Root Locus Method 2
Root Locus Method 2
Root Locus Method 2
Root Locus
Motivation
To satisfy transient performance requirements, it may be necessary to know how
to choose certain controller parameters so that the resulting closed-loop poles
are in the performance regions, which can be solved with Root Locus technique.
Definition
A graph displaying the roots of a polynomial equation when one of the
parameters in the coefficients of the equation changes from 0 to .
Example
R(s)
Gf (s)
Error
E(s)
GC (s)
Control
Input
D(s)
++
U(s)
G(s)
Output
Y(s)
Plant
H(s)
G ( s )Gc ( s )G f ( s )
1 G ( s)Gc ( s) H ( s )
Img
.
1 K p GH 0
Q:
Transient
Performance
Region
Real
Motivation
Ex: The closed-loop characteristic equation for the DC motor positioning system
under proportional control is:
1 K P K S G(s) 0
1 K P 0.03
16
0
s(0.0174s 1)
Q: How to choose KP such that the resulting closed-loop poles are in the
desired performance region?
How do we find the roots of the equation:
1 KP 0.03
16
0
s(0.0174s 1)
( s - pN P )
16
0
s(0.0174s 1)
1 KP
>> op_num=[0.48];
>> op_den=[0.0174 1 0];
0.48
0
0.0174s 2 s
No open-loop zeros
Two open-loop poles
>> rlocus(op_num,op_den);
>> [K, poles]=rlocfind(op_num,op_den);
Apply the following root locus sketching rules to obtain an approximated root
locus plot.
1 K
( s - z1 )( s - z2 ) ( s - z NZ )
(s - p1 )( s - p2 ) ( s - pNP )
Rule 1: The number of branches of the root locus is equal to the number
of closed-loop poles (or roots of the characteristic equation). In
other words, the number of branches is equal to the number of
open-loop poles or open-loop zeros, whichever is greater. Ds KN s 0
Rule 2: Root locus starts at open-loop poles (when K= 0) and ends at
open-loop zeros (when K=). If the number of open-loop poles
is greater than the number of open-loop zeros, some branches
starting from finite open-loop poles will terminate at zeros at
infinity (i.e., go to infinity). If the reverse is true, some branches
will start at poles at infinity and terminate at the finite open-loop
zeros.
Ds KN s 0
K 0? K ?
Rule 3: Root locus is symmetric about the real axis, which reflects the
fact that closed-loop poles appear in complex conjugate pairs.
Rule 4: Along the real axis, the root locus includes all segments that are
to the left of an odd number of finite real open-loop poles and
zeros.
N s
Check the phases
K
D s
- 1 rad 180
pi - zi
NP - NZ
k (2k 1)
80
[rad] (2k 1)
[deg] , k 0, 1, 2,
NP - NZ
NP - NZ
0 or
0
ds D( s)
ds N ( s)
angle
criterion
Rule 8: If the root locus passes through the imaginary axis (the stability boundary),
s - p1 s - p2
s - pN P
s - z1 s - z2
s - zN z
( s - z1 )( s - z2 ) ( s - z NZ )
N ( s)
0 or 1 K
0
D( s)
( s - p1 )( s - p2 ) ( s - pNP )
Step 2: Find the open-loop zeros, zi, and the open-loop poles, pi. Mark the openloop poles and zeros on the complex plane. Use to represent open-loop
poles and to represent the open-loop zeros.
Step 3: Determine the real axis segments that are on the root locus by applying
Rule 4.
Step 4: Determine the number of asymptotes and the corresponding intersection
0 and angles k by applying Rules 2 and 5.
Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.
Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.
Example 1
DC Motor Position Control
In the previous example on the printer paper advance position control, the proportional control
block diagram is:
0.03
DV
KP
Controller
Ei
16
s(0.0174s 1)
Plant G(s)
0.03
Sketch the root locus of the closed-loop poles as the proportional gain KP varies from 0 to .
