Course roadmap

ME451: Control Systems Modeling Analysis Design

Laplace transform Time response

Design specs
• Transient
Lecture 16 Transfer function • Steady state
Root locus
Root locus
Models for systems Frequency response
Frequency domain
• electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Dr. Jongeun Choi Block diagrams • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist

Michigan State University

(Matlab simulations &) laboratories

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Lecture plan What is Root Locus?

ƒ L16: Root locus, sketching algorithm
ƒ L17: Root locus, examples
ƒ L18: Root locus, proofs
ƒ L19: Root locus, control examples
ƒ L20: Root locus, influence of zero and pole
ƒ L21: Root locus, lead lag controller design
ƒ W. R. Evans developed in 1948.
ƒ Pole location of the feedback system
characterizes stability and transient properties.
ƒ Consider a feedback system that has one
parameter (gain) K>0 to be designed.
K L(s)
L(s):
L(s): open-
open-loop TF

ƒ Root locus graphically shows how poles of CL

system varies as K varies from 0 to infinity.
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 A simple example A more complicated example
K L(s) K L(s)

ƒ Characteristic eq. ƒ Characteristic eq.

Closed-
Closed-loop poles

ƒ K=0: s=0,-2 Im
ƒ It is hard to solve this analytically for each K.
ƒ K=1: s=-1,-1 Re ƒ Is there some way to sketch roughly root locus
ƒ K>1: complex numbers by hand? (In Matlab, use command “rlocus.m”.)
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Root locus: Step 0 Root locus: Step 1

ƒ Root locus is symmetric w.r.t. the real axis.
ƒ The number of branches = order of L(s)
ƒ Mark poles of L with “x” and zeros of L with “o”.
Im
ƒ RL includes all points on real axis to the left of an
odd number of real poles/zeros.
ƒ RL originates from the poles of L and terminates
at the zeros of L, including infinity zeros.
Im

Re Re

Indicate the direction

with an arrowhead.

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 Root locus: Step 2 (Asymptotes) Root locus: Step 2 (Asymptotes)
ƒ Number of asymptotes = relative degree (r) of L: ƒ Intersections of asymptotes

ƒ Angles of asymptotes are

Asymptotes Im
(Not root locus)

Re

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Root locus: Step 3 Quotient rule

ƒ Breakaway points are among roots of
Points where two or more branches meet and break away.

For each candidate s, check the positivity of

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 Root locus: Step 3 Matlab command “rlocus.m”
Root Locus
Im 8

Imaginary Axis
2
Re
0

-2

Breakaway point -4

-6

-8
-3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis

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A simple example: revisited Summary and exercises

ƒ Root locus
K L(s) ƒ What is root locus
ƒ How to roughly sketch root locus
ƒ Sketching root locus relies heavily on experience.
ƒ Asymptotes PRACTICE!
ƒ Relative degree 2 Im ƒ To accurately draw root locus, use Matlab.
ƒ Intersection
Re ƒ Next, more examples
ƒ Exercises
ƒ Breakaway point
ƒ Read Chapter 7.

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Exercises

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