Dynamic System and Control - Lecture 4

Dynamic Systems and Control, Chapter 4: Control Design
Control Designs
© 2015 Quoc Chi Nguyen, Head of Control & Automation Laboratory, nqchi@hcmut.edu.vn 4-1
Closed-loop design by root locus
Root Locus
15
10
%From the plot above we see that there is

part of the root locus inside the desired
Imaginary Axis (seconds-1)

5
region.
0.7
1.8
0
% So in this case, we need only a 0.7
proportional controller to move the poles

-5
to the desired region. -10
[k,poles] = rlocfind(sys)
-15
-20 -15 -10 -5 0
Real Axis (seconds -1)
Step Response
% In order to find the step response, you 1
need to know the closed-loop transfer

0.9
0.8
function. 0.7
0.6
Amplitude
sys_cl = feedback(k*sys,1) 0.5
step(sys_cl) 0.4
0.3
0.2
0.1
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (seconds)
General effect of addition of zeros
Compare root locus of

Root Locus Root Locus
15 15
sys1 = 1/((s+4)*(s+2)*(s+1))
10 10
sys2 = (s+6)/((s+4)*(s+2)*(s+1))

5 5
0 0
-5 -5
-10 -10
-15 -15
-20 -15 -10 -5 0 -20 -15 -10 -5 0
Real Axis (seconds -1) Real Axis (seconds -1)
Root Locus
Root Locus 15
15
sys4 = (s+1.5)/((s+4)*(s+2)*(s+1))
10
sys3 = (s+3)/((s+4)*(s+2)*(s+1)) 10

5
0
0
-5
-5
-10 -10
-15 -15
-20 -15 -10 -5 0 -20 -15 -10 -5 0
Real Axis (seconds -1) Real Axis (seconds -1)
Motivation example (1)
Consider an open-loop system which has a transfer function of
Root Locus
15
%EXAMPLE 4.1 10
s = tf('s');

sys = (s + 7)/(s*(s + 5)*(s + 15)*(s + 20));
5
rlocus(sys) 0
axis([-22 3 -15 15])

-5
-10
-15
-20 -15 -10 -5 0
-1
Real Axis (seconds )

Root Locus
15
%Choosing a Value of K from the Root

Locus 10
% If we need overshoot less than 5% (which
means a damping ratio zeta of greater than

5
0.7)
% If Rise time of 1 second (which means a 0.7
1.8
0
natural frequency omega greater than 1.8) 0.7
Zeta = 0.7;
-5
Wn = 1.8;
sgrid(Zeta,Wn)
-10
-15
-20 -15 -10 -5 0
Real Axis (seconds -1)
• B is the desired root: we can’t

access by changing K!
• What can we do?
- Change parameters of the
original system: Impossible or
Expensive
- Add a Compensation System!
Closed-loop design by root locus
A Compensation System?
Simple controller system with two purposes:
• Improving the transient response by changing pole locations. (Differentiator
Based)
• Improving the steady-state performance. (Integrator Based)
There are 2 types of compensators (Depending on where you place the compensator
system): Cascade(a) or Feedback(b)
Compensators
Cascade compensation
Compensator design
Lead compensation
Lead compensation
Active lead and lag networks
Principles of Lead design via Root Locus
Root Locus Principles
RL design: Basic procedure
How to choose the zero and pole from phase cond.: Pole-
zero Cancellation
How to choose the zero and pole from phase cond.: Zero
under C.L pole
How to choose the zero and pole from phase cond.:

Geometrical Construction
Lead compensator example
Attempt proportional control
Attempt proportional control
Proportional control, step response
Lead compensated design
Lead compensated design
What to do now?
Root Locus, new lead compensator
New lead compensator
New lead compensator, ramp response
New lead compensator, step response
Note faster settling

time than prop.
controlled loop.
However, the CL zero
has increased the
overshoot a little.
Perhaps we should go
back and re-design for
ζ ≈ 0.40
in order to better
control the overshoot.
Remark points of the lead compensator
• Root locus approach to phase lead design was reasonably successful in

terms of putting dominant poles in desired positions; e.g., in terms of ζ
and ωn.
• We did this by positioning the pole and zero of the lead

compensator so as to change the shape of the root locus
• However, root locus approach does not provide independent control

over steady-state error constants(details upcoming)
• That said, since lead compensators reduce the DC gain

(they resemble differentiators), they are not normally used to control
steady-state error.
• The goal of our lag compensator design will be to increase the steady-
state error constants, without moving the other poles too far.
Lag comp. design via Root Locus
Compensator and Bode Diagram
Cascade compensation and steady-state errors
Classification of the system based on the steady-state errors
Steady-state errors
Steady-state errors
Lag compensation
Frequency response
Lag compensator design
Lag compensator design
Lag compensator design in frequency response
Active lead and lag networks

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Dynamic Systems and Control, Chapter 4: Control Design

Closed-loop design by root locus

%From the plot above we see that there is

Imaginary Axis (seconds-1)

% So in this case, we need only a 0.7

proportional controller to move the poles

to the desired region. -10

% In order to find the step response, you 1

need to know the closed-loop transfer

General effect of addition of zeros

Compare root locus of

Imaginary Axis (seconds-1)

Imaginary Axis (seconds-1)

Motivation example (1)

Consider an open-loop system which has a transfer function of

Imaginary Axis (seconds-1)

axis([-22 3 -15 15])

Motivation example (1)

%Choosing a Value of K from the Root

Imaginary Axis (seconds-1)

Motivation example (2)

• B is the desired root: we can’t

Closed-loop design by root locus

Root Locus Principles

How to choose the zero and pole from phase cond.:

Lead compensator example

Attempt proportional control

Attempt proportional control

Proportional control, step response

Lead compensated design

Lead compensated design

Lead compensator example

Lead compensator example

Lead compensator example

Lead compensator example

Root Locus, new lead compensator

New lead compensator

New lead compensator, ramp response

New lead compensator, step response

Note faster settling

Remark points of the lead compensator

• Root locus approach to phase lead design was reasonably successful in

• We did this by positioning the pole and zero of the lead

• However, root locus approach does not provide independent control

• That said, since lead compensators reduce the DC gain

Lag comp. design via Root Locus

Compensator and Bode Diagram

Cascade compensation and steady-state errors

Classification of the system based on the steady-state errors

Lag compensator design

Lag compensator design

Lag compensator design in frequency response

Active lead and lag networks

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