Rotational Motion

Torque Jx
Jddf Jdd zO
J
T Jug
0 angulardisplacement
g g go w
angular velocity
T Ja x angularacceleration
J Inertia
Fsictional Force
Damping
7 Dddf Ddated ay
g o
Lw
1 D di di

Spring Force
K Twist Force T KO
MMM uca
w
T
ay

system Example
F appliedforce
DddIt Frictional force
D
do to Ko Twist force
ZE Ja
Net force T Ddg Ko
Ja T Ddozy KO

JeffO T
DH
KO

T KO T JO D8 KO
JddItz DddI
TG Jsiols Depots KO

TCD 06313413 1k
OLD
TTD J tk
 Rotational ElectricalSystem
Comparison of Translational

I
J
autonomy
V
K HID c
11111M
I
Jddttftdddf.tk I Ri V
µ Iu Lddi 1

J e DO 1190 8

Mdqzn Ddff.tk't
VF Lda Rdfftq
v Lif Rp
Icq
F Mii 1 Die 1km

Motor
Example of a DC
Ra la st

mummomy i
a
0 f.Itx.p

y.iq
SB
Eb
Va iarathdia
Iacs Ebb
Tf an
Vals Iacs Rat
e
Iacs bCD Va
Rats La
E
B E of the Dc Motor D
Eb Kb'w4 Kbw If KW
D
Eb s Kbwls Kbwcs

Torque ofthe DC Motor

Tx Ia Tx If T KtIaIf T KtIa 30
 B EMF constant and torque constants are equal Kb KT K
Eb s Kb Wls K ws
TCD Kt Iacs K Iacs

v
t.fi ID
t.EE
Let us considerthe Mechanical Systemof the motor

1 Ja t Bw TL
T Te Jiu Bw B
TG Tls Jis Wcs Burls
y
1

1 s Tds Wcs Js B

w s Tds
Tests 0
g 4
or w s T E El
Js B
Tds

Tf EDkt 5
y
a

t.EE s.tI
Speed and position are related by Ecs Wcs
west
S Is
 Tls

Tf IDkt O TEE's
5
f
a

t
Wes Old
k
yX Rat 8ha Js B
Esco
i closed loop transfer function
a
967
EHS
i K
tease Est
S LRat
K
LaXJ B K2
OCD I

F
If K
y
Ratha Jes 113 K2

Y D Ratha Js 113ft
OLD
skRa tBk
State Space Model of a DC Motor
A state Matrix
General form Xo AX BU
B Input Matrix
y CX 1 DU
c Output Matrix
D DirectTransmission
Armature voltage equation matrix
Va LDIata Raia Eb
Eb Raia Va KwD
Eb
Ldaia

data Ew Razia Maz

Mechanical System Equation

Tx t B w t TL T let us assume that load

torque is zero
Tx T Bw
Jw T BW T Kia
J w Kia BW

dw hi Ia Bye w

Feeney EBO

Ii H II l H ta o

Cova
f
fig
I o
Inverting Amplifier

is
vi apt

Ei 4
Integrator

vi
mrr.FIEIi vi
maf
rites

i
maf 7 c.IE II1vois
ret Hz YI Fei

eff f
 PD
Differentiator

ii
D
Ra
Ap Chasity
r
f
T Ds
e
iiiiE I
Rrf Rrt Racists

Proportional Integrator CPI

ui
mhgp.EE
v.ui mifD.TE gffI
racist Eih i
jKIIIj
i

VI th 1 Ya Edna fail

7 i f AE
Ii i E m EL

i
it
i

D RzGRl4s2 CRi4tRdzH I
Volpe RGBrt.bg
z fR R

i fries K ret
Yeh
Eff racist Charity had

hit at

HTEat FEE
at
try
Poles and Zeros

A complex number fo is said to be a pole of complex

Variablefunction FCD Flsa a

A complex number o said to be the

ifis
zero of a
complex variable function FCD FCS 0
if
Examples
f s B 1 St 2 poles 3 4 zeros I Z
8 13 4

F s Stl
5 28 t 2
poles Hj I
j zero I

Matlab commands poleGsys zero Sys

Pole
zero map G plane
jus
A
jus
A
S Gtjw s Gtjw
S i j
5 1
a X a O
s y 39 2 II G axis
real
G axis
real
s I
j
v v

Matlabcommand pgmapcs.gs

Response of a System
The time response represents how the state of a dynamic
system changes in time
when subjected to a
particular
Input
 Test signals

commonly used test signals to determine the response

of a
system Impulse
to
Impulse Input i i
a

Step Input LESCH L

Ramp Input i
acceleration Input 8A
Sinusoidal Input
White noise
step Function
A
A
ult E a utter
g
UH I

t 0
tio te t Is i
t to
f
L ult ToutsEst Estdt L uffe J test
fest L utter fest
L Katt Displacement L fit effestFCD
where fits EFCD

RampFunction
A
rH7 At
Lqritp gqaty fatestdt tfL4rHTg
ftfest A.se
At 2
 Parabolic Function Acceleration Function
constant acceleration
f f At2
L fits LEAH At estdt
Atf
L At
f Aptest 2 e
2,1 Esty
LEAT SATs
17
C

Seriosoidal
InputFunction
faksincwt LqsinCwtB LqeJLjeJhtg
iwtje_stdf.t
gIjff juIe

N
cs.int costs'wH
dt
E lzjgfce e

Es te's III
fqsinkotif sw wa
I.gl w sttjwFsIwz
Response
Impulse 1
asf
Sta
Htt
Rls L 8432ft CC GCD a
1
CCD Gls at

Le
Sta
I'gassy Eat
siesta
 Unit Step Response acts
5
Input UH Output
gas

Suppose 962 22
56
St 3
t o
qt t
Input sit act Rls Yp
Output att RCDGCD

aD RCDGlD
f5E 512ft 1 III 3

CCD 3T at St
5342 t e 5312 e

Example The step response ofthe System is given as

3T
yet G GzEst e

Find transfer function of the system

Derivative
ofthe step response gives Impulse response
Impulse response dy 4 Est zest

294est
H
L Impulse Response se

5 s z is
GCS S 3
s 13 Sts
Time Response
The time
response of linear dynamic system consists of
a

the sum transient response and steady state response

of
transient response Depends upon initial conditions
steady state response Depends on system Input
transient state Initial state Final stats
Time Response
Steady state when t o

H Cult Gss Ct
t
Thisfinally goes to zero

Naturalresponse transient response whenInputiszero

Response to Initial conditions
Response
of system's pole
Forced response steady slateresponse Because
of appliedInput
External Input
Response
of incomingpole
Example Gls Std ajw
5 5

RID 4 s a CCD
5 X
5 5 5 2 6

Ccs RCD GID

Stas
C 15
ats
If 3 5175 Ffs
t s
Is Is e

t avid response
Forced
response
 System's pole
Inp pole systemzero
Ajw
Jw Ajw

X O P X
5 2 5 5 6
zeroeffectsgain
system
Informs s
e f pole
Ccs 2 3
55
15

H
Is Zest
Forced Natural
response
response

Example
CCS
5 3 RC L
RCS 5 2325 436 5 IS

cash k 1 skies FIT It's

Ke Est
2T ht
t K c Kz e Kz e
t
Forced
Natural Response

Sesponse

Equilibrium State the output stays in the same

If
state in the absence of
disturbance
any
Stable An system is stable if the Yp
LTI
comes back to its equilibrium state when

subjected to an initial condition or

disturbance

Critical Stable If the Gp oscillates continuously forever

with in the boundries
Unstable Output never comes back to the equilibrium
state
Bi Bo If we
apply
bounded
input and get bounded
called stable
output BIBO then the system is
system
 First Order Systems

y ay
bu or
ty y k.de U

SYD a'XD bulb KEY Yes K'die UCD

YG Sta buts Y Is 11 Kde UCD

b Y Koe
Sta g Est L

Gls ba_ Kde_bla

Yais 11 E Ya
Kde Eet Completely define the characteristics of a first
order system
Kde DC gain
E time Constant

