation
s +1
s(s 3 + 9s 2 + 28s + 40)
Gcl (s ) =
K (s + 1)
s(s 3 + 9s 2 + 28s + 40) + K (s + 1)
Gcl (s ) =
K (s + 1)
s 4 + 9s 3 + 28s 2 + (40 + K )s + K
s 4 + 9s 3 + 28s 2 + (40 + K )s + K = 0
If we vary gain K, the poles of the closed-loop system will be changed
Closed-loop characteristic equation

s 4 + 9s 3 + 28s 2 + (40 + K )s + K = 0
If we vary gain K, the poles of the

closed-loop system will be changed
Sketching A Root-Locus
1 + KG(s ) = 0
KG(s ) = -1
Magnitude Criteria
Angular Criteria
KG(s ) = 1
G(s) = 180 L * 360
; L = 0,1, 2, 3,...
G(s) = - 180 L * 360 ; L = 0,1, 2, 3,...
Example: Angular Criteria
G (s ) =
(s + 1)
2
s (s + 2) + 4 (s + 5)
At point s6 = -1 + 2i
s6 - (-2 + 2i )
G (s 6 ) =
s6 - (-5)
s6 - (-2 - 2i )
s6 - (0)
(s 6 + 1)
2
s 6 (s6 + 2) + 4 (s6 + 5)
s6 + 1
G (s ) = f1 - y1 - y2 - y3 - y4
= 90 - 116.6 - 0 - 76 - 26.6
= - 129.2
Guideline For Sketching A Root-Locus
Example
G (s ) =
1
2
s (s + 4) + 16
1 ( poles) (Zeros)
s
o x
( open-loop poles) ( open-loop zero)

(open-loop transfer function) K

2 (root) s

s=0
s=0

3 (asymptotes)
K

1 + KG(s ) = 0 1 + K
1 + KG(s ) @ KG(s ) = 0
G (s ) =
N (s )
=0
D(s )
N (s )
=0
D(s )
(n - m )jl = 180 l * 360
180 l * 360
jl =
n -m
a=
p - z
i
n -m
jl
N (s ) = 0
1+K
1
=0
n -m
(s + a )
; l=0,1,2, ,n-m-1
= s
= s
pi =
z j =
Example Asymptote
G (s ) =
1
2
s (s + 4) + 16
(180 l * 360 )
fl =
= 60, 180, 300
3
-8 - 0
a=
= -2.67
3
Example: Angle of Departure
f1
f2
f3
Angle of Departure
so s = -4 - 4j -90
so s = -4 + 4j -f2
so s = 0
-135
f1 + f2 + f3 = 180 l 360
-90 - f2 - 135 = 180 - 360

f2 = -45
Angle of Arrival
zero
angle of arrival zero
Angle of Arrival
s 2 + 6s + 18
G (s ) = 2
s + 2s + 2
s + 3 + 3 j )(s + 3 - 3 j )
(
G(s ) =
(s + 1 + j )(s + 1 - j )
angle of arrival angle of departure
zero angular criteria
Example: locus intersect the Imaginary axis

1+K
s (s + 2) + 16
s 3 + 8s 2 + 32s + K
1
8
s2
8 * 32 - K
s1
8
0
s
K
s3
32
K
0
K > 0
8 * 32 - K
8
>
< 256
Example: Breakaway point

6 Breakaway point
Pole 2 (Real Axis)
K pole
Breakaway point s K
Breakaway point
dK
ds
d G(s )
ds
d G(s )
ds
=0
3s 2 + 16s + 32 = 0
G (s ) =
1
s3 + 8s 2 + 32s
s 0 = -2.67 + 1.89 j , -2.67 - 1.89 j
s Complex
s (Real Axis)
Breakaway point ()
Example
G (s) =
s + 1.5
s(s + 1)(s + 2)
Closed-loop Characteristic Equation
1+K
s + 1.5
=0
s(s + 1)(s + 2)
Find the breakaway point

s(s + 1)(s + 2)
s + 1.5
=0
ds
Solve s which satisfies this equation
(3s 2 + 6s + 2)(s + 1.5) - (s 3 + 3s 2 + 2s ) = 0

-1.6027 + 0.4309i, -1.6027 - 0.4309i, -0.5446
So, breakaway point = -0.5446
Find the Breakaway point by numerical table
K =-
s
K
-0.3
0.298
-0.4
0.349
s(s + 1)(s + 2)
s + 1.5
-0.5
0.375
-0.542
0.378
-0.6
0.373
-0.7
0.341
Break-In Point
2
Break-In point

