Scribd
Upload
82 views4 pages

Laboratory Case Study: Control Systems - Root Locus Controller Design

This document presents a laboratory case study on using root locus analysis in MATLAB to design a controller. It describes using the controlSystemDesigner function to model a plant and add design requirements to the root locus plot. Specifically, damping ratio and natural frequency boundaries were set. Initially, the closed-loop step response showed an acceptable overshoot but too long rise time. Dragging the controller gain pink box on the root locus plot to an acceptable region improved the rise time while still meeting requirements. Inspecting the new step response confirmed both specifications were achieved with the optimized controller gain.

Uploaded by

tira
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
82 views4 pages

Laboratory Case Study: Control Systems - Root Locus Controller Design

This document presents a laboratory case study on using root locus analysis in MATLAB to design a controller. It describes using the controlSystemDesigner function to model a plant and add design requirements to the root locus plot. Specifically, damping ratio and natural frequency boundaries were set. Initially, the closed-loop step response showed an acceptable overshoot but too long rise time. Dragging the controller gain pink box on the root locus plot to an acceptable region improved the rise time while still meeting requirements. Inspecting the new step response confirmed both specifications were achieved with the optimized controller gain.

Uploaded by

tira
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
You are on page 1/ 4

Laboratory Case study

FACULTY OF MANUFACTURING ENGINEERING


UNIVERSITI TEKNIKAL MALAYSIA MELAKA

CONTROL SYSTEMS – ROOT LOCUS CONTROLLER DESIGN


LAB CASE STUDY 2

BMFG 3313 SEMESTER 2 SESSION 2019/2020

Case study on Root Locus Controller Design through MATLAB

1.0 Analysis of a root locus controller design


Root locus method provides graphical representation of closed loop transfer function with the value of
controller gain K ranging from zero to infinity. Where we can find the stability limits of K & roots of
characteristics equation, all in just one graph. It is a one of the way we can analyze or design controller for
our plant so that out plant or process gives a desired output. For example: Controlling the speed of missile
up to a desired level by just designing a suitable controller as shown in Figure 1.

Figure 1: Missile with controller

This can be done using root locus method.

2.0 Root locus controller design using MATLAB


One way to complete root locus controller design is to use the interactive Control System Designer tool

within MATLAB. We first define the plant, .

s = tf('s');
plant = (s + 7)/(s*(s + 5)*(s + 15)*(s + 20));

Faculty of Manufacturing Engineering


Universiti Teknikal Malaysia Melaka 1/4
The controlSystemDesigner function can be used for analysis and design. In this case, we will focus on using
the root locus as the design method to improve the step response of the closed-loop system. To begin, type
the following into the MATLAB command window: controlSystemDesigner(plant)

The following window should appear as shown in Figure 2. You can also launch the GUI by going to
the APPS tab and clicking on the app icon under Control System Design and Analysis. Here you can see
the root locus plot, along with open-loop Bode plot, and the closed-loop step response plot for the given plant
in unity feedback with a default controller of .

Figure 2: Root locus plot, open-loop Bode plot, and the closed-loop step response plot for the given plant in
unity feedback with a default controller of .

The next step is to add the design requirements to the Root Locus plot. This is done directly on the plot by
right-clicking and selecting Design Requirements, New. Design requirements can be set for the Settling
Time, the Percent Overshoot, the Damping Ratio, the Natural Frequency, or a Region Constraint. Here, we
will set the design requirements for the damping ratio and the natural frequency. We will set the boundary of
our requirements for = 0.7 and = 1.8. Set these within the design requirements. On the plot, any area
which is still white is an acceptable region for the closed-loop poles. Zoom into the Root Locus by right-
clicking on an axis and selecting Properties followed by the label Limits. Change the real-axis limits to -25
to 5 and the imaginary axis limits to -2.5 to 2.5.

Also, we can see the current values of some key parameters in the response. On the Step response plot,
right-click on the plot and go to Characteristics and select Peak Response. Repeat for the
characteristic Rise Time. There should now be two large dots on the screen indicating the values of these
parameters. Click each of these dots to bring up a box with information. Both plots should appear as shown
in Figure 3, once the Bode plot is closed:

Faculty of Manufacturing Engineering


Universiti Teknikal Malaysia Melaka 2/4
Figure 3: root locus plot and step response plot

As the characteristics show on the Step response, the overshoot is acceptable, but the rise time is much too
large. The pink boxes on the root locus show the corresponding closed-loop pole locations for the currently
chosen control gain .

To fix this, we need to choose a new value for the gain . Similar to how we employed the rlocfind command,
the gain of the controller can be changed directly on the root locus plot. Click and drag the pink box closest
to the imaginary axis (at the origin) to the acceptable region of our root locus plot as shown in Figure 4.

Figure 4: Choosing new value of gain K to the acceptable region

Faculty of Manufacturing Engineering


Universiti Teknikal Malaysia Melaka 3/4
In the Preview box of the window, it can be seen that the loop gain has been changed to 360. Inspecting the
closed-loop step response plot, both of our requirements are now met as shown in Figure 5.

Figure 5: Final root locus

3.0 Question

(a) Analyze the result of the root locus controller design in Figure 3 & 4 and write a 1-page essay
explaining the analysis. The analysis should include comparison between the different gain value
and its effect towards the root locus. Analyses also the system respond parameter (Peak Time,
settling time, %OS, Steady state error, Rise time) effect on the system respond that is display in
Figure 2(b). The essay must only include word with no figure or diagram allowed. The word count
should not exceed 600 with line spacing 1.5, font setting Arial and size 12.
(20 Marks)

4.0 Submission Format

(a) Submission will be through UTeM ULEARN platform. Due date of submission is available through
ULEARN. Please prepare the softcopy in word format.
(b) Include in the submission a front cover with name, matrix number, date and title: Lab Case Study
2 (Root Locus Design). Answer all the question above. Include all the pages (including the front
cover) in one file. You do not need to write back the question or any information given in this case
study sheet into your submission document. Just write your answer and the cover page.

Faculty of Manufacturing Engineering


Universiti Teknikal Malaysia Melaka 4/4

You might also like