Step Response Gcs RID

1g
b b
Ccs Gls Rls l
Ts go Sta

Ma E ya Kdc Ha
5 8 1

it as Kde
Hetty AT effs
T
f Kde A SITH 1136
B KdeTo
Lets0 Kde A Let s Yr Kdc Bf

ask Kofi Koffi Kdf f e

Kde HE
L'gasY Kde e too
th
Clt Kde l e
If t La I clt Kde l E 0.632K de e 0.368

t Za 2T Clt Kde l Et O 864 Kde e o 135

3
t sad 3T CH Kde l E't O 950 Kde e 0.0497

4
t Kdefl Ht 0.9816 Kde e 00183
Ia 4T Clt e
Tv 1 rangeof2 1

t I 52 e Ct Kde l Est 0.9932 Kdc

a a 1 range
of 1
Lt A Kde L
0.9932
0.9816 t
9 i
o 950 n
i I
0.864 i i
I l

I l
ILi E l
l
r
l
I
l
I l l
t t l l
l l l l l
l l l l l
l l l l l

Tune Constant E Ya
at
time for e to decay to 37 of its initial value
time for step Input to reach 63
4 of its final value
a exponential frequency
th
Initial Slope ca Kde c e
k
deff Kdaf Etty Ye Kde e

initial slop can b fined with it

for t o dat Kde
Tf
fate c d
i t
Final slope
Ed
tf _tea
e o
date

ddqdty
ot
positionofpole GCD kde
1 11
poee.se yr
L
Polemovestowards a
Ajw a
S a
Systeinresponce_faster
9
4
Colo
8 1 p
I
S a
k

ca a Kde L 0.9932
oasis
0.950 n 9 i
I
i
0.864 i i t L for High
hit i
Taos
r i l
at
pole movingtowards
ie l
l I i i origin
i
r
il tiiI r
i
i
f
i
Rise Time
It is defined as the time forthe waveform to go from
o l
Gol to 901 of its final value
CH Kde l Eth
TCS
qk stepresponse
t't TYE
I e HE I
0.9 I og e 0 e
Clt
tyg take
city i e tak o s l o I e o a e

YaltaTD TD
o e the the e La ellett
g

lulla Eltz Te 2.2 Yeltz TD

Tr
2.2T h tz
Rise time i Tr 2.2T or Tr 22
a

Settling Time Is
It is defined as the time for the response to reach
and stay within a certain yo Ci e 21 the
of steady
state value for the step input
ft 0.98 3.91
th
I e o.gg
THE Ts 3 91T
I e o.gg
K
e O 02 TIS 3 Ts EI
h Est
a
lu 002
 Unit RampResponse 1
Kde I Gcs
9 Kde If a b
ST 11
ST 11
RID 1 2 RID CCD

k
Ecs acs RID 1
1

cos
Est s

945 CHI t T Teth

A ehor eH sCt Ect
suit t ft Ittette
i elf
in steady state to
T Hrc
Ee

eco E

Unit Impulse Response

A
1 RCS L
GCS
ST 11

R 1
Ccs _Gls G zectklze.tk
ST 11
uh Iqass If teeth
with Dega'm I elseLefebre

ttc
clt.sk e
Important Propertyof LTI system
th
Ramp response cut
r
t I I e

l e
the
eu
step response the
e
Impulsebespanse q.lt
day Celt It

day Cdt Ci Ct
SecondOrder System

ACS Kde Wrf Wnt Kde L

S2 1
ZzWn Wn 4 2gwn t Wnt
2
X tics Equation 95 23win Btwn O

G E
btzfab 4a e e
2zwnt.TT
2

2
J Wn I Wn
TF
Cases If z I

8 z Wn I Wn O Wn Wn Ajw
poles are real and equal
poles lie on the re taxis
CAM X 7
s win taxis
called critically damped

Case2 I
y jw
If o
y
8 is I Wn
zwn Ajw
si
z
g Wn
Ij Wn x jwnFz2 jwd
Poles are complex conjugates
f axis
Poles are located in 2nd 63rd Quadrat i 3Wh
i
Underdampedresponse Sz
jwnFy jwd
jw
Wd Wn
F
Step Response cash

to
Case3 I
Z aJw
z Zurn wings
Poles are real and unequal
010
no imaginary term G 1 so Gui a X o s
poles lie on Her G axe's fun a aan

gwfwnrzi zwktw.rs
FEI Cy Roots
on ve
are always
d axis
Overdampedresponse v
jw
CCHA

Case 4 o
a t
71

g
2 3Wh Icon
ajw
si Sz 0 I Wn FI Xjwn
Si Sz I j Wn
a
Poles are Complex with only d axis Gaxis
imaginary part
lie the axis
x jwn
poles on
jw
poles are conjugate
each other
of v
jw
Undamped response
A
Clt

ioshignite
Case 5 I e so ajar
g
junk
IS 2
Z Wn I Wn 2

Zwn jwnFz
2 a i
s
taxis
poles lie in Right Halfplane gin am

Unstable System junta

Complex poles via
Chhbourded response
Clt A

wtf S

Case 6 I
g
S 2 3Wh I Wn
Ajw
z t Wn Wn
RHP
Poles are real and equal
lie G axis E
on Her toe
fo axis win
k ans
Unstable system

at Jw
 Cadet I jw
JC
9g z
Zwnt Wn gun wnf5I zwn wnT5
is
Zwn I Wn
fX
z

f
fgI Z
the 6axis
d
to am
I X
Eaxis
poles lie on gun
poles are real
unstable System
T'w
uspense

Root locus
Atjw
famped

is L
a
jwn
B
conformed o'a Ikmastable
F
371 µ z I
s X se X X i
6axis Wn Wn 6 axis

a
371
overdanuped
r
1 jun
053 T
x

v jw
Step Response for Critically Damped SecondOrder System

a
f42gwn8turn
Ccs Rcs G
aces
RID w
unit stepinput Rls
2 for
123Wh1St Wn2
Ccs Wn
842gWrist 1
For critically damped system
g I
c
s.FI wri scsYIwn htcstBwn5IEnr
C
sc.IN AztesIwni stun 2

2
Wrf Aktion 1 B turn 1 is

win A 872Wh Btwn 1136121 Wn Cf

Lets 0 Wn Awn A
2 13
Comparing terms in eer A At 13 0 1

Comparing
teams in eg A 2wn At Burn c O
2Wh Wh 1 C O
Wn

fin wm f Eun E
1 ws n E9
I I ewht
s Eun
went
FEI
CHI wht e
Wnt
Ct I e Hunt

Clt A

time
 Response of Undamped o Second Order System
Step g
0
k 5 s.fi
as
s wn 3 Yes

as
sYIwn.xR sYfIwn for step response
CCS Wn BE C
4why AI t
84h2
Wn Austin Bite
lets O A L Items A 113 0 13 1
terms C o

Ys w t s in
sista silts wn

acct I Cees cont

CHIA

i
Step Response of Second Order System
0
an Underdamped
321
E
f Finn a
f42gwn8twn
Ccs Rcs G
aces
RID w unit stepinput Rls
2 for
123Wh1St Wn2
Wn
Ccs
L 842gWins 11
CCS Wn2 BtC_
1842gwnstwny 42zWn 1Wh
Wn AC 42zwn twn2 143 c IS

5 terms A 113 0
terms
2gwn At O
Lets 0 A L fran 13 1 fear C 28Wh
Wn2 l
6423wnis wng g 2zw.nl
S2t2gwn tWu2
town
Ts IfYgwnns
423WhBtwn
Now 2t2zwn twn 152 2 gun
2
gun gun t Wn
843Wh yawn Wn
wd wnF32 Igwn5twn2 I
gy
sitzwn t Wd2

ust
sa.IT wny pt csEztwIfIT cIIznwnTtwd

Is cssfgtwfff
wdz FFz cs.FI twd
Tables
Using Laplace

e Zwntheslwdt e Gmt Sin wat

Iz
Ct I
 wit
c Ct I eZ
f Cees wat
7
sin wat

It I wat t Sim wat

Effngtaffza as g
Lot cord
g
adat sink I

to
i
aim
a
tariff
c H i Ent sin x Ges wat As a Sin wat

qz
ZWnt
CHI I e Sin Walt x

I
CHIA Sesponeefenundampedsystem
z
I fE
Steady state Essor
It is the error between desiredInference output and actual
the system when time't x
output of
Considerthe
system
If msn.IR
Els us
I
His
unity feedback system
1G Clefs GCD TCD 9
It Gcs Hls It Gls

