Control Systems

ANGELES UNIVERSITY FOUNDATION

College of Engineering and Architecture
Computer Engineering Department

NAME OF STUDENT: Cartijano, Carl Kevin

Castillo, Lemuel Zayin
Mercado, Lance Jabie
GROUP NUMBER: Group 4 DATE PERFORMED: 12/7/2022
COURSE CODE: DATE SUBMITTED: 01/06/2023
COURSE TITLE: FECOSY LAB YEAR AND SECTION: ECE-3
LAB. INSTRUCTOR: ENGR. Herbert Tulan GRADE:

SIMULAB NO. 8
Root Locus Analysis and Design of Continuous-Time Systems

Objectives: The objective of this exercise will be to learn commands in MATLAB that would
be used to locate the closed loop poles in s-plane and to investigate the closed
loop system stability using Root Locus.

List of Equipment/Software
Following equipment/software is required:

 MATLAB

Deliverables
A complete lab report including the following:

 Summarized learning outcomes.

 MATLAB scripts and their results should be reported properly.

Theory
A root loci plot is simply a plot of the zeros and the poles values on a graph with real and
imaginary coordinates. The root locus is a curve of the location of the poles of a transfer function
as some parameter is varied.

Such a plot shows clearly the contribution of each open loop pole or zero to the locations of the
closed loop poles. This method is very powerful graphical technique for investigating the effects
of the variation of a system parameter on the locations of the closed loop poles. The closed loop

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poles are the roots of the characteristic equation of the system while the locus of the roots as the
gain varies from zero to infinity.
From the design viewpoint, in some systems simple gain adjustment can move the closed loop
poles to the desired locations. Root loci are completed to select the best parameter value for
stability. A normal interpretation of improving stability is when the real part of a pole is further
left of the imaginary axis.

A control system is often developed into an equation as shown below

( )( )
()
( )( )( )

( ) ( )( )

( ) ( )( )( )

Where n>m

F(s) = 0 when s = z1, z2, …, zm

F(s) = ∞ when s = p1, p2, p3, …, pn

A typical feedback system is shown in Figure 9-1.

Figure 7-1. Block Diagram of Feedback Control System

The open-loop transfer function between the input R(s) and the measured output Y(s) is

( ) ( ) (5)

The closed-loop transfer function is

If

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 Control Systems

( ) ( )

It can be written as

| |
| ( ) |

( ) ( )

The complex numbers in polar form have the following properties

||
| | | | | | | | ||

( ) [ ]

Example 1:

For a closed loop system

( ) ()

The root locus plot can be obtained from the closed loop characteristic equation

The root of the characteristics equation

The relevant root locus is as shown in Figure 9-2

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 Control Systems

Figure 9-2. The Root Locus for Example 1

Example 1:

For a closed loop system

( ) ()

The root locus plot can be obtained from the closed loop characteristic equation

The root of the characteristics equation

The relevant root locus is as shown in Figure 9-3

Figure 9-3. The Root Locus for Example 2

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 Control Systems

The system has the best stability point at K = 1, at values below this root loci moves towards the
instability boundary.

Procedures:

Step 1: Open Matlab and Simulink by double clicking its icon.

Step 2: Consider the system below

K(s+3) s(s+1)(s+2)(s+4)
R(s) C(s)

Step 3: Input the following commands

>> A=tf(poly([-3]),poly([0 -1 -2 -4]));

>>rlocus(A)

Step 4: Plot the root locus on the box provided

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Discussion:

1. What is the type and order of the system?

4th Order Type 1 System

- The system's order can be defined as the value of the highest exponent appearing in
the transfer function's denominator (total number of poles). The above transfer
function's denominator has the highest degree of 4. As a result, the system's order is
4.
- The system's type number is defined by the value of n in the denominator, which is
the number of poles at the origin. As a result, the system is classified as Type 1.

