METUAEROSPACE

AE384 Automatic Control Systems - I

Time Domain Design

Prof. Dr. Ozan Tekinalp

tekinalp@metu.edu.tr
Middle East Technical University
Aerospace Engineering Department
06800 Ankara, Turkey
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Requirements from any dynamic system

 Stability
 It is hard if not impossible to work with unstable systems (i.e. flying an
unstable aircraft)
 Linearity
 We would like the output of a system to be proportional to input
 Performance
 Steady state performance (namely steady state error)
 Transient performance (rise time, settling time, delay time, maximum
percent overshoot, etc.

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Feedback systems can

 Stabilize an unstable system
 They can make the system linear, i.e. the output is
proportional to the strength or level of input
 May reduce the steady state error, or make it zero
 May improve the transient performance of the system. For
example:
 Rise time can be made smaller,
 Maximum percent overshoot can be reduced, or eliminated
 May still get good performance when there is (robust against)
 Disturbances
 Modeling uncertainties
 Noise in the system

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Time domain design

 The location of the roots of characteristic equation dictates

the:
 Stability (make sure that they are in the left half plane)
 Performance of the system (place the dominant roots at proper
locations)

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Transient performance formulas

 Transient performance formulas based on the step response

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𝜔𝑛
of a second order system, 𝐺 𝑠 = 2 may be found
𝑠 2 +2 𝜁𝜔𝑛 𝑠+𝜔𝑛
as follows:

  / 1 2 1  0.7 

 max % overhoot  100 e ; td  
 n 
 
 3.2 0.8  2.5 
ts 5%  ; tr 
 n n 

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Feedback Control

𝑅(𝑠) 𝑈(𝑠) 𝑌(𝑠)

+
𝐺𝑐 (𝑠) 𝐺𝑝 (𝑠)
−

𝐻(𝑠)

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Proportional Control

𝑅(𝑠) 𝑈(𝑠) 𝑌(𝑠)

+ 𝐺𝑝 (𝑠)
𝐾
−

Example:
𝑢 𝑡 =𝐾 𝑟 𝑡 −𝑦 𝑡 1.4 𝑠 + 0.3
𝐺𝑝 𝑠 =
(𝑠 2 + 0.8𝑠 + 1.33)
𝑈 𝑠 = 𝐾(𝑅 𝑠 − 𝑌(𝑠)
Δ 𝑠 = 𝑠 2 + 0.8 + 1.4𝐾 𝑠 + 1.33 + 0.42𝐾
𝑌 𝑠 𝐾𝐺𝑝 𝑠
= 𝑠1,2 = −0.4 + 0.7𝐾 ± 0.4 + 1.4𝐾 − 1.33 − 0.42𝐾
𝑅 𝑠 1 + 𝐾𝐺𝑝 𝑠

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Root Locus

 Plotting the roots of the characteristic equation while

changing a parameter in the model, or more specifically in the
control algorithm (namely a proportional control gain).

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Guidelines for Plotting Root Locus

 Root locus is plotted using open loop transfer function:

𝑁 𝑠
𝐺 𝑠 𝐻 𝑠 =
𝐷 𝑠

𝑅(𝑠) 𝑈(𝑠) 𝑌(𝑠)

+
𝐾 𝐺(𝑠)
−

𝐻(𝑠)

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Guidelines for Plotting Root Locus

1. Roots of the open loop transfer function numerator,

(𝑁 𝑠 = 0 ) are called zeros ( 𝑧𝑖 , 𝑖 = 1. . 𝑍).

2. Roots of the open loop transfer function denominator

(𝐷 𝑠 = 0 ) are called poles ( 𝑝𝑖 , 𝑖 = 1. . 𝑃).
𝑠+1
𝐺 𝑠 𝐻 𝑠 =
𝑠 𝑠 + 3 𝑠 2 + 0.2𝑠 + 4

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Guidelines for Plotting Root Locus

4. Root locus is symmetric with respect to real axis.

5. Each locus starts at a pole pi, and terminates at a zero zi, or if
there are not sufficient numbers of zeros to terminate all the
loci, the remaining loci goes to infinity along an asymptote.

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Guidelines for Plotting Root Locus

6. On real axis root locus exist to the left of odd number of

poles and zeros.

