Root Locus

Design

Specifications
Pole Specifications

① Stability RHP poles

:

Any or zeros

② Behaviour

e . 1 .

Damping ... (wd)

magnitude
imag (an

,
cost
I
=

0 ( ⑦(
real

2 2
. . Overshoot %

3 =

os --> overshoot
e
100 % (Im percents
overshoot
OSY

a
=
now

ra value
much

overshoot
final value

-
.
3 Speed
Settling time (for dominant pole)

52 = .
=
-

In (0 02) x5
.
=
55

55 % =
-
In (0 .
05) X5 =
35

example
* Settle within 5% Im <3 seconds

55 % 23535235511S =
-
I
4) Frequency of oscillation

i
-

* (n

-
maximum
wo s

r(cun)
* Maximum COA

....

Gain spec

*
accuracy
some with error
->
tracking signal
.

->
rejecting disturbances

e .

g . A must track step With <10 % error

. . 1 =

kacs
W
&calculate
error
gain for
value