2. From the simulated result obtained is the system stable.

K (s +3)
T ( s) =
s( s+ 1)(s+2)( s+ 4)
Poles:
s=0
s = -1
s = -2
s = -4

- The control system is said to be stable if and only if every pole of the characteristic
equation has a negative real part, or if it sits within the open left half of the s-plane.
Looking at the poles and plot, we see three negative poles. However, because of the
presence of the pole at s = 0, we can state that the system is MARGINALLY STABLE.

3. Draw the theoretical (asymptotic only) polar plot of the open loop system and compare
it with the simulated result.
- We were instructed not to answer this particular question by our instructor because
this part is not yet discussed with us.

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4. What are the advantages of root locus method?

- The root locus has numerous advantages, some of which are as follows:
- A root locus plot can be used to determine the absolute stability of a system.
- Using the magnitude and angle conditions, we can obtain the limiting value of the
system gain K for any place on the root locus.
- Increases the precision of system design.
- It facilitates the analysis of system stability with time delay.
- Root locus plots help us determine the system's gain margin, relative stability, phase
margin, and settling time.
- The root locus technique is straightforward to implement in comparison to other
control system strategies.
- It facilitates the performance analysis of the control system.

We have only listed a few of the benefits of the root locus; there are many more, but
this is all we know so far and what we discovered in our experiment.

OBSERVATION:
- In the virtual environment of the software MATLAB, we completed the experiment titled Root
Locus Analysis and Design of Continuous Time Systems. The laboratory manual provides a
theoretical overview of root loci, with the root loci plot defined as simply a plot of the zeros
and poles values on a graph with real and imaginary coordinates. Furthermore, equations and
examples with figures illustrating their relevant Root Locus are provided.
- The procedures for the experiment have already been provided. We had no trouble identifying
the steps and functions as a result of this. We began by opening MATLAB and then examined
the given system. Following that, we were instructed to enter the commands given to us. We
created real-valued or complex-valued transfer function models using the function tf, which we
have also used in previous experiments. The presence of the function poly, which converts the
roots back to polynomial coefficients, can also be seen. As a result, we defined the transfer
function A in a single command line, as opposed to before, when we had to define the
numerator and denominator before converting it to a transfer function. The final step was to
plot the root locus using the function rlocus and then the transfer function A enclosed in
parentheses. This computes and plots the system's root locus. We can see four poles denoted
by x at 0, -1, -2, and -4 by looking at the plot, which we can verify because poles are known as
the roots of the denominator of the given transfer function. We also have one zero denoted by
o at -3, which is correct because the numerator's root is -3, and zeros are the roots of the
numerator of the transfer function.
- Finally, by observing the obtained plot, we were able to respond to the given discussion
questions. We determined the type and order of the system, which was thought to be an open-
loop system similar to the experiment itself. The number of poles at the origin or at s=0, as we
know, defines the system's type number. The given system is a Type 1 system because there is
only one pole at the origin. We have also determined the system's order, which is the total
number of poles. When the equation is solved, the order is defined as the value of the highest
exponent in the denominator. We now know that the system is of the fourth order. We've also
noticed that the system is stable. Three of the poles are on the open left half of the s-plane or
have negative real parts, but there is one at s = 0 that is marginally stable. The following step is
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 Control Systems
to skip discussion 3 because our instructor has instructed us not to answer this specific
question because it has not yet been discussed with us. Finally, the benefits of the root locus
method were discussed.

CONCLUSION:
- Root Locus Analysis is a graphical method used to analyze the stability and performance of a
linear continuous-time control system by plotting the roots of the system's characteristic
equation in the complex plane as a parameter (typically a gain) is varied. It can be used to
determine the stability of the system, the location of the poles and zeros of the transfer
function, and the sensitivity of the system to parameter variations. Root Locus Design is a
method used to design a control system by selecting appropriate values for the system's
parameters (such as gain) to achieve a desired performance. It involves using Root Locus
Analysis to plot the roots of the system's characteristic equation and then selecting the
appropriate parameters to place the roots in the desired locations.

- Using Matlab to perform Root Locus Analysis and Design of Continuous-Time Systems can
be a useful tool as it provides a graphical representation of the system and allows for easy
analysis and design. It can be particularly useful for understanding the effects of different
parameters on the stability and performance of the system.

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