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Guidelines for Plotting Root Locus

7. The angle asymptotes make with the real axis may be

𝑛1800
calculated from: 𝜃𝑖 = ± (𝑍: number of poles; 𝑃: number
𝑃−𝑍
of zeros, n is odd. i.e., 𝑛 = 1,3, 5). The asymptotes intersect the
Σ𝑝 −Σ𝑧
real axis at 𝜎 = 𝑖 𝑖 .
𝑃−𝑍

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Guidelines for Plotting Root Locus

8. The gain attains a local minimum when there is a double

root, such as break-in away points.
Δ 𝑠 = 1 + 𝐾𝐺 𝑠 𝐻 𝑠 = 0

1 𝐷 𝑠
−𝐾 = =
𝐺 𝑠 𝐻 𝑠 𝑁 𝑠

𝑑𝐾
− = 0 ⇒break in/away points
𝑑𝑠

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Guidelines for Plotting Root Locus

9. The points, at which a locus crosses the imaginary axis may

be found by substituting 𝑠 = 𝑗𝜔 to the characteristic equation,
and solving for 𝜔. It may also be found from the Routh test by
finding the values of 𝐾 that makes the system marginally stable.

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Guidelines for Plotting Root Locus

10. Angle criteria: For any root 𝑠𝑘 on root locus the following
angle criteria is satisfied: ∠𝐺 𝑠𝑘 𝐻 𝑠𝑘 = ±𝑛1800 , (𝑛 is odd).
This criterion may be used to check if a particular root is on root
locus. It is also used for reshaping the root locus (i.e.,
compensator design)

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Guidelines for Plotting Root Locus

11. Magnitude criteria: For any root on root locus, the gain
needed to obtain that root may be calculated from magnitude
1
criterion: 𝐾 = .
𝐺 𝑠 𝑘 𝐻 𝑠𝑘

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Guidelines for Plotting Complementary Root Locus

5. Each locus starts at zero or at infinity for 𝐾 → −∞ , and ends

at a pole where 𝐾 = 0 .
6. Complementary root locus exists on the portions of the real
axis where there is no root locus.
7. 𝑛 is even (i.e., 0, 2, 4, ..)
10. 𝑛 is even (i.e., 0, 2, 4, ..)

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Guidelines for Plotting Root Locus

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Plotting root locus in Matlab

𝑠+1
 Open loop transfer function:
𝑠 2 +2𝑠+4
 Matlab commands:
num =[1,1] % a row vector
den =[1,2,4]
rlocus(num, den)

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Selecting the proportional gain

Placing the cursor in the root locus, you may find the proportional gain
required to achieve that root location. In the following plot you may observe
the root location for K = 2.54. The root locations are at: −2.27 ± 1.18𝑗 . It
also shows the achieved damping ratio

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Another example
1
 Open loop transfer function:
(𝑠+30)(𝑠 2 +2𝑠+4)
 Matlab commands:
num =[1]
den =conv([1 30],[1 2 4])
rlocus(num, den)

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Selecting the proportional gain

 For 𝐾 = 100, root locations are approximately: −30.1 and −0.94 ± 2.53𝑗
Then, the damping ratio is 𝜁 = 0.34 ; 𝜔𝑛 = 2.7 𝑟𝑎𝑑/𝑠
 The roots are well separated, the dominant roots−0.94 ± 2.53𝑗 will
dominate the transient performance

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Response to step input

100
 Closed loop transfer function for 𝐾 = 100 is:
𝑠 3 +32𝑠 2 +64𝑠+220
 You may find the step response using:
numcl =100
dencl =[1, 32, 64, 220]
step(numcl, dencl)

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Homework
 Check that in the first problem (where the open loop transfer
1
function is: ), if the transient performances in terms
(𝑠+30)(𝑠 2 +2𝑠+4)
of maximum percent overshoot and rise time complies with the
predictions made with the dominant roots and well known
approximate formulas (𝐾 = 100).
 Repeat the above procedure for the second problem such that the
maximum percent overshoot of the system to unit step input is less
than 10%. Specifically,
𝑠+1
 Open loop transfer function: 𝐺 𝑠 = (𝑠+30)(𝑠2+2𝑠+4)
 Plot root locus,
 Select dominant root locations
 Through simulation show that the overshoot to unit step input is less than
10%.

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Questions?

Prof. Dr. Ozan Tekinalp

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