Lecture 9

Adding Poles and Zeros

to the Forward-path of a CL system

and its effect

on the dynamics of the

overall closed-loop system

Open-loop transfer function Closed-loop Transfer Function
GC GP H GC GP
NC N P N S 1  GC GP H
DC DP DS NC NP
DC DP
Open-loop ZEROS  NC NP NS
N NP NS
1 C
DC DP DS
R(s) + Y(s)
Gc(s) GP(s) 
N C N p Ds
-
DC D p Ds  N C N P N S

H(s) Closed-loop ZEROS  NC NP DS

Affect of adding Open-loop POLES and ZEROS on the Root Locus

 (2k  1)
Angle of asymptotes 
( n  m)

i.e. when
1.a POLE is added to the system (like in the Controller), n increases while m
remains the same. Therefore, Angle of asymptotes decreases since (n-m) increases.
2.A ZERO is added Angle of asymptotes increases since (n-m) decreases.

Therefore when
1.a POLE is added the root locus BENDS towards the RHP.
2.A ZERO is added the root locus BENDS towards the LHP.

The root locus may also shift

1.Rightwards depending on where this POLE is added.
2.Leftwards depending on where this ZERO is added.
Root locus - Exercises
n – m = 3 -1 = 2
2 3 4

x x xO x O x x O x x x
-6 -4 -2 -1 -6 -5 -4 -2 -11 -6 -4 -2

−6 − 4 − 2 + 1 −6 − 4 − 2 + 5 −6 − 4 − 2 + 11
𝜎𝑎 = = −5.5 𝜎𝑎 = = −3.5 𝜎𝑎 = = −0.5
2 2 2

x x x
-6 -4 -2
 factor (s  zi )  zero at s   zi

Point on the
root-locus
s

-zi
O s + zi

zi
Adding a zero to an existing root-locus
Point on the
 Entire root-locus is built using the angle root-locus
condition
 i.e. the angle condition should be
𝜃𝑝2
satisfied by any point on the root-locus X
 angles of all OL zeros and poles should be 𝜃𝑧1 𝛽𝑠𝑡𝑟𝑜𝑛𝑔 𝜃𝑝
𝛽 1
considered from this point of interest O O O X
𝜃𝑝3
 m  X
  ( s  zi ) 
 
 in1   (2k  1)
  ( s  p j ) 
 j 1 
m n

 (s  z )   (s  p )  (2k  1)

i 1
i
j 1
j

   z  ( p   p   p )  
1 1 2 3

Addition of a zero means  addition of an angle to the root-locus

Strong zero means  addition of a LARGE angle to the root-locus

Adding a zero to an existing root-locus

 m 
  ( s  zi ) 
 
 in1   (2k  1)
  ( s  p j ) 
 j 1  X
m n

 (s  z )   (s  p )  (2k  1)

i 1
i
j 1
j O O O X

Strong zero means  addition of a LARGE angle to the root-locus

Root locus - Exercises
2 3 4

x x xO x O x x O x x x
-6 -4 -2 -1 -6 -5 -4 -2 -11 -6 -4 -2

−6 − 4 − 2 + 1 −6 − 4 − 2 + 5 −6 − 4 − 2 + 11
𝜎𝑎 = = −5.5 𝜎𝑎 = = −3.5 𝜎𝑎 = = −0.5
2 2 2

n – m = 3 -1 = 2

x x x
-6 -4 -2
Adding a Pole to an existing root-locus

 m 
  ( s  zi ) 
 
 in1   (2k  1)
  ( s  p j ) 
 j 1  X
m n

 (s  z )   (s  p )  (2k  1)

i 1
i
j 1
j
X O X X

Addition of a Pole means  removing an angle from the root-locus

Strong Pole means  making a LARGE change to the root-locus

Control System Design – Approach 1

R(s) + Y(s)
Gc(s) GP(s)
-

H(s)

1. The plant/process and sensor is usually given/bought off the shelf. So only the
CONTROLER can be manipulated to achieve desired specifications or system
performance of the entire closed-loop system.
2. One approach is to design via Dominant Pole Concept; i.e. from the performance
specifications  find ζ and ωn  A pole location  make this pole location the
desired dominant pole location
3. Manipulate the Controller/Compensator to obtain the above pole/s as the
dominant poles by making the rest of the poles NON-DOMINANT.
4. How to achieve this?  Add poles and zeros to the controller  thereby make
the Closed-loop system to fulfill requirement 3.
Eg: A control system needs to be designed poles of a
such that the overshoot is within 10% and 2nd order system
settling time for a 5% threshold is within 2 s.
s  n  jn 1   2
3
ts  ;  5%
1 n Im
ts 
n 4 n 1   2
ts  ;  2% X n
n
cos 1 
Re
 n
y p  yss
% OS  100% X  n 1   2
yss

1 2
e 100%
Then what is the design goal?????

1.From specs  find location of poles

2.Make these poles dominant and all
other poles non-dominant.