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Root Locus Design Method PDF

The document discusses the root locus design method for control systems. It outlines the design criteria including steady state performance metrics like tracking error for step and ramp inputs. It describes how to determine position and velocity error. It also discusses concepts like system type, well-posedness, total stability, and transient state responses. The root locus method is introduced as a way to find the closed-loop pole locations as a function of the system gain. Examples are provided to illustrate how to apply the method to meet time domain specifications.

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David Portela Montealegre
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137 views18 pages

Root Locus Design Method PDF

The document discusses the root locus design method for control systems. It outlines the design criteria including steady state performance metrics like tracking error for step and ramp inputs. It describes how to determine position and velocity error. It also discusses concepts like system type, well-posedness, total stability, and transient state responses. The root locus method is introduced as a way to find the closed-loop pole locations as a function of the system gain. Examples are provided to illustrate how to apply the method to meet time domain specifications.

Uploaded by

David Portela Montealegre
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Teoría de Control

Root Locus design

Germán Andrés Ramos, PhD.


Design criteria

• Steady state performance – exactitud - tracking error –


step, ramp
- Steady state error:

r(t) − yss (t)


e = lim
t→∞ a

- Position error: step input r(s)=a


- Velocity error: ramp input r(s)=at

• Dada
α 0 + α1s ++ α n s n
Go (s) = n≥m
β0 + β1s ++ β m s m
Design criteria

• Position error: step input r(s)=a


α 0 − β0
e p = 1− Go (0) =
α0
• Velocity error: ramp input r(s)=at

d
ev = (1− Go (0)) t − Go (s)
ds s=0

" α 0 − β0 % α 0 β1 − β0α1
ev = $ 't − 2
# α 0 & α 0
Design criteria

• The plant output y(t) is said to track asymptotically the


reference input r(t) if

lim r(t) − y(t) = 0


t→∞

• step input r(s)=a • parable input r(s)=at2


α 0 = β0 α 0 = β0
• ramp input r(s)=at α1 = β1
α 0 = β0 α 2 = β2
α1 = β1
Design criteria

• System type: number of poles at the origen


- Loop transfer function Gl(s)

Tipo\ess ep ev ea
0 K ∞ ∞
1 0 K ∞
2 0 0 K
Design criteria

• Well-posedness:

- All transfer function in the system must be proper and

Δ(∞) = 1+ C(∞)G(∞) ≠ 0

• Total stability

-  Poles of Go(s) and its missing poles are all stable


-  Avoid unstable pole-zero cancellations
Design criteria

• Transient state – speed of response – step response


Root Locus Method
• Find the closed-loop pole location for any k in

Closed-loop transfer function Closed-loop poles:


kG(s)
Go (s) = 1+ kG(s) = 0
1+ kG(s)
Then: 1
G(s) = −
1 k
G(s) = −
k " 1%
Ĝ(s) = arg $ − ' = ±180
# k&
Root Locus Method

• In general
- The roots of the characteristic equation as a function of
kx
p(s) + kx q(s) = 0

Then:
1
G pq (s) = −
q(s) 1 kx
G pq (s) = =−
p(s) kx " 1%
Ĝ pq (s) = arg $ − ' = ±180
# kx &
Root Locus Method

• Procedure:
- Find the design region
- Plot the roots of the characteristic equation as a
function of k
p(s) + kq(s) = 0

• The region is defined by the time domain criteria (step


signal response) :
- ts settling time
- Overshoot
- tr rise time
Root Locus Method

• ts settling time

4.5 4.5
−a = − ts = < ts0
ts a
Root Locus Method

• Given
ω 2n
Go (s) = 2
s + 2ζω n s + ω 2n
Its poles are
−ζω n ± ω n ζ 2 −1

Also we have:
− πζ
1−ζ 2
Mp = e
M p ≤ 5% → ζ ≥ 0.7 → θ ≤ 45
ζ = cosθ
Root Locus Method

• Rise time tr
The farther away the closest pole from the origin, the smaller the rise
time ?

1.8
tr ≈
ωn
Root Locus Method

• Desired pole region

ζ < ζo
ts < tso
Root Locus Method

• Desired pole region

ζ < ζo
ts < tso
ωn < ωo

σ2 σ1
Root Locus method
1
• Ejemplo: G(s) =
s(s + 2)

• Position error ep=0

• Overshoot Mp<5%

• Settling time ts<9 s

• Rise time as small as possible


Root Locus method
1
• Ejemplo: G(s) =
(s +1)

• Position error ep=0

• Overshoot Mp<5%

• Settling time ts<2 s

• Rise time as small as possible


Root Locus method
2
• Ejemplo: G(s) =
s(s +1)(s + 5)

• Position error ep=0

• Overshoot Mp<5%

• Settling time ts<5 s

• Rise time as small as possible

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