Cls GCS RI
E D RCD Ccs Hcs It Gls
E s RCD CGD
RID 947,44 R l R
Cis
ff if
Ecs Rls
i

e N ht'n eH bingo Ets If'n o Is R

It Gcs
e king SIR ess higo RCD
I 1 Gcs tag
 the
Type of system
Type of
the system is defined by the number of polys at the

origin of s plane

GCS K Ta t 1 Tb 1 Tm 1

BN T 1 Tz1StD Tp 1

N o Type o system No pole at origin

N I I system one pole atorigin
Type
N a system Two poles at origin
z Type

Calculation of steady state Essor

Steady state error is calculated for threetypesof inputs

step input R
Rampinput Rest
Parabolic Acceleration RG
Steady state eseorfmuuitstepsy.at

hino tats
esse him ff sling
g
1 let us asThe static
ees define bing.GG
1
this position euor constant KP
1
Ees
It
Kp bigg Gts
Kp

For Type 0 System

lying K Tais 1 TbsTD KIL I K Ess
Kps Is 11 Tz 1 1 L

For Type 1 System

sess f o
fIIIY
ao
ke hseokftg.IE ko
For Type 2 System
ess
L 0
fIIIY
a
ke hino kffaf.tt I ko

esse
the fan type 0 system
esse O fer type I as higher systems

Observations

Kt easily
If
Integrator is used in the o
Iffeedback look es
Steady state escorfer
RampInput

ease limo Rls Risk

Ians
ees limo his.si as hsEsosaTs

e 1 Let usdefine big 46 as static

bigots velocity euros constant Kv
Kv big isGes
e I
Ko

For Type 0 System

Ko lying 9k Tais 1 Tbs11 O K.LI I O Esse D
Is 11 Tz 1 1 L

For Type 1 System

lug'n
ofKTafDlTbktD
1 ISH L L I
K ess
Iz
f CT
For Type 2 System
IN O
lug'n K Taft 1 Tbs11 a ess
o
t T

Ees N for type o system

e for type 1 System

e 0 for type 2 alerigher Systems

Cf
A CH a
sets ret

t t
 Steady
state essor
for parabolic Input
4 lying Rls Rls
g
limo limo
ess limo t s s

ess 1 Let us define 296 as the static

limo acceleration EssoeConstant ka
ka knights
l 1 Seo
Ka

For Type 0 system

ka lying K Tais 1 Tbs11 O k 1 L O Esse
to D
11 Tz 1 1 I A

For Type 1 System

ka ofk Taf DlTbHD
leg'n
ISH I L L
o ess
to D
8 Tilsit
For Type 2 System
z

ka DCTbsD
lujgoskfaf K.LI K ess Tg
77511 ISH
For Type 3 System

ka bin Ek Talcott Tbs11 a esse

tg 0
S 3 LT sit 1 128 1 to a

e N
for type o Eetype 1 System

cess
for type 2 systems

3 and higher Systems

e o
fer type
Summary

Acceleration Input
StepInput Ramp
Spit
Rls Y Rls _4,5 RID e
Ys
SH e I rel't sit It
o as a
Type
Type I o a

2 O O
Type
O O
Type 3 O

Kp lesigo Gls ligne a Hls

Kr lying 9157 lyin 6157 Hcs

Ka limo 2915 big 915 Hcs

for Unityfeedback
Hls I
Effectofcentral Action on System Performance

Proportional Control of a System

Test Is
R

Elst RCD cess or I

Eggs RlDpif Cr s
Eb fl T Rts I
Er g ff t

ECD I RID

Now Gcs K Ecs I RID TBI R

T is I l t K_ Tests 1K
1 1

ECS Tat I
Ist Ifor unit stepInput
ess lsinosECD leigsof.SI
a I ess
 Centrol Action
Integral

T 9 GG K H L
p 1191 HID SLITS11

TG K 74 K
Sts 11 K Ecs 9k 71 RCD
It K_
Sts11 81751 1 1K
TCD Rcs IS D fbwtg.FI
ECS fl Ecs
t tbyk
orEcsl
L jfRcD ess.higosfcsl lismosfss.IE
C s CT tD I
RTs Tg 11 1K legs O

Cardigan Integral centred eliminates the steady state error

Response to Disturbance with proportional
Control

O
CD ECD R
DTD J B Kp is 5
for a unit step disturbance DC
EG
0
DID I
DCSD Jes 113 tKp

ess lying Eb lying

5 93 Kp p
lessI I
Kp
Higher the value of Kp the error will be reduced

Response to Disturbance with P I Controller

Controller T F

ElS7
Kp Te

a
ki

Kp t
ki E s
Consider R D
e TIE KPL
a
i y
a
133

Kp Hts
TEE Kp
fit
Ti KI
Ki
Cj's ts 3
Kp11
J Tx'tKp 1k

9 Jfs
93,5
Kpis 1k

ECI R
DC DCD Tg't B 2
Kps 1K
for unit step Input

E s B
2
J Est B Kpis 1K

ECS Lein O
esse big s o Jg3tB 4Kp 1k

the PI Controller is used less is reduced to zero

If
Because of fluid order CP I control Introduction the system may
become unstable
at certain value of Kp and Ki
Second order the coefficients in
system is always stable
System differential
equation are if
all positive
Derivative Control Action
Considerthe system
egg 7447 kp
Inertia
load charatuistics Equation J 4 kp O
si k 8
jkgI

PD Centioller

Kp
CCD
E 1y kptkd.IS
egg
a
Kp Hkfg
Kd B It'd
FCS Kp
where Td Kd
Kp
Inertia Load with P D Controller

Cp Kp HISTd 2

KpGt Td z

CCD Kp Its Td
RT J 2tKpTdStKp
 r CCD
Example Kt o6
n A If g
Kts C

20
tsc also I I 78
Kts C qIj 2 g k takes

GCD 20
52 12 120kt
R 20 CCD
c 20
1 6412 201478 12T
a RTs 152 12 120kt

Characteristics Equation 92 12 120kt 120 0

Standard Equation sit 2g wrist Wn O

wife 20 wins T20 4.472 lad sec

2120kt 26 6 4.472 2 120kt
2gwn
Kt 0.16832
time domainspecifications

TI Fod 3.7 O 8777 Sec

wnF.gr g qfgpyo.gs

Mp too x e 3 9.49
Ts 0.64 1.49 see
g4wn 7472
949 0
ay

06
3
wn 4.472ladle
Wd 35776 hadfree
0.877See
1.49Sec
Example 2 Calculate
C
b g Eun wilt controller Kd
n
Deo A
a

2 Kd for o G
Ekd C
g

915 60 and H L
K 4
cess
RTD
I SE s
z YgI
s 6 s so s n

conGo Wn Fo 7 746 rad sec

2gwn 4 Z Sewn
7.16 0 258

a'G I
K 4
ykd 6514 1 Kd is 821 4 Kd X
u

9 S e 60 HIS I
8444 Kd 8

9 7 60
p 1 9 HID 414 Kd 160
Wn Go wn f6o 7 746 lad sec

2gwn 4tKd Kd 2zwn 4 2 Co 6 7 746 4 5 2952

Kd 52952
Example E g far unit stepInput
Determine
ses
qL Determine
z Mp Is if a
PD Controller is introduced

Without Controller
Kp L Ee Kd I 30

CCS 120 120

RCTs 81 12 63 1120 92 1 12.638 t 120

Wn 120 Wh T20 10.954 rad sec

23Wh 1263 12 63
Z In
O 5765

with Controller PD Controller

i
a l
i
I sesia a
i i
i i

Gcs 120 It 4 8 130

81 112.63 412.638
Ccs 418130
2116.638 1 120
Wn 120 Wn 10 954 reed see

22gWn 1663 16.63 0759

g F
i

YoMp e 1 o 0257 2
571
Ts 4 0.481 Sec
Zwn o759 gsT
Example E g far unit stepInput
Determine
ses
qL Determine
z Mp Is if a
PD Controller is introduced

Without Controller
Kp L Ee Kd I 30

CCS 120 120

RCTs 81 12 63 1120 92 1 12.638 t 120

Wn 120 Wh T20 10.954 rad sec

23Wh 1263 12 63
Z In
O 5765

with Controller PD Controller

i
a l
i
I sesia a
i i
i i

Gcs 120 It 4 8 130

81 112.63 412.638
Ccs 418130
2116.638 1 120
Wn 120 Wn 10 954 reed see

22gWn 1663 16.63 0759

g F
i

YoMp e 1 o 0257 2
571
Ts 4 0.481 Sec
Zwn o759 gsT
Example E g far unit stepInput
Determine
ses
qL Determine
z Mp Is if a
PD Controller is introduced

