NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 18

Effect of Different Parameters on Root Locus

D Bishakh
Dr. Bi h kh Bhattacharya
Bh tt h

Professor, Department of Mechanical Engineering

IIT Kanpur

Joint Initiative of IITs and IISc - Funded by MHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 18

This Lecture Contains

 Feasible Design Space for a second order system

Effect of Additional Zero

Effect of Additional Pole and Zero

Joint Initiative of IITs and IISc - Funded by MHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 18

Example: Design of a second order system

Select the Gain K and pole p such that in a step response OS <5% 
Select the Gain K and pole p such that in a step response OS <5%
and the settling time corresponding to 2% of final value will be less 
than 4 seconds
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 18

Feasible region of the Design

Step 1: Consider the closed loop transfer function for the system and 
compare it with a standard form
compare it with a standard form

k n2

s 2  ps  k s 2  2 n s  n2

Step 2: It is evident from comparison that in this case:

k  n , p  2n
2

The design specification tells us that: ζωn   >1, Also , the Overshoot 
specification tells us that ζ should be greater than 0.707.  The 
feasible design space is shown in the following figure. 
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 18

Feasible Design Space

jω
ζ =0.707
0 707

ζω =1

Feasible Space

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 18

Choice of Poles and it’s

it s effect

• If we choose two extreme points from the design space, then the closed loop
pole
l locations
l ti are -1
1 +/-
/ j1 and
d the
th closed
l d loop
l transfer
t f function
f ti willill be
b

2
s 2  2s  2
• The open loop transfer function is:
1
s ( s  2)

• The corresponding root locus is shown hereafter. The root locus may help in
choosing other control gains.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 18

Root Locus plot of the System

Root Locus plot of the System

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 18

Effect of additional zero

• Consider a transfer function with two

complex poles and one additional zero
• Normalised Transfer function

(s / αζωn )  1
H(s)  2
(s / ωn )  2ζ (s / ωn )  1
• If  is large, zero will have little effect. When
 is about 1,1 the zero may increase the
overshoot, without influencing the settling
time
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 18

The effect of zero

1
tf1  2
s  2s  1
( s  0.1)
tf 2  2
s  2s  1
( s  1.5)
tf 3  2
s  2s  1
( s  10)
tff 4  2
s  2s  1

Joint Initiative of IITs and IISc ‐ Funded by 
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MHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 18

Effects of Additional pole and zero

• For a second order system with no finite

zero, the transient parameters are given by: tr
= 1.8/ωn, O.S. = .05 for ζ =.7, ts = 4/ζω
• A zero in the LHP will increase OS if it is
within a factor of 4 of the real part of complex
poles
• A non-minimum phase will depress the OS
• If the additional pole is within a factor of 4,
then the rise time will increase significantly
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 18

System with Additional Pole and Zero

2
(ω / a )(s  a )
T(s)  2 2
n

(s  2ζω
ζ n s  ωn )(1  τs)

Find out the effect of ‘a’ and ‘T’ on the system response 
corresponding to a step input
corresponding to a step input
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 3- Lecture 18

Special References for this lecture

 Feedback Control of Dynamic Systems, Frankline, Powell and Emami, Pearson

 Control Systems Engineering – Norman S Nise, John Wiley & Sons

 Modern Control Systems – Dorf and Bishop Addison-Wesley

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MHRD