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Root Locus Analysis
Root Locus Analysis
Topics:
Root-locus plots
Objectives:
To be able to predict and control system stability.
11.1 INTRODUCTION
The system can also be checked for general stability when controller parameters
are varied using root-locus plots.
R = A, B
jw
x(t)
x0
-A
-B
sigma
t
Figure 11.1
R = Aj
jw
A
x(t)
sigma
-A
Figure 11.2
R = A Bj
jw
x(t)
B
-A
sigma
-B
Figure 11.3
R = A Bj
jw
x(t)
B
-A
sigma
-B
Figure 11.4
More negative real and complex roots cause a faster decaying oscillation
R = A, A
jw
x(t)
-A,-A
sigma
t
Figure 11.5
R = A, A
jw
x(t)
A,A
sigma
t
Figure 11.6
R = A Bj
jw
x(t)
B
A
-B
Figure 11.7
sigma
Complex roots with positive real parts have growing oscillations and are
unstable
Next, recall that the denominator of a transfer function is the homogeneous equation. By analyzing the function in the denominator of a transfer function the general system response can be found. An example of root-locus analysis for a mass-spring-damper
system is given in Figure 11.8. In this example the transfer function is found and the roots
of the equation are written with the quadratic equation. At this point there are three
unspecified values that can be manipulated to change the roots. The mass and damper values are fixed, and the spring value will be varied. The range of values for the spring coefficient should be determined by practical and design limitations. For example, the spring
coefficient should not be zero or negative.
x ( D )1
-----------= ----------------------------------------2
F(D)
MD + K d D + K s
Ks
Note: We want
the form below
A
-------------------------------------(D + B)(D + C)
Kd
1---x
(
D
)
M
------------- = ------------------------------------F(D)
Ks
2 Kd
D + ------ D + ----M
M
Aside:
2
ax + bx + c = ( x + A ) ( x + B )
Kd
K
K
--------- ------d- 4 -----s
2
M
M
M
-----------------------------------------B, C =
2
b b 4ac
A, B = -------------------------------------2a
Kd
Ks
0
100
100
100
0
100
100
100
0
100
1000
10000
Figure 11.8
The roots of the equation can then be plotted to provide a root locus diagram.
These will show how the values of the roots change as the design parameter is varied. If
any of these roots pass into the right hand plane we will know that the system is unstable.
In addition complex roots will indicate oscillation.
Imaginary
Real
Figure 11.9
1--D
K
1
K
G ( D ) = ---D
H(D ) = 1
First, we must develop a transfer function for the entire control system.
K-
--
D
G( D)
K
G S ( D ) = ------------------------------------- = --------------------------- = -------------1 + G ( D )H ( D )
D+K
K
1 + ---- ( 1 )
D
Next, we use the characteristic equation of the denominator to find the roots as
the value of K varies. These can then be plotted on a complex plane. Note:
the value of gain K is normally found from 0 to +infinity.
D+K = 0
root
0
1
2
3
etc...
-0
-1
-2
-3
j
K
K = 0
Note: This system will always be stable because all of the roots for all values of K are
negative real, and it will always have a damped response. Also, larger values of K,
make the system more stable.
Aside: Scilab can be used to draw root locus plots for systems of the form below, where
there is a simple gain, K, multiplying the openloop gain, G(s).
+
1--D
K
1
1
G ( D ) = ---D
H(D ) = 1
D + 3D + 2
2
D + 3D + 2 + K = 0
3 9 4(2 + K)
1 4K
roots = ------------------------------------------------ = 1.5 -------------------2
2
Next, find values for the roots and plot the values,
K
roots
0
1
2
3
K(D + 5 )
G ( D )H ( D ) = --------------------------------------2
D ( D + 4D + 8 )
11.3 SUMMARY
Root-locus plots show the roots of a transfer function denominator to determine
stability
1
--------------------2
(D + 1)
3.0
-
KdD
2. The block diagram below is for a motor position control system. The system has a proportional
controller with a variable gain K.
d
Vd +
Ve
-
Vs
100 -----------D+2
1--D
Va
2
4. A feedback control system is shown below. The system incorporates a PID controller. The
closed loop transfer function is given.
