Root Locus : Design

Design Example :
The differential equation of a DC motor is given by

Motor speed Applied voltage

Determining the parameters and inserting their actual
values we have

The transfer function representing the system is then

Which corresponds

open loop ch. eq.

Poles are located at and 3

2

Imag Axis
1

Dominant pole 0
-1
-2
Def : Poles closest to the axis are the -3

dominant poles (if the system is stable). -4

-6 -5 -4 -3 -2 -1 0 1 2
Real Axis
Dominant pole corresponds to the slowest
mode
Let's examine the response to a step input.
That is; hence

taking inverse laplace transform

Problem : Response is slow

!! we need feedback to speed the system !!
Plot the rootlocus and decide on the location of the closed
loop poles
4

2
Imag Axis

-1

-2

-3

-4
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis
Find the value of K so that the closed loop poles at
Use magnitude condition

calculate to obtain
Calculate the output when K=13

The response to step input

The corresponding time response

Compare the open loop and closed loop step responses

Open loop dominant pole at

Closed loop dominant pole at

Compensator Example

Consider the system

with and
Desing K so that the desired closed loop poles are at

Closed loop transfer function

Draw the root locus to see if the closed loop poles are on
the loci 1.5

1
Imag Axis

0.5

0 Yeap they are

-0.5

-1

-1.5
-2 -1.5 -1 -0.5 0 0.5 1
Real Axis
Method 1 : (coefficient matching)

Method 2 : (Magnitude condition)

FVT and IVT for the open loop

For the open loop system with step input

Use initial value Theorem (IVT)

Using final value Theorem (FVT)

FVT and IVT for the closed loop

This time the closed loop step response

initial value Theorem (IVT)

final value Theorem (FVT)

Steady State Error Specification

For the system

Amplitude
r(t)
} SSE
y(t)

Final value Theorem

Time (sec)
Calculation of SSE

Start from the definition

with
backsubstitute
Example :
Calculate SSE for

backsubstitute
Design Example

Consider the system of the form

where

Find the value of K such that the closed loop system has
the following characteristics:
–Settling time
– 5% percentage overshoot
Find the output for a step input and calculate SSE
Solution :
Remember that
5% overshoot
then

Formulate the desired closed loop characteristic equation

Desired closed loop poles at

Check with root locus,
4

2
Imag Axis

-1

-2

-3

-4
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis

To find the value of K we can use

– Coefficient matching
– Magnitude condition
same as slayt 5 :)

Use magnitude condition

calculate to obtain
Output response
Now calculate for step input

taking inverse Laplace transform

Note that
How about SSE

Error definition
with
using the formulation previously presented

or using
Next ???

What to do if the desired closed loop poles are not on the root
locus plot ?

Is using as a compensator enough to solve this

problem ?

What other forms of compensators are there ?

How to design using them?