2023-EE-608
2023-EE-609
2023-EE-623
COMPLEX ENGINEERING PROBLEM (CEP)
Control Systems (EE-340)
Root Locus Analysis and Controller Design
Analyze control systems using root-locus methods along with the selection of suitable
controllers (P, PI and PID).
1. Problem Statement
Consider a unity feedback control system with open-loop transfer function:
G(s)H(s)=K/s(s+2)(s+5)
Required:
1. Sketch the root locus for 0≤K<∞
2. Determine the range of gain KKK for stable operation.
3. Design a suitable controller to reduce the steady-state error from 20% to less than 2%
without significantly affecting transient response.
2. Root Locus Analysis:
Step 1: Characteristic Equation
For unity feedback:
1+G(s)H(s)=0
1+ K / s(s+2)(s+5) =0
Multiplying throughout:
s(s+2)(s+5)+K=0
Expanding:
Step 2: Open Loop Poles and Zeros
Open-loop poles:
s=0 , s=−2 , s=−5
Open-loop zeros:
No finite zeros
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2023-EE-608
2023-EE-609
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Therefore:
Number of poles = 3
Number of zeros = 0
Number of asymptotes = 3
Step 3: Root Locus Real-Axis Segments
Root locus exists where the number of poles and zeros to the right is odd.
Testing intervals:
Region 1: (−∞ , −5)
Right-side poles = 3
Odd → Root locus exists
Region 2: (−5 , −2)
Right-side poles = 2
Even → No locus
Region 3: (−2 , 0)
Right-side poles = 1
Odd → Root locus exists
Region 4: (0 , ∞)
Right-side poles = 0
Even → No locus
Step 4: Asymptotes
Number of asymptotes:
n−m=3−0=3
UNIVERSITY OF ENGINEERING AND TECHNOLOGY LAHORE, NAROWAL CAMPUS
2023-EE-608
2023-EE-609
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Roots:
S = −0.88 , s = −3.79
Only: S = −0.88
lies on the root-locus segment (−2 , 0)
Therefore:
Breakaway Point
S = −0.88
UNIVERSITY OF ENGINEERING AND TECHNOLOGY LAHORE, NAROWAL CAMPUS
2023-EE-608
2023-EE-609
2023-EE-623
MATLAB Root Locus Plot of the Original System:
Root Locus with Breakaway Point and Imaginary Axis Crossing:
UNIVERSITY OF ENGINEERING AND TECHNOLOGY LAHORE, NAROWAL CAMPUS
2023-EE-608
2023-EE-609
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Step 6: Stability Using Routh-Hurwitz:
Routh Table:
For stability:
All first-column elements must be positive.
Condition 1
7>0
True.
Condition 2
K>0
Condition 3
70−K > 0
K < 70
UNIVERSITY OF ENGINEERING AND TECHNOLOGY LAHORE, NAROWAL CAMPUS
2023-EE-608
2023-EE-609
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At
K=70
the root locus crosses the imaginary axis at: s = ±j3.162
MATLAB Verification of Stability Limit (K = 70):
3. Controller Design:
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A tenfold improvement is required.
Suitable Controller Selection:
P Controller:
Increasing K alone:
✔ reduces error
✘ may destabilize system
✘ changes transient response significantly
Not recommended.
PID Controller
✔ reduces error
✔ improves dynamics
✘ unnecessarily complex
Not preferred.
PI Controller
Advantages:
✔ increases low-frequency gain
✔ reduces steady-state error
UNIVERSITY OF ENGINEERING AND TECHNOLOGY LAHORE, NAROWAL CAMPUS
2023-EE-608
2023-EE-609
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✔ introduces only one additional pole
✔ minimal effect on transient response when zero is placed near origin
✔ standard industrial solution
Recommended Controller:
while keeping the dominant poles nearly unchanged.
Root Locus of the System with PI Controller:
Closed-Loop Step Response Without Controller:
UNIVERSITY OF ENGINEERING AND TECHNOLOGY LAHORE, NAROWAL CAMPUS
2023-EE-608
2023-EE-609
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Closed-Loop Step Response With PI Controller:
Comparison of Step Responses Before and After PI Controller:
Comparison of both the Figures shows that the PI controller improves the steady-state
accuracy of the system by introducing integral action, which significantly reduces the steady-
state error. While the compensated system exhibits a slower settling response compared to the
uncompensated system, it remains stable and achieves more accurate reference tracking.
Therefore, the PI controller satisfies the design objective of improving steady-state
performance while maintaining acceptable transient behavior.
UNIVERSITY OF ENGINEERING AND TECHNOLOGY LAHORE, NAROWAL CAMPUS
2023-EE-608
2023-EE-609
2023-EE-623
Parameter Result
Open-loop poles 0, -2, -5
Open-loop zeros None
Breakaway point -0.88
Centroid -2.333
Asymptote angles 60°, 180°, 300°
Imaginary-axis crossing ±j3.162
Critical gain 70
Stable range 0 < K < 70
Initial steady-state error 20%
Required steady-state error < 2%
Selected controller PI
Controller transfer function (s+0.1)/s
Conclusion:
The root locus analysis of the control system G(s)=K/[s(s+2)(s+5)] was performed
successfully. The system contains three open-loop poles located at 0, −2, and −5 with no
finite zeros. The root locus exhibits a breakaway point at s = −0.88 a centroid at −2.333, and
asymptotes at 60∘, 180∘, and 300∘. Using the Routh-Hurwitz criterion, the system was found
to be stable for 0 < K < 70. At K=70, the closed-loop poles cross the imaginary axis at s =
±j3.162, indicating marginal stability. To reduce the steady-state error from 20% to less than
2%, a PI controller Gc(s)=s+0.1/s was selected. The PI controller improves steady-state
accuracy while preserving acceptable transient performance. MATLAB simulations verified
all theoretical calculations and confirmed the effectiveness of the proposed controller design.
UNIVERSITY OF ENGINEERING AND TECHNOLOGY LAHORE, NAROWAL CAMPUS