Without Controller
Kp L Ee Kd I 30

CCS 120 120

RCTs 81 12 63 1120 92 1 12.638 t 120

Wn 120 Wh T20 10.954 rad sec

23Wh 1263 12 63
Z In
O 5765

with Controller PD Controller

i
a l
i
I sesia a
i i
i i

Gcs 120 It 4 8 130

81 112.63 412.638
Ccs 418130
2116.638 1 120
Wn 120 Wn 10 954 reed see

22gWn 1663 16.63 0759

g F
i

YoMp e 1 o 0257 2
571
Ts 4 0.481 Sec
Zwn o759 gsT
The transient response of a closedloop
system depends upon the
positionof poles
the system has variable loopgain the locationof the closed
If a
on the value of the loop
loop poles depends gain
R
K s Gcs 9 openloop KG HCD
a Feedforward KGG
Hcs

Ccs KG Characteristics Equation It KG Hcs O

RTs It Kats His The roots poles depends upontin k
goin
The position closedloop poles in s plane as the loop
is charged
of changes gain
An appropriate value of K can beselected for desired locationof
poles
gain alone doesnot yield required position
the a compensator is
If
used
RootLocus Method Developed by w R Evans
Roots
of characteristics Equationplotted for all values of
are

Usually the gain is varied from o

a System parameter x

to see the position of w loop poles in S plane

the
Using root loves one can predict effectof varying gain
on the location
or
adding open loop poles and open loopzeros
closed
of loop poles
Root Locus
Considerthe closed
loopsystem
as Kab
h K s Ges Cpg It KGb HID
a
Hcs

Characteristics Equation It Kals Hcs 0

KGB HCS I

Gcsi HID is a complex quantity so we can write two

equations by equating magnitude and angles of both sides

Magnitude Condition I KGCs HCDl 1

Angle Condition ka HID 18812g t 1
where O L 2 3
q
All values of which fulfill the magnitude and angle conditions
are the roots of characteristics Equation closedloop poles
The locus points in the complex plane satisfying the angle
of
condition alone is the rootmum
loves
Magnitude condition can be used to find out
closed
looppoles
value of gain 12 or vice versa
for given
The soot loci forthe system are the loci of the closed
poles as the loop gain K is variedfrom 0
loop

The generic characteristics equation can be written as

I t K is g 8
32 ft Jm O
pi
1Pa
Capri
m no
of open loop zeros
n no
of open loop poles
Angle of a Test Point
Suppose a
following system is given
HCS K Cst3D
Kals
1Stpi DtPD Sfpd tPD

The angles quantities originating from the openloop

of complex
poles and open loop zeros to the test point is are measured
in the counter clockwise direction

Pz and pa are re deal poles

pz and pz are complex Conjugate

s is the Testpoint
129153
Hlf 4 0 Oz Oz 04

ZHEN E layoff
I KG HID K B1
At Az As A4
Note The complex poles or zeros always exist as a conjugate
pain and symmetrically located about the real aai
Root locus is always about the real axis
symmetric
the root locus is constructed draw The
If
upper half of
of upperhalf in the lower half plane
minor image the s

Determine which partof Her real anis is the partofrootloan

Example
915 K H CS L
SCAD 2

Kab Hcs LE LE LE
I 180 2g l
of
0 I 2

KGB HID L
K_
S S DCS12

Ajw Ajw

Testpint

X
o oo
X
Z 180
64 Xs f ng Q o f
5 2 S I 5 2 S I

v jw v jw
O 1800 188
satisfiesthe conditionofangle
Real axis fan o to 1 is the partof
soot locus
 Ajw
O 188 Igo
Testpoint
360
Coo
f 480 480
64
5 2 5 1 so b angle condition is not satisfied
Real anisfsan l bi z is not
the partofroot locus
a jw
Ajw

O 188 1800 1800

Testpoint
Ligo 480 480 5400
O X X X D
64 5 0 A
5 2 5 1 angle condition is satisfied
Realaxis from 2 to O is the
Patof the soot
locus
wjw

Ajw

Potton Rootbows

givorootloas
Z z
X X X x
64 5 1 5 0

21
5

Noroot
lows
v jw
General Method of Root hoeus
Symmetry Rule I Root locus is always symmetric aboutThe
real axis The roots are either real or complex conjugate or
the combination both so the soot locus is always symmetric
of
about the real axis
Rule 2 Numberof Loei
0L TF poles n

OL T F m
zeros
No of soot loci n
IfEach locus
m m

start from the open loop pole and

will
will end on the open loop
zero
No of loei ending an x n m

Imagine the zeroes at the infinity

Total number of loci no of poles n

Example GIS HCD Kl s 12 poles n 3 Totalloci n 3

SC 1 4 m I
yews
of loci ending at a
no n m 3 I 2
The loci will start
from I 4 Ee o and will end at 2 and
othertwo will end at infinity in

Rule 3 Real Axis Loci

Some loci will lie on real axis A point on real

the
of lie on the root locus
axis will and only
if the sum ofif
oh F poles and zeros to eight ofthe point is an odd
number
 G HCS KCB12 zeros
s 2
Example 1 4 poles S o 1 4
Ajw

taxis In s Eo kami
g Eng
k
RL
RL

x
jw
Rule 4 Angle
of Asymptotes
as n m that is no
of poles greater then zero
are

n m branches will move towards the and these

infinity
branches along a line called asymptote
move

An symptote is defined as a line on which the root locus

touches
infinity
n m
no
of asymptotes
calculated as
Angles for asymptotes are

0 29 1 188 K
for O

where 072 z en m D
q
O
3 x188 for KO

O l Z Ch M l
of
Rules Center
of Asymptotes

The point where the asymptotes touch the real axis is

called the centriod a and is calculated as

G 2 realpartsof polesof Zeealparts ofHlszero of

a It Gls
h M

Example GG Hcs KG 12 k O
81st 1 is 14
n 3 m I n m 2 M m l L q
o I

No of asymptotes n m 2
0
q o
14
21 188
Iz x 188 900

q I O 29h11m 188 3
2
1800 278
Centirod O l 4 C 2 I 5
2
521 32

Ajw

275

E sEas.Et 5 1 xs.o f

43
asymptotes v
jw

Mattals
I 2 I 5 9 03
y tf
slows y
or
slouisplatly
 Example GC HCS K K o
BCS 11
f stitj
n 3 m O n m 3 N M 1 2 O l Z
q
9 0 D 2qn m i8o 13 1800 600

9 1 O 2q m l8o 1800 1800

32
2 D 1800 3000
9 2q m 18o 55
Cartridge I O I O O 667
Iz Ig
I
jw
S A

18 30
q68
a 4 K
53 0
6axis 3 taxis

X 1
82 1
j jw is

Matlab Code

polycco Iti I i

fitfcs.gs
slowly
Example 9 It KG 133
fast 2 8 4 5

n 4 m I n m 3 n m 1 2 0 1,2
q
q o 0 2914 1800 13 188 Gd
6 0 2 4 5 C3
1800
g I
D 3 1800
2qmXl8o 3
3
2 667
2 O
2qn.I.mx
8oo
5gX 893000
1800
3

Ajw
3ooo

i x x is
6 6

I
Ljw
RuleG Break Away Break In Points

It is which soot loves

point at
BreakAway
defined as a

comes out of real axis

Break in It is defined as a point at which soot loves

enters the real axis
These are the points where multiple roots exist ofcharacteristic
Equation
there are a'branches the locus leaves the real axis
Ifat
Asda

Prediction 1 two adjacently placed poles on the seal

there are
If
axis and the real axis is the part of the root locus one
minimum break away point exists in between adjacently
placed poles as shown in figure

Iw
Gts H S K
SCs ti 3
greedfaypirt

x x x
to X y
do 6
a
Roothours

v
jw

Prediction 2
there aretwo adjacently placed zeros on The real axis
If
and the axis in between is the
part of the soot locus one
minimum break in point exists in b w the adjacentlyplaced
zeros
Example ACS Hls Kast 2 4
nm
84 15
Ajw
Break
in
point
Fk
6 Es a
a
s so
f
Roothours

jw

poles and zeros to the leftof

Prediction 3
If there are no

andthe real axis is the part root locus on the of

zero of left
exist minimum one break in point to the
gero there left of
that zero
Gcs Hcs KCS 16
Stl 3