1 K pG s H s 0
0.48
1 Kp
N s
s 0.0174 s 1
D s
Example 1
Step 1: Transform the closed-loop characteristic equation into the standard form for
sketching root locus:
1
1 27.58 K p
N s
s s 57.47
D s
p1 0, p2 -57 .47
Step 3: Determine the real axis segments that are to be included in the root locus by
applying Rule 4.
p2 -57.47
p1 0
Example 1
Step 4: Determine the number of asymptotes and the corresponding intersection 0
and angles k by applying Rules 2 and 5.
0
- zi
NP - NZ
-57.47
-28.74
2
k (2k 1)
NP
[rad]
- NZ
Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.
d N ( s)
d D( s)
0 or
0,
ds D ( s )
ds N ( s )
d s 0.0174 s 1
0,0.0348s 1 0, s -28.74
ds
0.48
Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
-( p2 - p1 ) - p2 180 , p2 0
- p1 - ( p1 - p2 ) 180 , p1 180
Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.
Could s be pure imaginary in this example?
Example 1
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.
Img. Axis
30
20
10
-57.47
Real Axis
-60
-28.74
-50
-40
-30
0
-20
-10
0
-10
-20
-30
Example 2
A positioning feedback control system is proposed. The corresponding block diagram
is:
R(s) +
K(s + 80)
-
U(s)
Controller
16
s(0.0174s 1)
Y(s)
Plant G(s)
Sketch the root locus of the closed-loop poles as the controller gain K varies from 0 to
.
Find closed-loop characteristic equation:
1 Gc s G s H s 0
1 K s 80
16
0
s 0.0174 s 1
Example 2
Step 1: Formulate the (closed-loop) characteristic equation into the standard form
for sketching root locus:
16 s 80
1 K
N s
s 0.0174 s 1
K
1 920 K
D s
s 80
N s
s s 57.47
D s
open-loop zeros
z1 -80
open-loop poles
p1 0, p2 -57 .47
Step 3: Determine the real axis segments that are to be included in the root locus
by applying Rule 4.
z1 -80 p2 -57.47
p1 0
Example 2
Step 4: Determine the number of asymptotes and the corresponding intersection 0 and
angles k by applying Rules 2 and 5.
Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.
d N ( s)
d D( s)
0 or
0,
ds D( s )
ds N ( s )
d s 80
ds s s 57.47
s s 57.47 - s 80 2 s 57.47
s 2 160s 4600 0
s1 -122, s2 -37.6
s s 57.47
0,
Example 2
Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.
Imag Axis
40
30
20
10
Real Axis
-122
p1 0
0
-10
-20
-30
-40
-140
-120
-100
-80
-60
-40
-20
Example 3
A feedback control system is proposed. The corresponding block diagram is:
R(s) +
-
K
( s 4)
Controller
U(s)
1
Y(s)
2
s(s 4s 20)
Plant G(s)
Sketch the root locus of the closed-loop poles as the controller gain K varies from
0 to .
Find closed-loop characteristic equation:
1 Gc s G s H s 0
1
K
1
0
s 4 s s 2 4 s 20
Example 3
Step 1: Transform the closed-loop characteristic equation into the
standard form for sketching root locus:
1
1 K
N s
s s 4 s 20 s 4
2
D s
No open-loop zeros
p1 0, p2 -4, p3,4 -2 4 j
p1 0
Example 3
Step 4: Determine the number of asymptotes and the corresponding intersection 0 and
angles k by applying Rules 2 and 5.
0
- zi
NP - NZ
k (2k 1)
NP
0 -4 -2 4 j -2 - 4 j
-2
4-0
[rad]
- NZ
3
4
5
4
7
Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.
d N ( s)
d D( s)
0 or
0,
ds D( s )
ds N ( s )
2
d D s d s s 4 s 20 s 4 d 4
s 8s 3 36s 2 80s
ds
ds N s ds
1
4 s 3 24 s 2 72 s 80 0
Example 3
Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
Np
Nz
( s - z ) - ( s - p ) 180
i
i 1
i 1
p1 0 :
p 180
p2 -4 :
p 0
p3 -2 4 j :
p4 -2 - 4 j :
p -90
3
p 90
4
Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.