Y
X +
3 Ki
-----------K p + ----- + K d D
D+9
D
4
D ( 3K d ) + D ( 3K p ) + ( 3K i )
--Y- = ---------------------------------------------------------------------------------------------2
X
D ( 12K d + 1 ) + D ( 9 + 12K p ) + ( 12K i )
1
K 5 + ---- + D
D
+
-
0.1
-------------------------------------2
D + 10D + 100
+
-
10
-----D
0.01
6. The feedback loop below is for controlling a DC motor with a PID controller.
Vd
D
+ PD + 1
-----------------------------D
Vs
Va
1--D
3.0
1 -------------------2
(D + 1)
KdD
3.0
------------------------------------2
( D + 1 ) + Kd D
+
-
3.0
--------------------------------------------------2
D + D ( K d + 2 ) + 4.0
2
K d 2 ( K d + 2 ) 4 ( 4.0 )
D = --------------------------------------------------------------------------2
D + D ( K d + 2 ) + 4.0 = 0
K d 2 K d + 4K d 12
D = ----------------------------------------------------------------2
Kd
roots
0
1
2
5
10
100
1000
-1 +/- 1.732j
-1.5 +/- 1.323j
-2.000, -2.000
-0.628, -6.372
-0.343, -11.657
-0.039, -102.0
-0.004, -1000
0 > K d 2 K d + 4K d 12
2
2 + K d > K d + 4K d 12
16 > 0
0 > Kd 2
Kd > 2
The roots becomes complex when
2
0 > K d + 4K d 12
4 16 4 ( 12 )
K d = ----------------------------------------------2
K d = 6, 2
2.
a)
200K
--------------------------------------2
D + 2D + 200K
2 4 4 ( 200K )
roots = ------------------------------------------------ = 1 1 200K
2
Im
K
roots
b)
0
0.001
0.005
0.1
1
5
10
c)
0,-2
-0.1,-1.9
-1,-1
etc.
K=0.005
Re
-2
D + 2D + 200K = D + 2 n D + n
-1
n = 1
K = 0.005
3.
a)
D + D + 20K = 0
1 1 4 ( 20K )
D = --------------------------------------------2
b)
roots
0
1/80
1
10
1000
0.000, -1.000
-0.500, -0.500
-0.5 +/- 4.444j
-0.5 +/- 14.13j
-0.5 +/- 141.4j
1
K > -----80
n = 20K
K>0
c)
o
20 ( 10 )
----- = ---------------------------------------2
d
D + D + 20 ( 10 )
o + d + d 200 = 200d
Homogeneous:
2
A + A + 200 = 0
1 1 4 ( 200 )
A = -------------------------------------------2
o ( t ) = C1 e
0.5t
A = 0.5 14.1j
sin ( 14.1t + C 2 )
Particular:
= A
0 + 0 + A200 = 200 ( 1rad )
A = 1rad
o ( t ) = 1rad
Initial Conditions (assume at rest):
o ( t ) = C1 e
0.5t
0.5t
0.5t
0.5t
(1)
cos ( 14.1t + C 2 )
C 2 = 1.54
d)
o
20 ( 0.01 )
----- = -------------------------------------------2
d
D + D + 20 ( 0.01 )
o + d + d 0.2 = 0.2d
Homogeneous:
2
A + A + 0.2 = 0
1 1 4 ( 0.2 )
A = -----------------------------------------2
o ( t ) = C1 e
0.724t
A = 0.7236068, 0.2763932
+ C2 e
0.276t
Particular:
= A
0 + 0 + A0.2 = 0.2 ( 1rad )
A = 1rad
o ( t ) = 1rad
Initial Conditions (assume at rest):
o ( t ) = C1 e
0.724t
o ( 0 ) = C1 e
0.724t
+ C2e
0.276t
+ C2 e
0.276t
+ 1rad
+ 1rad = 0
(1)
C 1 + C 2 = 1rad
' o ( t ) = 0.724 ( C 1 e
0.724t
) 0.276 ( C 2 e
0.276t
C 1 = 0.381C 2
0.381C 2 + C 2 = 1rad
C 2 = 1.616rad
0.724t
+ ( 1.616 )e
0.276t
+ 1rad
4.
(ans.
