SCHOOL OF ELECTRONIC & ELECTRICAL ENGINEERING THE UNIVERSITY OF LEEDS

ROOT LOCUS DESIGN ELEC5570 – LAB 2

SUBMITTED BY

RAJESH GUNASEKAR (200578848)

SUBMITTED TO

Dr.BENJAMIN CHONG

INTRODUCTION:

overshoot=10% . settling time =7 seconds with the closed system.17 The open loop transfer function Q(s) can be derived from  1   1 + sτ 1  G(s)K(s)=Q(s)=     s(1+sT)  1 + sτ 2  Appling the values in the Q(s)    1 + 2s  1 Q(s)=     s(1+10s)   1 + 0.5 second . 1+sτ 1 1 + sτ 2 τ1 = 2 τ 2 = 0. compensator K(s) is defined as G(s) = 1 s (1 + 10 s ) K(s)= Where. THEORY .17s  With the help of G(s) system and K(s) dynamic compensator the MATLAB program was done and the root locus is plot with the open loop transfer function Q(s) There are TWO root locus on the real axis ANGLE OF ASYMPTOTES: Q(s) is the Root locus of the given system -(Qas ) n + (Qas )m = −π ± 2π l -Qas ( m − n ) = −π ± 2π l .to design the given specification in order to meet the Rise time =2.CONCEPTS AND CALCULATION: In this system G(s).Designing a controller using root locus method with the MATLAB instruction and then to obtain the open loop system by system G(s) and compensator K(s) .

τ 2 and T.5 Frequency ωn ≥ .5 seconds . ωn ≥ 1. 180° INTERSECTION OF ASYMPTOTES: X= (0 − 4) + (0 − 1) + (0 − 1) + (0 − 2) 3 = −4 3 X=1.3.a) The design specifications for closed loop system: i) Rise time (tr) – 2.2. 60° .33 The points on the real axis determined by satisfying the equation dQ( s ) =0 ds ( 2τ1τ 2T ) s3 + (τ1Τ + τ1τ 2 + 3τ 2 Τ)s2 + 2(τ2 + Τ)s+1=0 Verification of polynomial by using the third order polynomial in s.60° .…) n−m n−m Qas= .8 =0. Q(s) = 1 + sτ 1 Ττ 2s + (T+τ 2 )s2 + s 3 Tτ 2τ1s 3 + τ 1 (T + τ 2 ) s2 + τ1 s − 3Tτ 2 s2 − 2(T + τ2 ) s − 1 − 3Tτ2 τ1 s3 − 2τ1 (T + τ2 ) s2 − τ1 s = 0 ( 2τ1τ 2T ) s3 + (τ1Τ + τ1τ 2 + 3τ 2 Τ)s2 + 2(τ2 + Τ)s+1=0 2.whose coefficients deponds on τ 1 .8 tr 1.72 2.1.Qas = π 2π l ± (l=0.

5 0.996 System: ols Gain: 0.54 iii) settling time (to) – 7 seconds.984 -1.35 0.61 to -ζ ωn ≤ −0.1 ζ ≥ 0.86 -3 0.5 ζ ≥ 0. from the section 1 learned about how to plot the root locus with the help of MATLAB and determined the value of gain K.76 -2 0.054 .5 0.0623 0.35 0 1 Real Axis In this root locus the lowest gain K is obtained with the rise in time of tr=2 seconds .659 b) By using the compensator used in section 1 the root locus is drawn and take the lowest value of gain K is obtained from the MATLAB .0383 Pole: -0.1 and settling time = 7 seconds.0383 Pole: -0.0.5 0.96 1.417 Frequency (rad/sec): 0.6(1 .417 Frequency (rad/sec): 0.996 -1 0.984 1 0.58 -1 0.659 ζ ωn ≥ 0. -ζ ωn ≥ −4.58 0.os)=0. .868 Overshoot (%): 0.031i Damping: 0.ii) Overshoot 10% or 0.92 -4 0. overshoot = 10 % or 0.5 Imaginary Axis 7 0 6 5 4 -0.86 0.92 0.054 + 0.868 Overshoot (%): 0.76 0. Root Locus 2 0.96 -2 -7 -6 -5 0.031i Damping: 0.0623 3 2 1 System: ols Gain: 0.

6.217i Damping: 0.35 Imaginary Axis -0.0.58 -1 System: ols Gain: 4.5 Overshoot (%): 0 Frequency (rad/sec): 4.5 0.6.766 0.766 4 3 2 1 0. %plot the root locus rlocus(ols).1.51 0.96 1.1).735 + 0.%open loop system Q(s)=G(s)*K(s) figure(1).92 0.58 0.17.86 -3 Real Axis 0.35 0 1 STEP RESPONSE .86 0.96 -2 -7 -6 -5 0.959 Overshoot (%): 0.984 -1.0024 Frequency (rad/sec): 0.51 Pole: -0.5 0.17 Root Locus 2 0.y).[0.984 System: ols 1 Gain: 4.959 Overshoot (%): 0.76 0. τ 2 =0. grid cls=feedback(1.735 .51 Pole: -0.%closed loop system [y.0024 Frequency (rad/sec): 0.RESULTS AND DISCUSSION : MATLAB code: sys=tf(1.76 -2 0.92 -4 0.%plot step response of closed loop system plot(t.1]).996 -1 0.5 0.1].%dynamic controller K(s) ols=sys*con.%plot result grid ROOT LOCUS with τ 1 =2.%system G(s) con=tf([2.t]=step(cls).51 7 6 5 0 System: ols Gain: 4.56*ols.[10.52 Pole: -4.%step response of closed loop system figure(2).996 Damping: 1 0.0]).217i Damping: 0.

overshoot 10% and settling time is 7 seconds and the lowest value of gain K is also plotted. REFERENCE: MODULE 5570 control systems and design Dr.benjamin Chong handnotes. got the angle of asymptotes and intersection of the asymptotes with real axis. 4 0 . 8 0 . 1 .s pepne t r sos e 1 . 6 0 . 2 0 0 5 T e e) i ( c m s 1 0 1 5 2 0 2 5 CONCLUSION: The given transfer function G ( s ) = s (1 + 10s ) is done and obtain the values of parameters with the given specification such as rise time 2.5 seconds . 2 1 0 . 4 1 .

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