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ME451: Control Systems Course Roadmap

The document provides an overview of root locus analysis for control systems. It discusses: 1) What root locus is and how it shows how poles vary with changing gain parameter K. 2) A step-by-step process for roughly sketching root locus plots by hand, including identifying poles/zeros, asymptotes, and breakaway points. 3) Examples of simple and more complex root locus sketches to demonstrate the process. Matlab is also introduced for generating accurate root locus plots.

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Vu Nghia
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41 views5 pages

ME451: Control Systems Course Roadmap

The document provides an overview of root locus analysis for control systems. It discusses: 1) What root locus is and how it shows how poles vary with changing gain parameter K. 2) A step-by-step process for roughly sketching root locus plots by hand, including identifying poles/zeros, asymptotes, and breakaway points. 3) Examples of simple and more complex root locus sketches to demonstrate the process. Matlab is also introduced for generating accurate root locus plots.

Uploaded by

Vu Nghia
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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Course roadmap

ME451: Control Systems Modeling Analysis Design

Laplace transform Time response


Design specs
• Transient
Lecture 16 Transfer function • Steady state
Root locus
Root locus
Models for systems Frequency response
Frequency domain
• electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Dr. Jongeun Choi Block diagrams • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist

Michigan State University

(Matlab simulations &) laboratories


1 2

Lecture plan What is Root Locus?


ƒ L16: Root locus, sketching algorithm ƒ W. R. Evans developed in 1948.
ƒ L17: Root locus, examples ƒ Pole location of the feedback system
ƒ L18: Root locus, proofs characterizes stability and transient properties.
ƒ L19: Root locus, control examples ƒ Consider a feedback system that has one
ƒ L20: Root locus, influence of zero and pole parameter (gain) K>0 to be designed.
ƒ L21: Root locus, lead lag controller design K L(s)
L(s):
L(s): open-
open-loop TF

ƒ Root locus graphically shows how poles of CL


system varies as K varies from 0 to infinity.
3 4
A simple example A more complicated example
K L(s) K L(s)

ƒ Characteristic eq. ƒ Characteristic eq.


Closed-
Closed-loop poles

ƒ K=0: s=0,-2 Im
ƒ It is hard to solve this analytically for each K.
ƒ K=1: s=-1,-1 Re ƒ Is there some way to sketch roughly root locus
ƒ K>1: complex numbers by hand? (In Matlab, use command “rlocus.m”.)
5 6

Root locus: Step 0 Root locus: Step 1


ƒ Root locus is symmetric w.r.t. the real axis. ƒ RL includes all points on real axis to the left of an
ƒ The number of branches = order of L(s) odd number of real poles/zeros.
ƒ Mark poles of L with “x” and zeros of L with “o”. ƒ RL originates from the poles of L and terminates
at the zeros of L, including infinity zeros.
Im Im

Re Re

Indicate the direction


with an arrowhead.

7 8
Root locus: Step 2 (Asymptotes) Root locus: Step 2 (Asymptotes)
ƒ Number of asymptotes = relative degree (r) of L: ƒ Intersections of asymptotes

ƒ Angles of asymptotes are

Asymptotes Im
(Not root locus)

Re

9 10

Root locus: Step 3 Quotient rule


ƒ Breakaway points are among roots of
Points where two or more branches meet and break away.

For each candidate s, check the positivity of

11 12
Root locus: Step 3 Matlab command “rlocus.m”
Root Locus
Im 8

Imaginary Axis
2
Re
0

-2

Breakaway point -4

-6

-8
-3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis

13 14

A simple example: revisited Summary and exercises


ƒ Root locus
K L(s) ƒ What is root locus
ƒ How to roughly sketch root locus
ƒ Sketching root locus relies heavily on experience.
ƒ Asymptotes PRACTICE!
ƒ Relative degree 2 Im ƒ To accurately draw root locus, use Matlab.
ƒ Intersection
Re ƒ Next, more examples
ƒ Exercises
ƒ Breakaway point
ƒ Read Chapter 7.

15 16
Exercises

17

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