The Organization of Islamic Cooperation (OIC)

IPE 4607 : Control Engineering &

Industrial Automation

Prepared by:
Chapter 7b : Dr. Madihah Binti Haji Maharof
Assistant Professor
Department of MPE, IUT
Email: mmmaharof@[Link]

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At the end of this chapter, you should be able
to:

i. Design several types of controllers using

Root Locus technique.
ii. Relate system transient response, stability,
and steady-state error to good controller
design.

2
3
1. Transient Response

Root locus must be

adjusted in order to
fulfill transient
response
requirements IF
current Root Locus
does not fit the
design requirements.

4
 Sketch the transient
responses for poles located
at 2 and 3.

(i)

(iii)

(ii)

5
Consider the following root locus:

It is desired to improve the system settling

point while maintaining the % OS.
Is it possible with the current system?
What will gain adjustment do?

6
 Current root locus must be adjusted
(instead of getting a new system) in order to
meet the new design requirement.

This is possible by adding poles and /or zeros.

How is this possible?

7
 Removal of steady-state error is critical to system
performance.

Addition of integral aside from gain would eliminate

s.s.e. (how?)

(a) (b)

8
Placement of open loop pole at the origin increases the
system type to 1 and eliminates the steady-state error.

9
 Adding a pole at the origin seems to have
changed the root locus such that it does not
include the design point.
A solution is to add a zero close to the pole at
the origin.

Now, the
root locus
passes
through the
design point!

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Example 1:
Design an ideal integrator that would
eliminates s.s.e. to zero for a step input with a
damping ratio of 0.174. Place a zero at -0.1.
Uncompensated system:
• Construct the root locus of the system.
The intersection point with the damping ratio line is –
0.694 + j3.93.

• Find K at this point.

• Calculate the current s.s.e of the system

(system type? Which static error constant?)

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 Root Locus
15
0.174

10 System: G
Gain: 162
Pole: -0.679 + 3.9i
Damping: 0.172
Overshoot (%): 57.9
5 Frequency (rad/sec): 3.95
Imaginary Axis

-5

-10

0.174
-15
-12 -10 -8 -6 -4 -2 0 2 4
Real Axis 13
Compensated system:
• Add a zero at 0.1 to complete the ideal integral
controller.

• Construct the new Root Locus

• Confirm the transient response properties.

14
 Root Locus
15
0.174

10 System: Gcomp
Gain: 155
Pole: -0.668 + 3.8i
Damping: 0.173
Overshoot (%): 57.6
5 Frequency (rad/sec): 3.86
Imaginary Axis

-5

-10

0.174
-15
-12 -10 -8 -6 -4 -2 0 2 4
Real Axis 15
16
 Transient response could be adjusted and designed
for by adjusting the closed loop poles of a system on
the s-plane.

Root locus must be re-shaped by adding poles / zeros

in order to consider point that lies away from the root
locus.

Adding a zero to the forward path is one way to speed

up a system response.

Gc (s ) = s + zc

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A PD controller consists of summation of a pure gain
and a differentiator.

Gc (s ) = K (s + zc )

The compensated closed loop poles have more

negative real parts than the uncompensated, thus as
expected improves the transient response (reduced
settling time / peak time etc.)

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uncompensated compensated, zero at -2

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Compensated, zero at -3 compensated, zero at -4

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21
Predict the transient responses of the
four cases.

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23
Example:

Design an ideal derivative compensator for the following

system that yields a 16% overshoot and a three times
reduction in the settling time.

