Lecture 3
Root Locus Analysis in Z
plane
Dept. Of Electrical Engineering/ College
of Engineering/ Misan University
Control Engineering
Fourth Stage
OUTLINE
• Overview
• Root Locus Approach
• Construction Rules for Root Locus
• Examples
• Digital Compensator Design
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Overview
• The effect of gain on digital control system is important section for
stability state.
• The root locus method is considered the most important method to
check the stability of the system based on the gain controller.
• Root locus construction rules for digital systems are same as that of
continuous time systems.
• We can calculate and draw the root of stability by using
characteristic equation.
• We can know if the system is absolutely stable and the degree of
stability.
• The system is considered stable when its root is locus with in unite
circle
Root Locus Approach
• Basic characteristic of the transient response of a closed-loop
system is closely related to the location of the closed-loop poles.
• If the system has a variable loop gain, then the location of the closed-
loop poles depend on the value of the loop gain chosen.
• It is important to know how the closed-loop poles move in the Z plane
as the loop gain is varied.
• Simple gain adjustment may move the closed-loop poles to desired
locations. The design problem then becomes the selection of an
appropriate gain value.
• If gain adjustment alone does not yield a desired result, addition of a
compensator to the system is necessary.
• The closed-loop poles are the roots of the closed-loop system
characteristic equation.
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Construction Rules for Root Locus
1. Starting points (K=0): The root locus start at the open-loop poles
2. Termination points (K = ∞): The root locus terminate at the open-loop
zeros when the exist, otherwise at ∞.
3. Number of distinct root locus: This is equal to the order of the
characteristic equation.
4. Symmetry of root locus: The root locus are symmetrical about the real
axis.
5. Unit circle crossover: This can be obtained by determining the value of K
for marginal stability using the Jury test and then substituting it in the
characteristic equation.
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6. Breakaway (Break in) points is a location on the real axis where the root
locus branches either arrive or depart from the real axis. It is calculated by
the following equation:
• Example 1: Draw the root locus(poles and zeros) for the characteristic
equation:
Solution:
The general equation of G(z) based on zeros and poles is
GH(z)= 0.368K(z+0.717)/(z-1)(z-0.368)
NOW, the open loop poles:
(z-1)(z-0.368) z= 1 and 0.398.
Then , the open loop zero :
(z+0.717) z= - 0.717. and ∞
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• Example 2: Draw the root locus for a digital control system shown in
figure below when the T=0.5 second and the gain controller is integral?
• Solution:
The G(z)
The controller is integral: K/s =k(z/z-1)
Now, G(z) =
The characteristic equation:
Now T=0.5 second:
Now, the open loop poles: (by comparing)
(z-1)(z-0.6.65)=0
z= 1 and 0.6065.
Then, the open loop zero: z= 0
Break away
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Now, 1+KGH(z)=0 KGH(z) = -1
K = -1/
G(z)
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Pole
Unit
Zero circle
Break Pole
point Break
point
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• Example 3: find the root locus for digital control system, shown in
Figure below. Determine the breakaway points, the value of K for
marginal stability and the unit circle crossover?
Solution:
The G(s):
The G(z): when T=0.5 (lecture 1)
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NOW, the open loop poles:
Then, the open loop zero:
The breakpoint is given by:
By characteristic equation 1+GH(z)=0
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Bu using Jury test, we can find the K? (lecture 2)
We can find the circle crossover by inserting the value of K in characteristic
equation:
Now, the root of equation is:
(stable)
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crossover
Break point
Break point
poles
zero
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• Example 4: For Example 3, calculate the value of k for which damping
factor is ξ = 0.7
• Solution
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Fig 1. Root locus with lines of constant damping factor and natural frequency (Reading
the roots when ξ = 0.7)
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Digital Compensator Design
A compensator, or controller, placed in the forward path of a control
system will modify the shape of the loci if it contains additional poles
and zeros.
The closed-loop pulse transfer function become:
and hence the characteristic equation is
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Digital lead compensator using Root Locus Method
• Choose desired pole locations
• Place the zero of the compensator to cancel a stable pole of G(z)
• Then, for desired pole to be on the locus, we must satisfy:
1 + KD(z)G(z) = 0
S = -ξ wn ∓ wn √1 − 𝜉 2
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• Example: The digital control system shown in Figure design a
compensator D(z) if desired closed-loop poles is (-0.5∓j0.866)
and sampling time 0.5 sec with damping ratio is 0.5.
The discrete-time compensator is to take the form
Find the values of K and b if a is selected to cancel the non-unity
open-loop pole.
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•Solution
The desired closed-loop poles are:
;
Mapping closed-loop poles from s to z-plane
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Converting from polar to cartesian co-ordinates gives the closed-loop poles
in the z- plane
The control problem is to design a compensator D(z), which, when cascaded
with G(z), provides a characteristic equation
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