ENGN3223-Control System: Root-Locus Design

Department of Engineering Australian National University

Controller Design using Root locus

We will now look at a graphical approach, known as the root locus method, for designing control systems

ENGN3223, 2009

This slide is also from Week 4

What will happen in pole locations as K increases? H(s) = Lets try some cases, K=0, s=0, -2 K=1, s=-1, -1 K=2, s=-1j1 K=, s=-1j

K K = 2 s + 2s + K (s + 1) 2 + (K 1)

So we can predict the time responses now.

-2

more overshoot faster rise time

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Selecting the proportional feedback gain

1. The time-domain specifications can be converted into s-plane ones:
t r 1.8 / n M p 15 (%) t s 4.6 /

n 1.8/tr =1.8/1.2 =1.5 (rad /s) 0.5 4.6/ts = 4.6/5 = 0.92

=0.5

2. The locations of the poles are 1 i K 1

n =1.5

3. Thus,

-2

-1

1 K 1 3

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=0.92

4/37

Selecting the proportional feedback gain

1. The time-domain specifications can be converted into s-plane ones:
t r 1.8 / n M p 15 (%) t s 4.6 /

n 1.8/tr =1.8/1.2 =1.5 (rad /s) 0.5 4.6/ts = 4.6/5 = 0.92

=0.5

2. Draw a root locus (this is the goal of this week)

n =1.5

3. Look at overlap of 1 and 2. That gives you an appropriate feedback gain K.

-2

-1

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=0.92

5/37

Rewrite the system

+ KH(s)
G(s)

G(s)H(s) = L(s)

Closed-loop transfer function

L(s)K Y (s) = R(s) 1+ L(s)K

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What is a root locus?

Now we want to see the behavior of the closed-loop transfer function T(s) as a function of K

G(s)H(s) = L(s)

T(s) =

L(s)K 1+ L(s)K

The root locus is defined by the characteristic equation of T(s)

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1+ KL(s) = 0

Example
+ 1st order
1 G= s+ 2

G(s)H(s) = L(s)

Closed loop transfer function

Integral
Gain

1 H= s

T(s) =

L(s)K K = 2 1+ L(s)K s + 2s + K

The root locus is defined by

s2 + 2s + K = 0 s = 1 1 K

ENGN3223, 2009

This slide is also from Week 4

What will happen in pole locations as K increases? H(s) = Lets try some cases, K=0, s=0, -2 K=1, s=-1, -1 K=2, s=-1j1 K=, s=-1j

K K = 2 s + 2s + K (s + 1) 2 + (K 1)

So we can predict the time responses now.

more overshoot faster rise time

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Remark
+ G(s)

KH(s)
The transfer function is different from the unit feedback. However, the denominator is the same. The system has the same poles and the same root locus.
Closed-loop transfer function

G(s) Y (s) = R(s) 1+ L(s)K

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Lets see the following properties of root locus

(1) K=0 (2) K (3) |s| Asymptotes (4) Multiple roots (5) Symmetry (6) Locus on the real axis

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Properties of root locus

Closed loop transfer function Let us define
B(s) L(s) A(s)

KL(s) T(s) = 1+ KL(s)

A(s) = sn + a1sn1 + = (s p1 )(s p2 )(s pn ) B(s) = sm + b1sm1 + = (s z1 )(s z2 )(s zm )

The characteristic equation (denominator=0)

1+ K

B(s) =0 A(s)

The root locus is defined by this equation as a function of K. We want to see how to draw the root locus when K:0
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Property (1) (2)

B(s) 1+ K =0 A(s)
0 A(s) + KB(s) = 0 K A(s) = 0 1 K A(s) + B(s) = 0 B(s) = 0 K

(K 0) the root locus starts from the poles of L(s)=G(s)H(s).

(K ) the root locus goes to zeros of L(s)=G(s)H(s).

A(s) = sn + a1sn1 + = (s p1 )(s p2 )(s pn ) B(s) = sm + b1sm1 + = (s z1 )(s z2 )(s zm )

pi : pole zi : zero
For causal systems, mn

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Property (1) (2)

Check the real-line whether it is a part of the root-locus with the starting and ending points of the CL poles
pole zero K=0 K= K= K=0

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Lets see the following properties of root locus

(1) K=0 (2) K (3) |s| Asymptotes (4) Multiple roots (5) Symmetry (6) Locus on the real axis

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Properties of root locus

A(s) = sn + a1sn1 + = (s p1 )(s p2 )(s pn ) B(s) = sm + b1sm1 + = (s z1 )(s z2 )(s zm )

pi : pole zi : zero
For causal systems, mn

0 = A + KB sn + a1sn1 + K(sm + b1sm1 ) sn + a1sn1 K = m s + b1sm1 =s

nm

sm + a1sm1 sm + b1sm1 1+

a1 s = snm b 1+ 1 s a b snm 1+ 1 1 s
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1 1 1+
(1+ ) n 1+ n

a1 b1 nm s + nm

Asymptotes of root locus

a1 b1 nm K = s + nm a b s = 1 1 + (K) nm nm 1 2l +1 i a1 b1 nm nm = +K e nm
1

l = 0,1,n m 1

(1)

Equation (1) give the asymptotes of the root locus.