Ajw

Breakin

a O
do a 5 6 SE s i

RL
x
jw
 break in points
Steps to determine break away
Steps Frame the characteristics equation ofthe system
I Kals Hcs 0

Step 2 write K in terms of is i e K fCs

Derive dads and set ddI o
Steps s
step a
Roots
of d o be break in break away points
may
the value of K is positive soot of the roots
If for any so

are valid breakaway points

a Hcs K
Example SC 12 3
I 1963A k
Step 1 O It O
PC's12K 13
2 1st 3 K o
428 3 11 0

83 582 6 K 0

Step 2 3 2
K 5 Gs
Step 3 dk 315 10 f
DTs
3g 10 6 0
315 110 16 0

Step 4 B 10
IF U 3 6 o 785g 2.55
6
Break in Break at o 785 or s 2.55
away expected
S O 785

K 0.785 5C O 7855 6C o 785

K 2.113 Confirmed break away pointfor root lows
 S 2.55
3 Z
K C 2.55 5 2.55 G 2.55

K 0.631 as Ris ve so it is not confirmed as a

break
away1in

Rule 7 Intersection of Root hours with axis

jw
To
find the intersection
of soot lows with jw axis following

procedure is followed
Construct the equation It G His 0
Steps
Away in terms of K
Routh
Steps Develop
Find K critical stable condition
step 3 for
step a Make Acs
auxiliary equation
steps find roots
ofAes to get pointof intersection

GG Hls K
Example
IS 8 12 4

step 1 It His o It I O 546 48 ist Keo

51812 8 14

step2 S3 I 8
2
6 K
1 48 o

fo k O

48 12 48
step 3 0
61
Step 4 A 684K
ACD 684K 0 682 48 5 8
Steps
IS Ij 2E
 Rule 8 Angle of Departure Arrival
The root trees leaves
from the complex pole and arrives
at the complex The two angles are known as angle
zero
of departure and angle of assinal
Angle of departure Od 188
a G Hes
tag
angle of a Hcs excludingthe pole
where the
anglaisHess is
which angle is to be calculated
for
Angle of arrival 188 anglais Hess
Oa
the
ay Cam Hess is the angle of Gls His excluding
where

the whom theangle is to be calculated

zero for

Example GG HG Kist 3 k o
G 12 tj is 12J
fu pole is 2
tj the term is 12J should be excluded

t i I IE HIT
K 445
524900
24450

Od 180 t C 45 135

For pole 8 2
j
96 Hcs K s 13 KC 2
j 13 K
2 Cz
s a
j Ds j j iz
j
4450
KII 445 Iq
 Ode 180 t 450 2250
Angle of Departures Ods 135 G Od 2250

1350 Ajw
A
x j
y
y
d o
o
225
j
v
jw

Example acs HCD Kastl k o

t2tj St2 j
acDHCD KC 2 jtD Kfi j
s z
j C2 jk 2
jtz jjc 2 jjf 3gg

to 4108430

0dg 180 1108 430 288 45 71.570

9 HCD KC 2g't KC HD
5 2
yc 2tjjf 2
jtztjjf ztjxzjJ
o.ae
kfooh
Odz 188 108 45 71.570
 A

A jw
f71.570
X 1g

4 y
o H o
C Zo
i
x Ij
71.570
xjw

I
 Root Hocus Plot
Steps for
Determine poles and theirnumbers number of loci
zeros
Rule 1 Ee Rule 2
using
Indicat pole zero location on plane
Find the seal loci using Rule 3 Show the real axis
loci by dark line
Find the number of asymptotes and Their angleis using
Rule 4
Determine the center of asymptotes using Rule 5
sketch results of step 4 Ee 5
Determine the breakaway I break in points using the
Sule 6 Show these points on graph
Determine the Rule 7 The
jw crossovers using if
locus crosses the axis
jar
Calculate angle of departure or the angle of animal
due to complex poles and zeros using Rule 8
Combine all above steps and draw root locus
Predict
stabilityofthe system
Comprehensive Example 1
Gcs Hcs K K O
8C8tItj C tl j
0
ofloei n 3
steps poles n zeros _m
3 no

no
G loci meeting at infinity n m 3

step2 ajw steps ajw

x tj yi tj
g X p G X P
G f f 6
i
x
I
Rootlerus
T i
I
jw jw

Steps For asymptotes n m 1 2 0,1 2

angles q
9 0 0 2914 1800 13
1800 600

g I O 2qn.IM 180 1800 180

33
8j 3000
q 2 O 2qn I.mx Izxl8ci
real partsofzerosof
Steps G Zseaffpaffgffgpoles 2 acslites
X M

Ge o l l O O 667
3

ajw ajw y
tj 1j
i i

i i
e i s
f g p
6
f i f
x j x I
x x
jw jw
I
 Since the loci do not break real axis
Steps away from
calculations
for break away point is not required
Stept It GCs Hcs 0

I t k o 93 282 28 14 0
Sf tltj SH J

S3 I 2
0 12 4
2 2 K 421
1 41
2
o AG 282112 0
282 14 0
80 K O
S
g 2
IF2j
Gls Hfs K k o
Steps
Sitt j C tltj
H k 435
u jgkh j i
jg e czj
j
Od 1801 1350 315 450
By symmetry Ode 145
asymptote
Steph

e.fi
ajwq.i
II

no
a 4 X is
asymptote 6 i i 6

I
ray asymptote
T'w
Comprehensive Example 2
GCD HCS K K O
K 13 15

n 3 m O n m 3 n m 1 2 0,112
steps q
Munhuofloee n 3
number ofbriapproachington n m 3

Step 2 a jw steps a jw

d x x x x 4 X X X x
6 5 5 5 3 5 0 6 6 5 5 5 3 5 0 6
of pg
RL
v
jw v
jw
Step 2o 68 Steps
q o Q m
1800
O
co 3 5
83 2 667
01 1806

02 300 7
Ajw
1800960
a 4 X XD X x
6 5 5 5 3 5 0 6

steps Hals His O

S 8 13 8 15 1 0
v
jws
83 882 158 119 0
12 93 815 158 7 K 8.2088 5 1.2138
k 279.69 5 4.1195
342 165 15 0
ddIg s 1.2138
Breakaway
382 16151 15 0
1.2138 8 4.1195

Step 7 HG HG O
83 882 115 11 0
S3 I 15
120 12 0 AG 882119 0
82 g k 8 882 120 0
k 120
1 120
1
8
O S IfT5j o
S I 3.87J
fo k O
 assined
Steps No complex poles or genes no no angle ofdepartun

Step ajw
i

Btd 3 873J Karen _120

68
d X X Tia X x
6 5 5 5 311 i 5 0 6

4 38738
ni
G i
i
i
jw I


K
Gls H

Exampe SCS 14 18

step 1 n 3 m O n m 3 n m 1 2 9 0,112

poles 5 0 5 4 5 8

step 2 pole zero map

aLW

g X X
do 5 8 s o 6
5 4

x
jw
Steps RealAxis
Roothocus

a Lw
N RL RL
L X
t t
do s o 6
I
RL
5 8 5 4

x
jw
Steph angles of asymptotes and centriole
Oo 2qn 18o 9 0 700 68 0 4
82 4
m
q I 01 180 3
q
2 7 02 3000
AL
a in A asymptote

1806 O
A2 460
g I
do 5 8 s o 6
zog

Cc Centriod y jw
Gc 4
A3
Steps Break Away Points
Characteristics Equation ddIz 35 248 32
It Gcs HCD 0
d 354 248
o 32 0
I t k O
5 241 242 413 33
SC 4 8 8
213
5 6 14 Bts 112 0
8 1 69g G 31
4 1292 324 1 0
K 83 1282 329
Confirmation of Brahamaypoint
Se l 69 K f l 69 12C 1.6932 34 1.69
K 24.63 Confirmed Breakaway point
9 6.31 K C G 3133 121 6.3172 32C 6.31
K 24.63 Not the point
Breakaway
as K is ve

6 Jw Cross Oneys
Characteristics Equation Routh Table
3 3
11282 328 12 0 I 32
2 K
From South Table 12
1 384,22K o
384 K
o
12 IS K O
Kmong 384
Equation AG 1215 12 1215 384
Auxiliary
1282 384 0
8 1
85.65
 Step 7 Angle of DepartureIAssinal
Since roots are not complex so angle of departure is
not required
Root Hocus Sketch
Steps
AL
a jw

