Sana’a University Analog Control Systems MT311
Faculty of Engineering 3rd Level
Mechatronics Engineering Department
Practical Lab of Analog Control Systems
Root Locus Controller Design
Lab 5
Eng. Moayad A.Hakim
winter, 2023 1
Agenda 2
Introduction
Closed-Loop Poles
Plotting the Root Locus of a Transfer Function
Choosing a Value of K from the Root Locus
Closed-Loop Response
Exercise
Introduction 3
we will introduce the root locus, show how to create it
using MATLAB, and demonstrate how to design
feedback controllers that satisfy certain performance
criteria through the use of the root locus.
Closed-Loop Poles 4
The root locus of an (open-loop) transfer function is a plot of the
locations (locus) of all possible closed-loop poles with some
parameter, often a proportional gain K, varied between 0 and ∞ .
Plotting the Root Locus of a Transfer Function 5
Consider an open-loop system which has a transfer function of:
How do we design a feedback controller for the system using the
root-locus method? Let's assume our design criteria are 5%
overshoot and 1 second rise time.
Plotting the Root Locus of a Transfer Function 6
Create the transfer function model and employ
the rlocus command as follows
Choosing a Value of K from the Root Locus 7
The plot above shows all possible closed-loop pole locations for a
pure proportional controller. In this case, not all of these closed-loop
pole locations indicate satisfaction of our design criteria. To
determine what part of the locus is acceptable, we can use the
command sgrid(zeta,wn) to plot lines of constant damping ratio and
natural frequency.
.)1.8second (which means a natural frequency greater than 1 ) and a rise time of 0.7(which means a damping ratio of greater than 5% In our problem, we need an overshoot less than
Choosing a Value of K from the Root Locus 8
In our problem, we need an overshoot less than 5% (which means a
damping ratio of greater than 0.7) and a rise time of 1 second
(which means a natural frequency greater than 1.8).
.)1.8second (which means a natural frequency greater than 1 ) and a rise time of 0.7(which means a damping ratio of greater than 5% In our problem, we need an overshoot less than
Choosing a Value of K from the Root Locus 9
.)1.8second (which means a natural frequency greater than 1 ) and a rise time of 0.7(which means a damping ratio of greater than 5% In our problem, we need an overshoot less than
Choosing a Value of K from the Root Locus 10
On this plot, the two dotted lines at
about a 45-degree angle indicate
pole locations with = 0.7; in
between these lines, the poles will
have > 0.7 and outside of these
lines < 0.7. The semicircle indicates
pole locations with a natural
frequency = 1.8; inside of the
circle, < 1.8 and outside of the
circle > 1.8.
.)1.8second (which means a natural frequency greater than 1 ) and a rise time of 0.7(which means a damping ratio of greater than 5% In our problem, we need an overshoot less than
Choosing a Value of K from the Root Locus 11
Going back to our problem, to make the overshoot less than 5%, the
poles have to be in between the two angled dotted lines, and to make
the rise time shorter than 1 second, the poles have to be outside of the
dotted semicircle. So now we know what part of the root locus, which
possible closed-loop pole locations, satisfy the given requirements. All
the poles in this location are in the left-half plane, so the closed-loop
system will be stable.
.)1.8second (which means a natural frequency greater than 1 ) and a rise time of 0.7(which means a damping ratio of greater than 5% In our problem, we need an overshoot less than
Choosing a Value of K from the Root Locus 12
we see that there is part of the root locus inside the desired region.
Therefore, in this case, we need only a proportional controller to move
the poles to the desired region. You can use the rlocfind command in
MATLAB to choose the desired poles on the locus:
.)1.8second (which means a natural frequency greater than 1 ) and a rise time of 0.7(which means a damping ratio of greater than 5% In our problem, we need an overshoot less than
Choosing a Value of K from the Root Locus 13
Closed-Loop Response 14
Exercise 1 : 15
The transfer function model for the cruise control problem is given
below.
Exercise 1 : 16
Performance specifications:
Rise time < 5 sec.
Overshoot < 10%.
Steady-state error < 2%.
Solution 1 : 17
one of our design criteria is to have a rise time of less than 5
seconds. From the first equation, we see that the natural frequency
must be greater than 0.36. Also using the second equation, we see
that the damping ratio must be greater than 0.6, since the maximum
overshoot must be less than 10%.
Solution 1 : 18
Solution 1 : 19
Close loop response with appropriate gain K:
Solution 1 : 20
With the gain Kp you just chose, the rise time and the overshoot criteria
have been met; however, a steady-state error of more than 10%
remains.
To reduce the steady-state error, a lag controller will be added to the
system. The transfer function of the lag controller is:
Solution 1 : 21
The pole and the zero of a lag controller need to be placed close
together. Also, it states that the steady-state error will be reduced
by a factor of Z0/P0 . For these reasons, let Z0 equal 0.3
and P0 equal 0.03.
Solution 1 : 22
Close loop response of the system:
23