In fact, Equation (1) represents (n-m) lines from

a1 b1 nm

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Asymptotes of root locus

A(s) = sn + a1sn1 + = (s p1 )(s p2 )(s pn ) B(s) = sm + b1sm1 + = (s z1 )(s z2 )(s zm )

pi : pole zi : zero

From this expression, we have

a1 = ( p1 + p2 + + pn ) = ( poles)

b1 = (z1 + z2 + + zm ) = (zeros)

Thus, we can also express as

Equation (1) give the asymptotes of the root locus.
a1 b1 ( poles) (zeros) In fact, Equation (1) represents (n-m) lines from = nm nm

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Lets see the following properties of root locus

(1) K=0 (2) K (3) |s| Asymptotes (4) Multiple roots (5) Symmetry (6) Locus on the real axis

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Multiple root
A simple example Let p be a multiple root

(s p) 2 = 0 s = p d (s p) 2 = 0 s = p ds

The multiple root can be found from these two equations

We apply this idea to the characteristic equation

A(s) A(s) + KB(s) = 0 K = B(s) A'(s) + KB'(s) = 0 A(s) A'(s) B'(s) = 0 B(s) A'(s) B'(s) =0 A(s) B(s)

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1 1 =0 s p l l=1 l=1 s z l

Lets see the following properties of root locus

(1) K=0 (2) K (3) |s| Asymptotes (4) Multiple roots (5) Symmetry (6) Locus on the real axis

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Symmetry
The root locus is always symmetric with respect to the real axis. This is trivial because the roots of the characteristic equation are of the form

s = Re iIm

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Lets see the following properties of root locus

(1) K=0 (2) K (3) |s| Asymptotes (4) Multiple roots (5) Symmetry (6) Locus on the real axis

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Root Locus on the real axis

The phase of a transfer function can be computed graphically in the s-plane Pick a test point s = s0
Write the transfer function in ZPK (zero-pole-gain) format

By definition

(s0 + z) L(s0 ) = K (s0 + p)

L(s0 ) = iIm(log L(s0 )) = iIm(log(s0 + z) log(s0 + p)) = (s0 + z) (s0 + p)

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Root Locus on the real axis

L(s) = (s0 + z) (s0 + p)

From the characteristic equation 1+ K

B(s) = 0 we have L(s) = (K ) = A(s)

=L(s) pole

L(s) = ( ) ( ) =
contribution from symmetric poles & zeros = 0

zero

|#{zeros}-#{poles}|=odd -

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Root Locus on the real axis

If there are more poles than zeros, (n-m) > 0 is called the pole excess, then there are (n-m) branches of the root locus that diverge to infinity (zeros at infinity).
n-m=1 (there is a zero at infinity)
pole K=0 K= K= K= K=0 zero

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Example
+(s + 3) L(s) = s(s + 1)(s + 2)(s + 4)

pole zero

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Example
(1) K=0 (2) K (3) |s| Asymptotes (4) Multiple roots (5) Symmetry (6) Locus on the real axis
i a1 b1 nm nm s= +K e nm 1 2l +1 i 73 41 41 = +K e 4 1 1 2l +1 i 4 3 3 = +K e where l = 0,1,2 3 1 2l +1

(s + 3) L(s) = s(s + 1)(s + 2)(s + 4)

sm + b1sm1 + = n s + a1sn1 +
pole zero

-4/3

This represents three lines (red)

ENGN3223, 2009

Example
(1) K=0 (2) K (3) |s| Asymptotes (4) Multiple roots (5) Symmetry (6) Locus on the real axis

(s + 3) L(s) = s(s + 1)(s + 2)(s + 4)

The root locus starts from the four poles.

pole zero

-4/3

ENGN3223, 2009

Example
(1) K=0 (2) K (3) |s| Asymptotes (4) Multiple roots (5) Symmetry (6) Locus on the real axis

(s + 3) L(s) = s(s + 1)(s + 2)(s + 4)

The root locus ends at the four zeros. (three are at infinity)
pole zero

-4/3

ENGN3223, 2009

Example
(1) K=0 (2) K (3) |s| Asymptotes (4) Multiple roots (5) Symmetry (6) Locus on the real axis

|#{zeros}-#{poles}|=odd (to the right)

ENGN3223, 2009

Example
(1) K=0 (2) K (3) |s| Asymptotes (4) Multiple roots (5) Symmetry (6) Locus on the real axis

|#{zeros}-#{poles}|=odd (to the right)

ENGN3223, 2009