VAISHNAVI ACADEMY (THANE/NERUL/DADAR)
Control system – II by Ajit More sir - 8080234012
Design of Compensators using Root Locus Technique
Steps for Root Locus
Step 1 : calculation of poles and zeros
• Poles are lies in denominator and zeros are lies in numerator.
• Poles are denoted by ‘×’ and zeros are denoted by ‘o’
• Number of poles and zeros should be equal.
( If P ≠ Z, then assume it at ꝏ, those who are less )
( If P + Z is odd, then assume one ꝏ as negative )
Step 2 : Root locus on negative real axis
Take extreme left root on real axis, it may be pole or zero. If addition of all roots on
right side of that root on real axis is odd, then root locus will be present otherwise root
locus will be absent.
Step 3 : Starting point
Every pole is starting point
Step 4 : End point
Every zero is end point
Step 5 : Asymptotes
a) No. of asymptotes : P – Z
Where P = actual no. of poles
Z = actual no. of zeros
b) Centroid (Ϭc) :
∑ real part of poles − ∑ real part of zeros
Ϭc =
P−Z
c) Angle of asymptotes (ƟK ) :
( 2K + 1 )180˚
ƟK =
P−Z
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VAISHNAVI ACADEMY (THANE/NERUL/DADAR)
Control system – II by Ajit More sir - 8080234012
Step 6 : No. of branches of root locus (N)
If P > Z then N = P and If P < Z then N = Z and If P = Z then N = P = Z
Step 7 : Angle of Departure and Angle of Arrival
Angle of Departure → Complex Poles Angle of Departure → Complex Zeros
Angle of Departure (𝛂𝐃 ) ∶ Angle of Arrival (𝛂𝐀 ) ∶
αD = 180˚ − α αA = 180˚ + α
α = ∑αP − ∑αZ α = ∑αP − ∑αZ
∑αP = addition of angle made by other poles
∑αP = addition of angle made by other zeros
Step 8 : Calculation of Break Away point and Break In point
• Break Away point lies between two adjacent poles.
• Break In point lies between two adjacent zeros.
But there should be root locus between them.
a) Characteristic equation : 1 + G(s) H(s) = 0
b) K = F(s)
c) differentiate w.r.t. s 𝑑𝐾 𝑑𝐹(𝑠)
= =0
𝑑𝑠 𝑑𝑠
d) Select valid break away point and break in point by observation.
Step 9 : Intersection with jω-axis
a) Characteristic equation : 1 + G(s) H(s) = 0
b) Routh Array
if Kmar is negative or
c) Kmarginal zero then there will be
d) Auxiliary equation : A(s) no intersection point
e) Roots of A(s) with jω-axis.
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VAISHNAVI ACADEMY (THANE/NERUL/DADAR)
Control system – II by Ajit More sir - 8080234012
Design steps for Lag compensation by using Root Locus
This compensation is used to improve steady state error. If steady state error
specification is given in the question then we can use this compensation technique.
Step 1 : Root locus for uncompensated system
Step 2 : Calculation of damping factor ( 𝛏 ) by using peak overshoot.
−πξ
√1− ξ2
%Mp = e × 100
Step 3 : Calculation of Ɵ
cos Ɵ = 𝛏
Step 4 : Calculation of Dominant pole ( 𝐒𝐝 )
In graph, we will get dominant pole at the intersection point of root locus and
line of damping factor.
Step 5 : Calculation of K
|G(s)|S = Sd = 1
Step 6 : Calculation of error constant and steady state error for uncompensated system
1
K p = lim G(s) H(s) ess = for type ‘0’
s→0 1+ Kp
1
K v = lim s G(s) H(s) ess = for type ‘1’
s→0 Kv
1
K a = lim s 2 G(s) H(s)
s→0
ess = Ka
for type ‘2’
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VAISHNAVI ACADEMY (THANE/NERUL/DADAR)
Control system – II by Ajit More sir - 8080234012
Step 7 : calculation of steady state error and error constant for compensated system
For tenfold improvement in steady state error, divide by 10 for ess of
uncompensated system. Similarly for fivefold improvement, divide by 5 and so on. After
that calculate error constant K compensated .