Az a a
do 5 8 si.ci i xs o 6

n
Break
e
away
at 5 1.69
n

it
yw a

A3
AL
Ajw

I 5.65J

18
Az a x a
do 5 8 s ii i xs o 6

n
Break
if 5.65
away
at s 1.69 n

n
it
yw a

A3
 w AL
AL
ajw
15.65J
5 1 3112.34g's q
woo
go zwn
Az a x a to a E s o cent Zwn_
do 5 8 go s ii i d
Wn
n
a
a
uicz
n
if 565J os a aico.si
takewayah
z 2
at 5 1.69 a 60

it
jw
A3
Magnitude Condition 196 HCD L
K L K
15118 4118 81 I 1 31
21411 131 234141
gg
K
1
l 34J 141 234J 181
l 3h2341 1 31 2 1 31

K L K 16.62
2 68 3.56 7 og
Example Characteristics Equation 83 1015 1K 114 0
1082 1K 119 0
Steps 93
83 1082 1 8 1 0

It KC8tD o 1 91571 07 0
48710
Gls Hcs K 1
48 110

poles 5 0 8 0 8 10

zeros 5 1
h 3 m I n m 3 1 2 M m l I q 0,1
Pole
Steps zero map steps RedAaisRoothocus
Ajw Ajw

NRL w.R.hr
6 6
A o
a
d k ot do
s.IO s
figure
o
T Figge
RL

v
jw v
jw
Steph AngleofasymptotesEecentriod

D 2nq igo q 0 7 00 190 ka lo Ct 4.5

m
q L 01 2700 2
i Al

Ajw
i
i
NRL i w.ru
d info
A f aa t
o
do

s.IE RTis
L
isoiEgoie
Centriad I
6 4.5 l
i v
jw
Steps Break Away13N
Points

c E 8311082 1K 112 0

K 42181 10 83
Sti 28 10
11

doing
1st 315 208 341015 die
132 Tdy
Stl 382 208 153 1082 0

21521 138 20 0

8 0 282 138 120 0

5 0 8 2.5 IS 4
3
5 2.5 K 2.5 101 2 572 31 25 Confirmed
2.5 1
s 4 K C 433110C 432 32 Confirmed
4 11

Step6 Jw Crossovers Roath Table

3
83 1015 1K 114 0 1 K
From table 9 6 0 Kwon O 82 10 K
which is notpossible so no 1 91 o
10
intersection with axis
jw O O

Angleof Departure1Assinal
Step
No complex pole or
zero
no angle of departurelassined

Sketch Root Locus

Stg
 i Al
i
i Ajw
i
i
NRL i w Re
d info
a ti at d
s Iff s.f s o

Centriad
or I
aww
6 4.5 l
i v
jw
AZ

IAI

i ajw
i
r

g
n.nl I w.ru
278 90
A
I t
do

5 roofing
10 off
s la 5 0

Centriad
9 ftp.flts.a.scdoubmle
4.5 Y
r
i v
jw
AZ
 Example 96 Hcs K
K 12 42 15

Steps n 4 m 0 n m 4 n m 1 3 79 0,112,3
poles 5 0 5 2 842 15 0 S I 12J 5 1 2J
Steps Pole Real axis rootloeus
zeromap
asio
Stg asio
1 2s 1 2s
x 2J 2g
i
i
i

5 2 I 5 0
5 2 I 5 0
L do x X E L do x X y
I
l
6 I 17 I I N
i N RL R2
i
i 2g i 2g
I I
2g 2g
v
jw v
jw
Steph Angle of asymptotes and Centriods

0 291 1800 9 0 00 45 2 241 I

01 1350
n m q 1
9 2 02 225

q 3 03 3150 450
i

Aaw r
iA
I 12J
x 2g
r
i
to

5 2 i isx
L x s
do
I this N
171
i i
N RL RL
I
x 124
I n
2g i
c
i v
jw AGO
 Points
Steps Breakaway
Characteristics Equation Ita HIS 0

It k 89 493 982 110 11 0

416 2 428 15
K 4 4153 992 logs

daks 483 1282 18 10 Setting daks 0

48311282 188 10 0

5 1 III 225J
5 1 K 4 Confirmed
S I11225J K 625 Confirmed

S I I 225J k 6.25 Confirmed

steps Jw Crossoney
4
4 483 982 1051 19 0 I 9 K
3
From table 4 10 O
2
0 0 12 244 K o
14 22,6 22,60

Kma 260 81 o k 0 O
4 o
K o o
ACS 21482 1K
2
ACD _2 126 262,82 262,0 0

s
jf ji58
Stept Angle of Departure
Od 180 t anglais HCs
 AJiw
I 12J
p y O tariff 180 tariff
i 01 116.56
O
0
5 2
L do x 4
X y
I N

x 2g
I
2J
v
jw
AJiw
I 12J
2J 02 tan 7 63 440
g

5 0
5 2402
L do x X y
I N

I
x 2g
2J
v
jw
AJiw
I 12J
p 2J 03 900
i

5 0
5 2
L x X y
do I N
103
4900
x 2g
I
2g
v
jw
ACD 116.560 63.490 1900 2700
anglais
at s I 12J
 Ode 1800 961HCS 1800 2700 900
tag at s I12J
Because
f Symmetry across real anis

Oda 1900
RootLocusSketch
Steps

aim A
i
I 12J
x
i
i
13

iii
i i

i
N RL RL l i

I
I i
y
2g
v
jw AGO

k
asiw A
1 2 F
i
T
if II 1.58J
y l 11.225J
13

i ii
i i

N RL RL i ii
I I225J

Tf i 1.58J

f
2g

A
iujw
Example GG HIS 16.71218 1 5

82645 1257
Steps n 4 m I n m 3 n m 1 2 7
q 0 1,2
poles 5 0 5 0 152 551 25 0 7 15 2 5120433
5 1.5
zeros
Pole Realaxishours
Steps zero map Stg
433 433
5 25 Ajw 5 25 Ajw
x 4.33g x 4.33g
I l
l l
l l
l l
l N R't
i i
se i 0 D o D
G 5 1.5 double f G 5 1.5 double f
pole d pole
Rt
l
i
atguo I
r
atguo
i l

ix 4.33J x 4.33J
5 2 54.331 5 2 54.331
v
jw x
jw
Styer AsymptotesGCentriod

Oo 2qn.tn 18jq 0 00 600 C 25 2.5 15

1.167
q 1 01 1800 3
q 2 02 308
i
Al

4.33
5 25
AjaxG 33g
l i
i r
i r
i r

AL iso rb
p
6 s

dqffgea.ci
I t

1.667 i
n
n

I 43,3J
5 2 54.331 i
v
jw
A3
 Steps Break Awaylar Points
It 91571457 0 1 415415,5505 94 5,54255
dats
It 16.5k 11 5 O
16.51 1157
848458 257 date 0 38411683 475152 758 0
12 84845 125 39311682 47584751 0
5 0 8 2 855
16.51 11 5
S I 24 2.69

5 2.855 K 0
Confirmed

Steps Jw crossovers
4 f 5 34 25 1K 11.5k O 84 I 25 1.5k

K 7 5k O 83 5 K o
2551
2
125ft I 5K 0
125k K 375k 0
1 K 75k
K O or K 87 5 o O
125 K
with k 875 T

Als 80 I 5k O O
YEK 41 5k 0
AID 7 5512 131.25 0 1k717g
8 1 4 186

Stg Angle ofDepartures s 25

4335
Ajw
x 4.33J
Od 180 t Ayla HID i i
i'i 1030
i
Agfa HID Oz Eop l
1200
i8oo tanYhE3
t
p _Op2
Oz tan.fi
6 5 1.5 double f
103 O pole
Og
atque
1200
Op Opz 180
tariff ydPg3oo

X 433J
0103 900
5 2.5433
S y
jw
 FGC Hcs 103 128 1200 900 2270
Arg
Get se 25th33J

