2.004 Dynamics and Control Ii: Mit Opencourseware
2.004 Dynamics and Control Ii: Mit Opencourseware
http://ocw.mit.edu
Spring 2008
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Massachusetts Institute of Technology
Lecture 291
Reading:
• Nise: Chapter 8
X X o o s
K = 0 K = 0 K = ¥ K = ¥
A breakaway point is the point on a real axis segment of the root locus between two real
poles where the two real closed-loop poles meet and diverge to become complex conjugates.
Similarly, a break-in point is the point on a real axis segment of the root locus between two
real zeros where two real closed-loop complex conjugate zeros meet and diverge to become
real.
Because the closed-loop poles originate from open-loop poles (when K = 0), a breakaway
point will correspond to the point of maximum K along the real-axis segment. Similarly, a
break-in point will correspond to the point of minimum K on the real axis segment between
the two zeros.
The closed-loop characteristic equations is 1 + KG(s) = 0, so that along the root locus
segments on the real axis (s = σ)
1 D(σ)
K=− =−
G(σ) N (σ)
1 c D.Rowell 2008
copyright �
29–1
K K
0 s 0 s
X X o o s
K = 0 s b K = 0 K = ¥ s b K = ¥
Example 1
Find the real axis breakaway/break-in points for the closed-loop system with
s2 + 10s + 24 (s + 6)(s + 4)
G(s) = 2 = .
s + 3s + 2 (s + 1)(s + 2)
The root locus has two real-axis segments, between the pole pair and between
the zero pair. There will therefore be a breakaway point and a break-in point.
jw
" b r e a k a w a y " p o in t
a " b r e a k - in " p o in t
o o X X s
-6 -4 -2 -1
or
29–2
jw
s = -4 .7 0 8 s = -1 .5 7 8
o o X X s
-6 -4 -2 -1
e q d
X
f f
o 1
o 2
q 1 s
X
or
φ1 + φ2 − θ1 − θd = (2k + 1)π
29–3
Let k = 0 and let � → 0, then
θd = φ1 + φ2 − θ1 − π
where the angles are measured to the pole itself.
A similar argument defines the angle of arrival at a complex zero.
Example 2
Find the angle of departure at the pole p = −1 + j2 for the closed-loop system
where
s+4
G(s) = 2 .
s + 2s + 5
jw
a n g le o f d e p a r tu r e
q d
X j2
o f
s
-4 -1
q
X - j2
4
o
1 2 3 .7
-7 .6 1
s
-1 0 -8 -6 -4 -2 0
-2
-4
29–4
Definitions • The open-loop transfer function is KGc (s)Gp H(s) which can
be rewritten as KN (s)/D(s).
• N (s), the numerator, is an mth order polynomial; D(s) is nth
order.
• G(s) has zeros at zi , (i = 1 . . . m); and poles at pi (i = 1 . . . n).
Symmetry The locus is symmetric about real axis (i.e., complex poles ap
pear as conjugate pairs).
Number of branches There are n branches of the locus, one for each pole of the closed-
loop transfer function.
Start and end points The locus starts (when K = 0) at poles of the open-loop transfer
function, and ends (when K = ∞) at the zeros. Note: there are
n − m zeros of the open-loop transfer function as |s| → ∞.
Locus on real axis The locus exists on the real axis to the left of an odd number of
poles and zeros.
Asymptotes as |s| → ∞ If n > m there are n − m asymptotes� � of the root locus that
intersect the real axis at σa = ( pi − zi )/(n−m), and radiate
out with angles θk = (2k +1)π/(n−m), for k = 0 . . . (n−m−1).
Refinement of the Root Locus:
Breakaway and break-in There are breakaway or in points of the locus on the real axis
points on the real axis wherever N (s)D� (s) − N � (s)D(s) = 0.
Angle of departure from The angle of departure from pole pj is
a complex pole
m
� n
�
◦
θd,pj = ±180 + � (pj − zi ) − � (pj − pi )
i=1 i=1,i�=j
Imaginary axis crossingsUse Routh-Hurwitz to determine where the locus crosses the
(stability limits) imaginary axis, or assume a form for the closed-loop char. eqn.
and solve for the coefficients
Determine the poles for Substitute the value of K into D(s) + KN (s) = 0 and find roots
a given gain K of characteristic equation. (This may require a computer)
Determine K for a given Use the magnitude condition with s = σ + jω, ie K =
pole location −D(s)/N (s). (If s is not exactly on the locus, K may be com
plex, but the imaginary part should be small. Take the real part
of K for your answer.)
29–5
Root Locus
2
1.5
0.5
Imaginary Axis
−0.5
−1
−1.5
−2
−12 −10 −8 −6 −4 −2 0 2
Real Axis
produces the plot
sgrid() The function sgrid without any arguments generates a grid over an existing con
tinuous s-plane root locus or pole-zero plot. Lines of constant damping ratio (ζ) and
undamped natural frequency (ωn ) are drawn.
If invoked with a pair of arguments, sgrid(zeta, wn), lines of constant damping ratio
for the values given in the vectors zeta and wn will be plotted. For example
sgrid([0.92 0.95 0.98], [3 4 5 6 7]) superimposed on the above example pro
duces the plot
Root Locus
2
0.95 0.92
1.5 0.98
0.5
Imaginary Axis
7 6 5 4 3
0
−0.5
−1
−1.5 0.98
0.95 0.92
−2
−12 −10 −8 −6 −4 −2 0 2
Real Axis
29–6
Example 3
Use MATLAB to find the gain K to achieve a closed-loop damping ratio 0f
ζ = 0.707 for the open-loop system
(s + 1)2
G(s)
s(s2 + 1)
Root Locus
2.5
0.707
2
System: sys
1.5 Gain: 4.52
Pole: −1.97 + 1.97i
Damping: 0.707
1 Overshoot (%): 4.31
Frequency (rad/sec): 2.78
Imaginary Axis
0.5
−0.5
−1
−1.5
−2
0.707
−2.5
−7 −6 −5 −4 −3 −2 −1 0 1
Real Axis
With the cursor, the gain is found to be K = 4.52. The step response of the
closed-loop system is found with the following commands:
closed loop = feedback (4.52*sys, 1)
step(closed loop)
29–7
Step Response
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6
Time (sec)
We note that the overshoot is greater than the 5% predicted by the poles with
a damping ratio of ζ = 0.707. This is because the closed-loop system retains the
open-loop zeros, and these zeros accentuate the overshoot.
Example 4
Plot the root locus for
(s + 1.5)(s + 5.5)
. G(s)
s(s + 1)(s + 5)
sys = zpk([-1.5 -5.5],[0 -1 -5],1)
rlocus(sys)
Root Locus
2
1.5
0.5
Imaginary Axis
−0.5
−1
−1.5
−2
−14 −12 −10 −8 −6 −4 −2 0 2
Real Axis
29–8
• The plant Gp (s) may be imported as a system object from the MATLAB workspace.
• Response curves (step, impulse, etc) may be displayed as the gain is changed.
29–9