X +
-
Kp D + K i + Kd D
------------------------------------------D
3 -----------D+9
4
X +
-
3K p D + 3K i + 3K d D
----------------------------------------------------D(D + 9)
4
3K p D + 3K i + 3K d D
------------------------------------------------------------------------------------------2
D ( D + 9 ) + 12K p D + 12K i + 12K d D
2
3K p D + 3K i + 3K d D
---------------------------------------------------------------------------------------------2
D ( 12K d + 1 ) + D ( 9 + 12K p ) + ( 12K i )
b)
roots
-100
-10
-1
-0.1
0
1
10
100
-0.092, 0.109
-0.241, 0.418
-0.46, 2.369
-0.57, 105.6
-0.588, -20.41
-0.808 +/- 0.52j
-0.087 +/- 0.303j
-0.0087 +/- 0.1j
Stable for,
( 9 + 12K p ) 48K i
K d > ----------------------------------------------576K d K i
K d > 0.682
c)
Kp = 1
Ki = 1
Kd = 1
2
3K p D + 3K i + 3K d D
--Y- = ---------------------------------------------------------------------------------------------2
X
D ( 12K d + 1 ) + D ( 9 + 12K p ) + ( 12K i )
2
2
3D + 3D + 3 3- -------------------------------------------------D +D+1
--Y- = ---------------------------------------------
=
2
13 2
X
D 13 + D21 + 12
D + D1.615 + 0.923
3
final gain = 20 log ------ = 12.7
13
3
initial gain = 20 log ------ = 12.0
12
for the numerator,
n =
1
= --------- = 0.5
2 n
1 = 1
2
d = n 1 =
1 0.5 = 0.866
0.923 = 0.961
2
1.615
= ------------- = 0.840
2 n
2
-12dB
3K p D + 3K i + 3K d D
--Y- = ---------------------------------------------------------------------------------------------2
X
D ( 12K d + 1 ) + D ( 9 + 12K p ) + ( 12K i )
12K i
--------------------- = 2
12K d + 1
12K i = 48K d + 4
9 + 12K p
2 n = ---------------------- = 20.5 ( 2 )
12K d + 1
24K d = 7 + 12K p
n =
At this point there are two equations and two unknowns, one value
must be selected to continue, therefore,
K p = 10
24K d = 7 + 12K p = 7 + 12 ( 10 ) = 127
K d = 5.292
K i = 21.5
D ( 12 ( 5.292 ) + 1 ) + D ( 9 + 12 ( 10 ) ) + ( 12 ( 21.5 ) ) = 0
2
3 ( 0 )D + 3 ( 0 ) + 3 ( 1 )D
--Y- = --------------------------------------------------------------------------------------------------2
X
D ( 12 ( 1 ) + 1 ) + D ( 9 + 12 ( 0 ) ) + ( 12 ( 0 ) )
2
3D
--Y- = -------------------------2
X
13D + 9D
2
Y ( 13D + 9D ) = X ( 3D )
Y 13 + Y 9 = X 3
X = t
X = 1
X = 0
9
Y + Y ------ = 0
13
It is a first order system,
Y ( t ) = C1 e
9
------ t
13
+ C2
Y( 0) = 0
Y' ( 0 ) = 0
0 = C11 + C2
starts at rest/undeflected
C1 = C2
9
------
t
913
----Y' ( t ) = C e
13 1
9
0 = ------ C 1
13 1
C1 = 0
C2 = 0
no response
5.
X
1
K 5 + ---- + D
0.1
-------------------------------------2
D + 10D + 100
10
-----D
0.01
5D + 1 + D
K ------------------------------
+
-
0.1
---------------------------------------------------------------10
2
D + 10D + 100 + 0.1 ------
D
0.01
X
0.01
X
6.
2
a)
b)
c)
Kd = 1 Ns/m
Kd1 = 1 Ns/m
Ks1
M = 1 kg
M = 1kg
y
F
F
Ks
b) If the input force is a step function of magnitude 1N, calculate the time response
for y by solving a differential equation for a Ks value of 10N/m.
c) Draw the poles for the transfer function on a real-complex plane.
d) Draw a Bode plot for Ks = 1N/m.
2. Draw a root locus diagram for the feedback system below given the variable parameter P.
Vd
+
-
Vs
1--D
Va
2
3. For the transfer functions below, draw the root locus plots assuming there is unity feedback,
i.e., H(D) = 1. Draw an approximate time response for each for a step input.
G(s) =
1 -----------D+1
1 --------------2
D +1
1 -------------------2
(D + 1)
1
-----------------------------2
D + 2D + 2
+
K
1
--------------------2
(D + 1)
1 -------------------2
(D + 1)
2
-----2
D
+
K
2D
+
K
2
-----2
D
(D + 1)