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Root Locus Controller Design Guide

Module 18 covers the process of controller design using root locus techniques, including translating performance specifications into closed-loop pole locations and analyzing the root locus of a system with a simple gain. It emphasizes the importance of adjusting gain and adding poles or zeros to meet design requirements. The module also includes examples and MATLAB tools for practical application of these concepts.

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5 views10 pages

Root Locus Controller Design Guide

Module 18 covers the process of controller design using root locus techniques, including translating performance specifications into closed-loop pole locations and analyzing the root locus of a system with a simple gain. It emphasizes the importance of adjusting gain and adding poles or zeros to meet design requirements. The module also includes examples and MATLAB tools for practical application of these concepts.

Uploaded by

pirate7174
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Module 18:

AEV 5020, Lecture 8


Root Locus for Design
Rick Hill, PhD
Dept of Mechanical Engineering
1
Module 18: Root Locus for Design
Controller Design with Root Locus Overview
1. Translate performance specifications into closed-
loop pole locations

AEV 5020, Lecture 8


2. Draw root locus of system with simple gain K

3. See if a gain change can meet your requirements

4. If not, then add poles and/or zeros via the


controller to reshape the root locus to pass through
the desired closed-loop pole locations
2
Example
• Find K (if it exists) that provides a settle time for the
following system of 4/3 seconds

• Step 1: Translate specifications into pole locations


Example (continued)
• Step 2: We found the root locus for this OL TF earlier
Root Locus
2

1.5

0.5
Imaginary Axis

-0.5

-1

-1.5

-2
-8 -7 -6 -5 -4 -3 -2 -1 0 1
Real Axis

• Step 3: Can this requirement be met?


Example
• Design C(s) that achieves a peak time less than 1
second and an overshoot less than 4%

• Step 1: Plot desired region of closed-loop poles


Example (continued)
Im

Re

• Step 2: Plot root locus for C(s) = K


• Step 3: Can requirements be met for this controller?
Example (continued)
• Attempt a PD controller C ( s )  K ( s  z )  Ks  Kz
KD KP

• Can given requirements be met for this controller?


Design via Root Locus
• In general
• Adding a zero tends to pull the root locus towards
the left … tends to make system more stable,

AEV 5020, Lecture 8


settle faster

• Adding a pole tends to pull the root locus towards


the right … tends to make system less stable,
settle slower

• Putting a pole near a zero or a zero near a pole


tends to reduce their effect (like a pole-zero 8
cancellation)
MATLAB Tools

AEV 5020, Lecture 8


9
[Link]
Introduction&section=ControlRootLocus
Summary of Module 18
Controller Design with Root Locus Overview
1. Translate performance specifications into closed-
loop pole locations

AEV 5020, Lecture 8


2. Draw root locus of system with simple gain K

3. See if a gain change can meet your requirements

4. If not, then add poles and/or zeros via the


controller to reshape the root locus to pass through
the desired closed-loop pole locations
10

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