1 K
1
0
2
s s 4 s 20 s 4
s j
s s 2 4s 20 s 4 K 0
s 4 8s3 36s 2 80s K 0
- 362 K -83 80 j 0
4 - 36 2 K 0 K1 0
K2 260
,
3
1
-8 80 0
2 10 3.16
4
CLCE
Example 3
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.
Imag Axis
4
3
2
1
Real Axis
0
-1
-2
-3
-4
-6
-5
-4
-3
-2
-1
Example 4
A feedback control system is proposed. The corresponding block diagram is:
R(s) +
-
U(s)
K
Controller
Y(s)
s 2 2s 101
(s 2)(s 2 2s 26)
Plant G(s)
Sketch the root locus of the closed-loop poles as the controller gain K varies from 0 to
.
Find closed-loop characteristic equation:
s 2 2 s 101
1 K
0
2
s 2 s 2s 26
Example 4
Step 1: Formulate the (closed-loop) characteristic equation into the standard
form for sketching root locus:
2
s
2s
101
1 K
N s
2
s 2s 2s 26
Ds
s 2s 12 25 0, p1 -2, p2,3 -1 5 j
Step 3: Determine the real axis segments that are to be included in the root
locus by applying Rule 4.
p1 -2
Example 4
Step 4: Determine the number of asymptotes and the corresponding intersection 0 and angles k
by applying Rules 2 and 5.
N p - Nz 1
One asymptote
k 2k 1 180 180
Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.
Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
o
-1
o
o
o
z1 -1 10 j z1 90 - tan 10 - 90 - 90 180
z 354 -6
o
p1 -2
p 180o
p2 -1 5 j
p 11o
p3 -1 - 5 j
z2 -1 - 10 j 6o
z2
p -11o
2
Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.
s 2s 2 2s 26 K s 2 2s 101 0
s 3 4 K s 2 30 2 K s 52 101K 0
s j
52 101K - 4 K 2 30 2 K - 2 j 0
2
0
2 9.5 3 5.7
52 101K - 4 K 0 1
,
52 ,
2
K
30.4
30
2
K
2
K3 1.1
1
101
Example 4
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.
10
9.5273j
Stability condition
- 6o
0 K 1.1z1
5.6658j
or
K 30.4
0 K 1.1
p 11o
2
or
K 30.4
-2
-4
-5.6658j
-6
p -11o
2
-8
-9.5273j
-10
-18
-16
-14
-12
-10
-8
-6
-4
-2
z 6o
2
G( s )
M
B
V ( s)
A
qIN
MCs2 BCs A2 0
Transform characteristic equation into standard form for root locus analysis by identifying the parameter
that is to be varied. In this case, the load mass M is the varying parameter:
Standard form
N s
1 K
0
D s
1 M
C
BC
s2
N s
A2
s
BC
0
Img. Axis
D s
Varying parameter
open-loop zeros
open-loop poles
z1 z2 0
A2
p1 BC
d N ( s)
2 A2
0s ,s 0
ds D( s )
BC
p1
z1 , z2
Real
Axis
MCs2 BCs A2 0
Transform characteristic equation into standard form for root locus analysis by identifying the parameter
that is to be varied. In this case, the flow capacitance C is the varying parameter:
Standard form
1 K
N s
0
D s
ss
1 C
Varying parameter
M
A2
N s
Img. Axis
D s
B
z
0,
z
2
open-loop zeros 1
M
ds D ( s )
2M
z2
z1
Real
Axis
MCs2 BCs A2 0
Transform characteristic equation into standard form for root locus analysis by identifying the parameter
that is to be varied. In this case, the viscous friction coefficient B is the varying parameter:
Standard form
C
N s
N s
1
B
2
1 K
0
A
MC
2
D s
s
MC
Varying parameter
open-loop zeros
open-loop poles
D s
0
Img. Axis
z1 0
p1,2
p1
A2
j
MC
d D( s )
A2
ds N ( s )
MC
z1
Smaller B:
Larger oscillating frequency and overshoot
p2
Real
Axis