Od 180 ACD 180 2270 470

tag
at 5 2.514.33J

Because
ofsymmetry Od2 1470

4335
5 25 Ajw
433g
it

Q o p
6 5 15 double
fipole
1 atguo

fine
ix 4.33J
5 2.5433
S y
jw
RootHocus Sketch
Steps

At

4.33
5 25
Aj.wY
fo
i i
i 4.33J

Ah i
tb
1
6 is

dqflgeu.si
I t

1.667 g n
n

ixg47 i
43,3
5 2.54.331 i
v
jw
A3
 Al
4.335
5 25 Aj.lv
G 33j
j ufo
I v Z j
i r
i r
i T
L
Ah 1180
I
ib
6 K S is
diffee 6
2.855 TI n
atguo
zoohM 1.667 a n
470 i
ixg 43,3
5 2.54.33 i
v
jw
A3


Second Order System

For a second order system we havestandard equation

CE 2t2zWn 1st win O

RN

or Wn
sayin
28Wh 9

Cpg a

4 2zwnlstwn

g damping feelin

Atjw win natural freeway

famped

is a
Jw
Lb of
It table

confirmed
l
o ai
i n Wd Wurtz

g ton
V l

z l Zi I d

s X e e X X I 7

taxis Wn 6 turn 6axis

gun

µ A
UH

371 Zwwne
3
overdanuped

oases I'm

safe.is In

y Jw

Sigrid

sigsidtg.vn

Sigrid 0.5 0.707 0.9 fi 2 3



Root tours

of Different systems

Addition of Pole

Addition of a Zero
 Consider Itu
following unityfeedback system

RCD Suppose DCs k

3 Ccs
I DID
A
1 3 ProportionalController
Gls 3K HCS z
stills 13
Designfor 810Overshoot cess 3K
Considering Second OrderDynamics RTs 51 8 3 13k

luc1.04100 Tcs 3K
Z 063 844 13 35
J ooJy N4 bro0832
o 63 overshoot
J for 81
Desired Poles sootlocussheth
from
Q B 2 I 2.48J
Usingthe magnitude condition
IGCDHCDI I
48
3k 1
331
Stl
3K I
f 212.48J 1 111 2 12.48J 13

3K I
2.674 2.674
3K L
7 151
Ka 2.38
Step Response

kpelgig.GG

n
C lim3k
Kp s SH S133
K

Css O294 K
Kp
ess
if Fay
Ess O 294 29 41

Suppose we want toseducethe steady state euros to 2

K 49
Ess
p
tf 0.02
f og I

when Gainis set to 49 the step response is shown as

Transient response is degraded

05 59 2
Can we set 05 oress via gain
adjustment
Not both simultaneously
Example Suppose we want 05 8Yo and Ts ri o 85 see

lulo.us o 63 Ts 3
gun 3
y a 2 1 fuOO8 2
q2 gun 25

G
Zwn 4.6

Desiredpoles are not on the soot

locus
Closedloop poles can onlyexistenthu
loan
we must move the locus we want
poles elsewhere if
Modify the lows by adding
dynamics polesEeguess

of a poleSegers is
Combination

the compensator

How touse the root locus technique to design compensator

1 Steady slate error

Proportional Integral
PI Compensator
Log Compensator
2 Dynamic Response
Proportional Derivative D Compensator
head Compensator

3 Dynamic Response and steady slate enos

Proportional Integral Derivative PID Compensator
Lead Lag Compensator
Compensation Configuration

Cascade Compensation Series Compensation

s
if Des GCD a
Types of Compensator
A
1 head Compensator
Hls 2
3
LagLead
Compensator

Feedback Compensation hey Compensator

4 Lead Lag compensator

RID GCD
fN A

Hls

Combinedfeedback and series Compensation

RID
GCD
tf DID t
A

DED
His
 Slate Error
ImprovingSteady
Considerthe previous
system
Dls K
RCD CCD
DID 7
Ls 33

48
ess

05 81
12 2 38

Add an integrator
Systemtype increasesby one
DCs
RCD 3 CCD
I 7 7
s 1 8 3
A

GG HG 3K
S Stl Sl 13

TS 3K
sat 1 3 13K
Root locus now crosses intothe RHP
Integratorhashad a destabilizingeffect
on the closed loop System
SystemType I
Desired poles are no longer on the root loves

Angle Condition for a pole on the root locus is LEHI 1180 2qtD
 Angle Calculations

3Y Deepti
D a si tai
sc s
angle at S O 128.660
3k
02 180
3
go
X
tail
6 52
x
5 1 5 0 Y
f 02 111 88
Oc Oz Oz 5 3

128.66 111.88 6828 Oz tan 2

308.660 03 68.20
X
f 188 52 2 25J u
jw
Should be 1800
Excessangle 128 6600
How could we modify Dcs to satisfy the angle criterion ats
A zero at the origin woulddo but that would cancel the
pole at origin
Introduce a
pole very
close to zero
Angle Contributionof Pole is ajw
cancelled 51 2125J
nearly besides
s is not outta locus
dose
britney
Closer
Huguo b theoriginthe d x
s
x gig
OX in
the closer will be to 6 se 3 s se i 5 0 a
soot loan Za

Let ge o I
k
Controller TF DG K 01 52 2 25J u
jw
Sketch Newloot loves

RCD DCD CCD

3
I
A
1M 7
s 1 33
RootLocus

Angle
ofasymptotes 98 2700
Two asymptotes
n 3 m I n m 2
Cathiod CI 3 L O D 1.95
2
Real axis break 99 I
away
s is not on root tours but
very
close
closed loop poles with o 63 are
g
Si S2 I 96 I 2 44J
Gain K 2 37 UsingMatlabrootloud

step Response

Initial transientResponse is relatively

uncharged
Pole and
gero pain near
the origin
other
nearly cancel each
Closed closed to the
loop poles are
desired location
state essor is
steady zero
Slowtransient as arson is cutegrated out
Systemtype I
Second order approximation is valid
Poles S O IS I 96 2 44
Ij
B O I
Zero
P I Compensation
R ND
E
DCD Kosta
y k a
967 s
a g g
K 1 9,3
Hls K
D tak
Ucs Els DID Els KIIS ta f t
Proportional Integral
Uld K EG K9 EID KpECD Keg E part part
Ki is very
Kik small as a'is
R
A
I Kp 7 us
Gcs
as small

Hls

Compensator Dfs KUS 9

Kp f Ksi
Controller adds a at the origin and a
pole zero nearby
Pole at origin integrator increase system type and improves

steady slate essor

Zero near the origin nearly cancelsthe added pole leaning transient

response nearly unchanged

Effect of Positionof Zero
Lag compensation
PI Compensation requires an Ideal Integrator
Active circuit copAmps requiredfor analog Implementation
Suceptable to Integrator windup
An alternative to PI compensation is lag compensation
Pole is placed near the origin not at theorigin

Analogue implementation realizable with passive Components

like PI Cempensation leg compensation uses a closely spaced

pole zero pair

AngularCentribution is nearly cancelled

Transient response is nearly unaffected

Systemtype is not increased

Error is improved but not eliminated

Consider the
generic feedback system
Dls K
R CCD
7 DCs S13 ills 3D y
a estp is Pal
HCS I
HID s

Type 0 System assuming that pito Hi

Position Gustant Kpu bingoDesk Hcs lui Klst3DCstzz
Sso Stp Stp
Kz
Kpu izz
Pi Ps
 Now considerthe System with legcompensation

DCD K 2
R Stpe CS
7 DCs S131K 3D y
a estp is Pal
HCS I
HID s

System type O

Compensated positionConstant kpc K

3p.iq
ffe kpuZp

Compensator pole is closer to the origin thanthe compensatorzero

Ze Pa Kpc Kpu
For large improvements in steady slate enor less makeeye Pc
Ess
k type o systemfor unit stepSupt
for
Kt east Pc as Ze
Kpc Kpu essde
To avoid affectingthe transient response we need Ze
ripe
As long both eye and
as are small we can satisfy
pe very
both requirements

Pc and Ze
Jc 72
ape
The ratio
of the value of gain sequined in Specifications and
the
gain found inthe uncompensated system is the required
ratio between the distance of and pole fromthe origin
gao
Example 1
Red CCD
fa s k 7 3 is
Stp Stl S 13

Design Componensaten for tox improvement in position

Constant

Suppose pe 0.01 Pero

Ze lope O 1 tox improvement is required

Kpc Kpux 2
10 Kpu
Root loan
of uncompensated and Compensated System
Now suppose Ze o 4 and pe 0.04
2nd order
poles moves
Faster response
Root hours ofThe Uncompensated Compensated System
Steps for toy Compensator Design
 1.06
Example 2 Gcs
SCSI 11 12
Closed loop transfer function T GCI 1.06
1 967 Sitt 12 11 0
Tcs 1.06
10 3307 o 5064J s 10.3307 to 5864J s 12.3386
Dominant closed loop poles are