STEP 1: FIND ζ

Uncompensated system:
16% overshoot corresponds to a damping ratio,
 = 0.504
24
 Root Locus
15
STEP 2:
IDENTIFY POLE
0.504
cos = 
LOCATION
10 FROM ROOT
0
LOCUS System: G
Gain: 42.5
Pole: -1.21 + 2.03i
 = 59
5 Damping: 0.51
Overshoot (%): 15.5
Imaginary Axis

Frequency (rad/sec): 2.36

0

NOTE:
THE NEW POLE
LOCATION WILL
-5 ALSO BE ON THE
SAME LINE OF ζ

-10

0.504
-15
-15 -10 -5 0 5
Real Axis 25
Uncompensated system:
From root locus, the settling time can thus be calculated:

4 4 STEP 3:
Ts _ old = = = 3.3 sec. CALCULATE NEW
 n 1.21 Ts

Compensated system:
The designed settling time = 1/3 of original value.
NOTE:
4 1
Ts _ new = = 3.3 = 1.1 4 4
 new 3 Ts =
n
=

 new = 3.6
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Compensated system:

STEP 4:
FIND 
(
 d new = 3.6  tan 59.740 )
d new
d new = 6.2

We have just identified the new dominant second order

poles location on the adjusted root locus !

− 3.6 + j 6.2
Next we need to identify the
compensator zero location.

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Compensated system:

Calculate the current sums of angles. STEP 5:

FIND LOCATION OF

i = − 1 − 2 − 3 THE COMPENSTOR

ZERO FOR PI
CONTROLLER
The sums of angles = -275.6°.
Therefore, the zero must contributes an additional,

-275.6°+x = -180°
x=95.6°
With this we could identify the zero location on the real
axis.

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 Root Locus
10
0.504

8
− 3.6 + j 6.2
6

4
Imaginary Axis

2
3 2 1
0

-2

-4

-6

-8
0.504
-10
-10 -5 0 5
Real Axis 29
 Root Locus
10
0.504

8
− 3.6 + j 6.2
6 j 6.2
4
Imaginary Axis

2
95.60
0
− zc ? − zc ?
-2
− 3.6
-4

-6

-8
0.504
-10
-10 -5 0 5
Real Axis 30
 USING TROGINOMETRY,
YOU CAN CALCULATE
POSITION OF THE
6 .2 COMPENSATOR ZERO AT
zc=3.0

3.6 zc
6.2
3.6 − zc
(
= tan 1800 − 95.60 )
zc = 3.0

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THIS IS THE ROOT LOCUS FOR THE
NEW COMPENSATED SYSTEM

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What would be the step response of the
compensated system compared to the
uncompensated system?

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34
A PID controller utilizes the functions of the three
individual controllers; namely:

P: Proportional
(reduces s.s.e and improve transient response)

I: Integral
(eliminates s.s.e while maintaining transient response)

D: Derivative
(improves further the transient response)

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PID controller transfer function:

ki
G pid (s ) = k p + + kd s What is the
s control
 2 kp ki  structure?
kd  s + s + 
 kd kd 
=
s
k (s + zc1 )(s + zc 2 )
=
s

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Example:

Design a PID controller so that a system has a peak time

that is 2/3 of the uncompensated system, a 20%
overshoot and zero steady error to step input.

Calculate the damping ratio  = 0.456 STEP 1 (a):

EVALUATE THE
CURRENT
Construct the root locus cos = 0.456 UNCOMPENSATED
SYSTEM
Identify the dominant closed loop
poles and gain at these points.
 = 62.870

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Uncompensated system
Root Locus
15
STEP 1 (b):
0.456

ANALYSE THE
− 5.4 + j10.6
ROOT LOCUS 10
System: g K = 121
(DOMINANT Gain: 121
Pole: -5.41 + 10.6i
POLE LOCATION Damping: 0.456
5
ARE GIVEN WITH Overshoot (%): 20
Imaginary Axis