Break-In point
G (s ) =
(s + 3)
s(s + 1)
dK
ds
s(s + 1)
d (s + 3)
ds
1 + KG (s ) = 1 + K
d G(s )
ds
=0
)=0
- s 2 + 6s + 3
s (s + 1)
2
s = -0.5505, - 5.4495
(s + 3)
=0
s(s + 1)
Break-In Point
s = -0.5505, - 5.4495
s = -0.5505 = breakaway point
s = -5.4495 = Break-In point
Breakaway and break-in points

m
1
=
1 s + zi
G (s) =
s + 1.5
s(s + 1)(s + 2)
1
1
1
1
= +
+
s + 1.5 s s + 1 s + 2
1
2s 2 + 6s + 2
= 3
s + 1.5 s + 3s 2 + 2s
2s 3 + 7.5s 2 + 9s + 3
=0
4
3
2
s + 4.5s + 6.5s + 3s
2s 3 + 7.5s 2 + 9s + 3 = 0
s = -0.5446, -1.6027 0.4309i
s = -0.5446
1 s + pi
Breakaway and break-in points

m
1
=
1 s + zi
G (s ) =
(s + 3)
s(s + 1)
1
1
1
= +
s + 3 s s +1
1
2s + 1
= 2
s+3 s +s
s 2 + 6s + 3
=0
3
2
s + 4s + 3s
s 3 + 6s + 3 = 0
s = -5.4495, -0.5505
1 s + pi
Graphical Method for Gain Evaluation from Root-Locus
Close-Loop CHE
K =-
Example
G (s 0 ) =
K =
1
G (s )
G (s ) =
1 + KG(s ) = 0
K =-
1
G (s )
1
2
s (s + 4) + 16
1
(s 0 - s1 )(s 0 - s2 )(s 0 - s 3 )
1
= s0 s0 - s2 s0 - s3
G(s 0 )
Exercise 5.2
K (s + 3)
s(s + 2)
K (proportional control)
(damping ratio) 0.9 (time constant) ( )
1+
K (s + 3)
= 0 s 2 + (2 + K )s + 3K = 0
s(s + 2)
Desired Location
1.5
1
Imag Axis
G (s ) =
0.5
0
-0.5
-1
-1.5
-2
-7
-6
-5
-4
-3
-2
Real Axis
-1
Exercise 5.2 cont

2
Desired Location
1.5
Imag Axis
|s+3|
0.5
0
|s+0|
|s+2|
-0.5
-1
-1.5
-2
-7
-6
-5
-4
-3
-2
Real Axis
-1
K = 0.8018, pole = -1.4009 + 0.6655i, -1.4009 - 0.6655i

K =
s s +2
s+3
K (s + 3)
C (s )
G (s )
K (s + 3)
0.8(s + 3)
=
=
= 2
= 2
R(s ) 1 + G (s ) s(s + 2) + K (s + 3) s + (2 + K ) s + 3K
s + 2.8s + 2.4
roots of s2 + 2.8s + 2.4 = -1.4009 + 0.6655i, -1.4009 - 0.6655i

0.8s
2.4
C (s )
= 2
+ 2
R(s ) s + 2.8s + 2.4 s + 2.8s + 2.4
Example
K
G (s ) =
(s + 2)(s + 4)(s + 6)
a)
b)
c)
d)
Sketch the root locus

Using a second-order approximation, design the value of K to
yield 10% overshoot for a unit-step input
Estimate the setting time, peak time, rise time, and steady-state
error for the value of K designed in (b)
Determine the validity of your second-order approximation
1.8
tr =
wn
p
tp =
wd
4
4
ts = 4t = =
s
xwn
Mp = e
for 2%
x
1- x
Example
K = 45.1
tr =
1.8
= 0.5248
wn
tp =
ts =
x = 0.5912
wd = 2.76, wn = 3.43
ess = lim sE (s ) = lim s

s 0
s 0
p
= 1.1383
wd
4
= 1.9726
xwn
1
1
1
=
1 + KG (s ) s 1 + KG (0)
1
= 0.5156
1 + 45.1 / (2 4 6)
Example

Root-Locus Design and Analysis

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Root-Locus Design and Analysis

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Design and Analysis of

Controllers with Root-Locus

Dr. Viboon Sangveraphunsiri

Advanced Robotic Lab, Chulalongkorn University