O 3307 I O 5864J

Second Order poles Equation

8 to 3307 o 5864J Sto 330710.5864J

82 to 33078 to 330715 to 33072 0.58642

2
o 6614 to 4532
g2 zgwn win O
Comparing with standard unto 4532
second order Equation Wn o 6614

0 4912 A
jw 2zwn 0.6614
3 r
y
0 4912
O 5864J
2 Cui Go 580
l
i
n
n
g
o 3307 1 is
a is e 92 D 11 91531107 0
do 6
19157HCS 1 1
I
so5864g
x
v Jw
ofthe uncompensated
Root locus system

Stakevelocity enor Constant

Kr lgino SIENA

limo sis Esta

1.06 O 53 set
g
 it is desired to increase Koto 5 Sei
Suppose ge 4c
Dcs Kc 13 Is 11 Ke Stk Pe 143T
13 S
type 3p
Y B
Improvement factor New value of Kr
p
Old value of Kv

13 55 9.43
0.53
Let us take 13 10

Conditions
for ley compensator yes Pe geripe
pesto 005 o 05
Suppose Ze
Gfs DG Ke to 05
10.005
DCS
RID Ccs
y ke 8 0.05 1.06
y p
n 0.005 BCB11 12

OLTF Dls Gts Kc Sto 05 i 06

0005 B Stl 2

K 0.05 where 15 1.0616

10.005 Bil Dt2

491 closed loop poles are obtained as

for g o

S 0 31 0 55J 92 0.31 O55ft

K S 70.005 1St 1 12
Sto 05
g 0.31 10 55J

K 1.0235
Compensatorgain Kc 0.9656
g t.coo3g5

Transfer function of hay compensator

DG Gees Kc 8 2 Kep D
Ape Tp H

DCs o 9856
96osooxg.o5foot5
o
ftp.ooos
o.otosStI

Dls 9.656 20 11
2008 1

Transfer function of CompensatedSystem

Gfs DG GID
O 9656 10.05 1.06
8 0.005 K 1 2

G 5 1.0235 8 to 05
S Sto 005 51 1 8 2

Staticuelocityessor
I 0235 Sito 05
Kr limo 9,15 hjn o Sto 005 Stl 8 2

fin
SSO
1.0235
0 005
10.05
5 1718 2

I 0235 0.05 5.1175

0.005 2
 Compensated

l
R 2
I Twampensated
Steps for head compensator Design
1 From the performance specification determine the desired
locationof the deminent closed loop poles
2
By draining lootlocusof uncompensated system determine whether
or not the gain compensation can yield desired closed loop poles
not calculate the angle deficiency of This angle must be
If
centinbuted
bythe lead compensator
3 Assume lead compensator Gds to be

Gds ke x Tst D Kc Stf Kc is

3D Ge't
Gts y s 1 et Pe Pe
Os x c 1
Compensator poleSegew Ajw

Pc I Zi I G
a X O is

a jw
x andT are determinedfrom angle deficiency
Ke is determined from the requirement
ofthe openloop gain
static essos constant are not specified determine the location
4
Ifthe pole and the lead compensator so that it
of zero of
contributesthe
necessary angle deficiency
no other requirements are imposed on the system to make
If try
the value of a as large as possible Longer value of a generally
results in a larger value of Kv which is desirable
Kr Gs Gels ked this 9 Gds
bigos
s Determine the valueof Kc usingthe magnitude condition
Optimisedmethod to determine Pc Ege
I Draw a line parallel to deal axis passingthroughthedesired pole P
2 Join the pole P with Origin a.tw
steps
3 Bisect the angle 0 a

4 Draw lines of I
z
I
dt It
o Step2
e
5 Intersection with ve real Desired
axis are desired points point
step3
angle Bisector vjw

Simplest Method But not optimisedfor static error constant

1 Cancel one pole of the system with compensator
zero
2 Determine the position of pole by angle condition
Example GID 10 RCD
to
ED
a 7
C tD n Scsi117
Gcs
Desired 0.5 and Wn 3m01sec
J
Sol
Roothocus
Steps
3 1225J
CCD 10
s D
It to 84 110
Ks117
10
0.5 3.1225J 10513.1225J

ClosedLoop Poles S o
5183.1225
wn to 3.1623 rad free
3 ins
2
Zion I O 1581
g
Step2
Desired Closed Loop Poles 152 1 2zwngtwr.IO 8426 5 3 1 35 0

82 315 9 0 si Sz 1.5 I 2.5981J

25981J

I a
i
i d witty
I
1 2 9540.51 600
2.5981J

Desired closedloop poles are not on

the root lows So simple
gain adjustment
will not work
Compensator's required
 Angle Deficiency
a cHcs I 18069 1
at testpoint D

en mo
4
noo
i s o
Ops 185 tan 2 5,181 188 60
1200
Ops

Open 188
tarifz.gg
Opz 100 8940

Opc _128
T pop 1200 100894 220.8940
s o

It should be 1800 so anglecompensation

of 40.8940 is required

4 40.8940

Steps Methods
1step4
jw jw
A A
X 2.5981J X 2.5981J

4 ios 5x x 4 x x s
do 1 5 0 16 do ios 5 1 5 0 16

jw x jw
 i
Bisector
jw noo angle jw
A r A
X 2.5981J IXi 2.5981J
12 168 Got 1600
600
i 3 i 3
I
t l l
e
4 a
l5 5
X
Goop af
X s 4
i
no
I5
Goop of
x s
d 1 5 0 16 do 5 1 5 0 16

x jw x jw

4 894 20.4470
Bisector
128 i'angle jw
A
1 2.5981J
Got LGoo
l Goo
112T 3
ok i
ti dy
p 428
k a
Go et o X X S
d I5 5 5 0 16
1

x jw

Bisector
120
o
r
angle jw
A
Xi 2.5981J
Go 1600
X Goo
I i
I Got204770 3
ro
4.6457 i 86.4770
l
o
1800 80.4479600
0
4 g 39.555
o
x
Goof
x s
d I 5 5 1 5 0 16

y jw
 N 3 U 4.6457
Sir80.4770 Sin39.553

120
i'angleBisector jw
i A
i 2.5981J
Go 165
1600J
zo 447
Hi 3
un 139.553
no I
o
I

4 t.IEa Ia7 X a
p H2o
X
do I 5 5 5 0 16
11.9372 1

3 A
Sin 80 447 Sin 39.553 y jw
Ne 1.9372

Compensator transfer function

Zc I 9372 2 7,57 149.367,2 0 4170
7
Pe 4 6457

Gds Ke B 13C Kc Stl 9372

scape S1 t 4.6457
Steps
lets evaluate ke using magnitude condition

ke 81 1.9372
4.6457 7,1
K
5
I
1.5 2.5986

Kc 4.6457 ti
lo 1.9372 1.512.5981g

ke 1.2287

LeadCompensator Gc 1.2287 is 11.9372

8 4 6457

Gds Gscs 1.2287 1.9372 10

Openhoof Compensated
System 4.6457 2
Closedhoop Compensated 12.287 15 11.9372
Ctp Sisti 4.6457 112.287 1511.9372
System
12.287 8 11.9372
153 5.646152 16.9315123.876

53 5 6465416.938 23.876
Desired s 11.5 2 5981J s 11.5 25981J
closed i 8 12.65
hoop ii
pole i s I 5 12.5981J
C 1.5 2 5981J
i Sz l 5 2.5981g
Sze Z 65
i
Third pole is close to Her
Desired i
added
zero so will not
i effectthetransientresponse

Desired
 Ko liggo Gels Gsk

lgisosfinstffs.fi 3 3 sc D
Kr 5 139

Method 2
step 3847

Gds IO
SC 1

System pole at 5 1 is
cancelled
by the compensates
zero
Gds Ke 17
3

HEE's si t I
5 1.5 2 5981J
ke D
seq
12 0 9
Compensator TF Gees k 1
3
GdD 0.9
513

OpenhoopCompensated TF Gets 9s 09
49 5 32
closed hoof CompensatedTF 9
Cp
1543 19
Kr legio 967915 shin Is 3,1 3

Kmrethod1
Kmrethod
2 fffhods essmethod
2
Kv 5 139

Kv 3