Frequency (rad/sec): 11.9

GAIN K)
0

-5

-10

0.456
-15
-12 -10 -8 -6 -4 -2 0 2
Real Axis 38
Compensated system

First get the dominant second order poles of the compensated system.
  STEP
STEP 2:
1 (c):
Current peak time, T pold = = = 0.296 FIND
FIND THE
THE CURRENT
CURRENT AND
AND
d old 10.6 NEW
NEW (COMPENSATED)
(COMPENSATED)
PEAK
PEAK TIME
TIME
For 2/3 reduction in the peak time,
Identify the new
 damping frequency
T =
pnew
d new

d new = ; for 2/3 reduction in peak time:
Tp new

d new = = 15.87
2
(0.297)
3
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Compensated system STEP 2:
FIND LOCATION OF
Getting the real part of the dominant THE NEW REAL PART
second order poles: OF THE DOMINANT

tan( ) = d POLE
 new
 15.87
 new = d =
(
tan( ) tan 62.870 )
 new = 8.13

Therefore, the locations are: -8.13 + j 15.87

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 Root Locus
STEP 3: 25
0.456
FROM THE NEW 20
DOMINANT POLE,
CALCULATE THE SUM OF 15 j 15.87
ANGLES. 10
THEN IDENTIFY THE ZERO
ANGLE CONTRIBUTION. 5
4 3 2 1
Imaginary Axis

Locating the 0
compensator zero for -5 -8.13
PD controller design:
-10
Compute the sums of
-15
all angles to the
desired dominant -20
closed loop poles 0.456
-25
from the -12 -10 -8 -6 -4 -2 0 2
uncompensated open Real Axis

loop poles and zeros. i = − 1 − 2 + 3 − 4 = −1980

 angle contributed from compensator zero is,
− 1980 +  z = −1800
 z = 180 41
 Root Locus
STEP 4: 25
0.456
USING 20
TRIGONOMETRY,
LOCATION OF THE 15 j 15.87
NEW ZERO ON REAL 10
AXIS CAN BE FOUND
5
 
Imaginary Axis

Identify the 0
compensator zero
-5 ? -8.13 ?
location.
-10

( )
tan 180 =
15.87
zc − 8.13
-15

-20

0.325(zc − 8.13) = 15.87 -25

0.456
-12 -10 -8 -6 -4 -2 0 2
zc = 56.96 Real Axis

42
 Root Locus
Compensated 60
system 0.456

System: g_pd
Therefore, the 40 Gain: 5.19
PD Pole: -8.08 + 15.8i
Damping: 0.455
compensator Overshoot (%): 20
equals: 20 Frequency (rad/sec): 17.7

G pd (s ) = s + 56.96
Imaginary Axis

Next, update
the root locus -20
for PD THIS IS THE NEW
compensator. ROOT LOCUS WITH
PD CONTROLLER!
-40

0.456
-60
-120 -100 -80 -60 -40 -20 0 20
Real Axis 43
 Root Locus
STEP 5:
DESIGN PI 50
0.456

CONTROLLER WITH
System: g_pi_pd
ZERO CLOSE TO 40
Gain: 4.68
ORIGIN (AT -0.5) Pole: -7.66 + 14.9i
30 Damping: 0.456
Next, is to
Overshoot (%): 20
include the PI 20 Frequency (rad/sec): 16.8
controller to
eliminates the
Imaginary Axis

10
s.s.e.
0
s + 0.5
G pi (s ) = -10
s
-20
Next, update
the root locus -30 THIS IS THE NEW
for PD + PI ROOT LOCUS WITH
compensator. -40 PD+PI CONTROLLER

-50 0.456

-120 -100 -80 -60 -40 -20 0

44
Real Axis
45
Compensated system

Next, determine the PID controller constants k p , ki , k d

K (s + 0.5)(s + 56.96)
G pid (s ) =  2 k p ki 
s kd  s + s + 
 kd kd 
4.68(s + 0.5)(s + 56.96) G pid (s ) =
G pid (s ) = s
s
G pid (s ) =
( )
4.68 s 2 + 57.46s + 28.48
s
k d = 4.68
 k p = 57.46  4.68 = 268.9
ki = 28.48  4.68 = 133.3
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Compensated system

Construct the system responses for the three design steps.

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THE END

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