Step 8 : Calculation of ‘α’
Kcompensated
α=K
uncompensated
Step 9 : Calculation of pole and zero for compensated system
pole = 0.01 zero = α × pole
Step 10 : Calculation of T. F. for compensated system
Gcomp (s) = Glag (s) G(s)
Step 11 : Draw the root locus for compensated system and calculate error constant and
steady state error 𝐞𝐬𝐬 for compensated system and verify the answer.
(ess )uncomp
Improvement in steady state error =
(ess )comp
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VAISHNAVI ACADEMY (THANE/NERUL/DADAR)
Control system – II by Ajit More sir - 8080234012
Design steps for Lead compensation by using Root Locus
This compensation is used to improve transient response, that is to reduce the
settling time. If settling time specification is given in the question then we can use this
compensation technique.
Step 1 : Root locus for uncompensated system
Step 2 : Calculation of damping factor ( 𝛏 ) by using peak overshoot and natural frequency
(𝛚𝐧 ) by using settling time.
−πξ
√1− ξ2 1
%Mp = e × 100 TS = ξωn
(If settling time is not given then calculate it by using real part of dominant pole.)
Step 3 : Calculation of Ɵ
cos Ɵ = 𝛏
Step 4 : Calculation of Dominant pole ( 𝐒𝐝 )
In graph, we will get dominant pole at the intersection point of root locus and
line of damping factor.
Step 5 : Calculation of desired settling time (𝐓𝐒 )𝐮𝐧𝐜𝐨𝐦𝐩𝐞𝐧𝐬𝐚𝐭𝐞𝐝
𝟒
(𝐓𝐒 )𝐮𝐧𝐜𝐨𝐦𝐩𝐞𝐧𝐬𝐚𝐭𝐞𝐝 =
− 𝐫𝐞𝐚𝐥 𝐩𝐚𝐫𝐭 𝐨𝐟 𝐝𝐨𝐦𝐢𝐧𝐚𝐧𝐭 𝐩𝐨𝐥𝐞 𝐒𝐝
Step 5 : Calculation of desired settling time (𝐓𝐒 )𝐝𝐞𝐬𝐢𝐫𝐞𝐝
For tenfold reduction in settling time, divide by 10 for Ts of uncompensated
system. Similarly for fivefold reduction, divide by 5 and so on.
(𝐓𝐒 )𝐮𝐧𝐜𝐨𝐦𝐩𝐞𝐧𝐬𝐚𝐭𝐞𝐝
(𝐓𝐒 )𝐝𝐞𝐬𝐢𝐫𝐞𝐝 =
specified reduction
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VAISHNAVI ACADEMY (THANE/NERUL/DADAR)
Control system – II by Ajit More sir - 8080234012
Step 6 : Calculation of desired location of dominant pole (𝐒𝐝 )𝐝𝐞𝐬𝐢𝐫𝐞𝐝
−4
Real part = (𝐓 ) Imaginary part = Real part × tan( 180˚ − Ɵ)
𝐒 𝐝𝐞𝐬𝐢𝐫𝐞𝐝
(Sd )desired = (Real part) + j (Imaginary part)
Step 7 : Calculation of compensated zero ( 𝐙𝐂 )
Select compensated zero such that pole zero cancelation is occurred.
Important point is that, compensated zero should be lies on negative real axis and should
be on left side of the desired dominant pole (Sd )desired .
Step 8 : Calculation of angular contribution required from compensated pole (Ɵ𝐏𝐂 )
(ƟPC ) = 180˚ + ( ƟZ − ƟP )
ƟZ = Contribution made by zeros
ƟP = contribution made by poles
Step 9 : Calculation of compensated pole ( 𝐏𝐂 )
Imaginary part
= tan (ƟPC )
PC + Real part
Step 10 : Calculation of T. F. for compensated system
Gcomp (s) = Glead (s) G(s)
Step 11 : Draw the root locus for compensated system and calculate settling time and
compensated system and verify the answer.
Reduction in settling time = (TS )uncomp − (TS )comp
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