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**Fall 2003 Lecture #21
**

25 November 2003

1. Feedback

a) b) c) d) Root Locus Tracking Disturbance Rejection The Inverted Pendulum

2.

Introduction to the Z-Transform

The Concept of a Root Locus

• •

C(s), G(s) — Designed with one or more free parameters Question: How do the closed-loop poles move as we vary these parameters? — Root locus of 1+ C(s)G(s)H(s)

**The “Classical” Root Locus Problem
**

C(s) = K — a simple linear amplifier

Closed-loop poles are the same.

A Simple Example

**In either case, pole is at so = -2 - K
**

Sketch where pole moves as |K| increases...

Becomes more stable

Becomes less stable

**What Happens More Generally ?
**

• For simplicity, suppose there is no pole-zero cancellation in G(s)H(s)

Closed-loop poles are the solutions of That is — Difficult to solve explicitly for solutions given any specific value of K, unless G(s)H(s) is second-order or lower. — Much easier to plot the root locus, the values of s that are solutions for some value of K, because: 1) It is easier to find the roots in the limiting cases for K = 0, ±∞. 2) There are rules on how to connect between these limiting points.

**Rules for Plotting Root Locus
**

• End points — At K = 0, G(so)H(so) = ∞ ⇒ so are poles of the open-loop system function G(s)H(s). — At |K| = ∞, G(so)H(so) = 0 ⇒ so are zeros of the open-loop system function G(s)H(s). Thus: Rule #1: A root locus starts (at K = 0) from a pole of G(s)H(s) and ends (at |K| = ∞) at a zero of G(s)H(s). Question: Answer: What if the number of poles ≠ the number of zeros? Start or end at ±∞.

Rule #2:

Angle criterion of the root locus

• Thus, s0 is a pole for some positive value of K if:

In this case, s0 is a pole if K = 1/|G(s0) H(s0)|.

• Similarly s0 is a pole for some negative value of K if:

In this case, s0 is a pole if K = -1/|G(s0) H(s0)|.

**Example of Root Locus.
**

One zero at -2, two poles at 0, -1.

Tracking

In addition to stability, we may want good tracking behavior, i.e. for at least some set of input signals.

E (s) =

1 X ( s) 1 + C ( s) H (s)

We want C ( jω ) P ( jω ) to be large in frequency bands in which we want good tracking

⇓ 1 E ( jω ) = X ( jω ) 1 + C ( jω ) H ( j ω )

Tracking (continued)

Using the final-value theorem

Basic example: Tracking error for a step input

Disturbance Rejection

There may be other objectives in feedback controls due to unavoidable disturbances.

Clearly, sensitivities to the disturbances D1(s) and D2(s) are much reduced when the amplitude of the loop gain

Internal Instabilities Due to Pole-Zero Cancellation w(t) H

C (s) =

1 s ( s + 1)

, H (s) =

s s+2

Y (s) =

However

W (s) =

C ( s) H ( s) 1 X (s) = 2 X (s) s + 3s + 3 1 + C (s) H (s)

Stable

s+2 C (s) X ( s) X ( s) = 2 s ( s + 3s + 3) 1 + C (s) H ( s)

Unstable

Inverted Pendulum

— Unstable!

Feedback System to Stabilize the Pendulum

a

• •

PI feedback stabilizes θ Subtle problem: internal instability in x(t)! – Additional PD feedback around motor / amplifier centers the pendulum

**Root Locus & the Inverted Pendulum
**

• Attempt #1: Negative feedback driving the motor

•

Root locus of M(s)G(s) – Remains unstable!

after K. Lundberg

**Root Locus & the Inverted Pendulum
**

• Attempt #2: Proportional/Integral Compensator

•

Root locus of K(s)M(s)G(s) – Stable for large enough K

after K. Lundberg

**Root Locus & the Inverted Pendulum
**

• BUT – x(t) unstable:

**System subject to drift... • Solution: add PD feedback around motor and compensator:
**

after K. Lundberg

The z-Transform

Motivation: Analogous to Laplace Transform in CT

We now do not restrict ourselves just to z = ejω

The (Bilateral) z-Transform

**The ROC and the Relation Between zT and DTFT
**

, r = |z|

• — depends only on r = |z|, just like the ROC in s-plane only depends on Re(s) • Unit circle (r = 1) in the ROC ⇒ DTFT X(ejω) exists

Example #1

This form for PFE and inverse ztransform

=

1 z = 1 − az −1 z−a

This form to find pole and zero locations

That is, ROC |z| > |a|, outside a circle

Example #2:

Same X(z) as in Ex #1, but different ROC.

Rational z-Transforms

x[n] = linear combination of exponentials for n > 0 and for n < 0

Polynomials in z — characterized (except for a gain) by its poles and zeros

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