Dynamic Systems and Control, Chapter 4: Control Design

Control Designs

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

Closed-loop design by root locus

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 Dynamic Systems and Control, Chapter 4: Control Design
Root Locus
15

10

%From the plot above we see that there is

part of the root locus inside the desired

Imaginary Axis (seconds-1)

5

region.
0.7
1.8
0

% So in this case, we need only a 0.7

proportional controller to move the poles

-5

to the desired region. -10

[k,poles] = rlocfind(sys)
-15
-20 -15 -10 -5 0
Real Axis (seconds -1)

Step Response

% In order to find the step response, you 1

need to know the closed-loop transfer

0.9

0.8

function. 0.7

0.6

Amplitude
sys_cl = feedback(k*sys,1) 0.5

step(sys_cl) 0.4

0.3

0.2

0.1

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (seconds)

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 Dynamic Systems and Control, Chapter 4: Control Design

General effect of addition of zeros

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 Dynamic Systems and Control, Chapter 4: Control Design

Compare root locus of

Root Locus Root Locus
15 15

sys1 = 1/((s+4)*(s+2)*(s+1))
10 10
sys2 = (s+6)/((s+4)*(s+2)*(s+1))

Imaginary Axis (seconds-1)

Imaginary Axis (seconds-1)

5 5

0 0

-5 -5

-10 -10

-15 -15
-20 -15 -10 -5 0 -20 -15 -10 -5 0
Real Axis (seconds -1) Real Axis (seconds -1)

Root Locus
Root Locus 15
15

sys4 = (s+1.5)/((s+4)*(s+2)*(s+1))
10
sys3 = (s+3)/((s+4)*(s+2)*(s+1)) 10

Imaginary Axis (seconds-1)

5
Imaginary Axis (seconds-1)

0
0

-5
-5

-10 -10

-15 -15
-20 -15 -10 -5 0 -20 -15 -10 -5 0
Real Axis (seconds -1) Real Axis (seconds -1)

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 Dynamic Systems and Control, Chapter 4: Control Design

Motivation example (1)

Consider an open-loop system which has a transfer function of

Root Locus
15

%EXAMPLE 4.1 10

s = tf('s');

Imaginary Axis (seconds-1)

sys = (s + 7)/(s*(s + 5)*(s + 15)*(s + 20));
5

rlocus(sys) 0

axis([-22 3 -15 15])

-5

-10

-15
-20 -15 -10 -5 0
-1
Real Axis (seconds )

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 Dynamic Systems and Control, Chapter 4: Control Design

Motivation example (1)

Root Locus
15

%Choosing a Value of K from the Root

Locus 10
% If we need overshoot less than 5% (which
means a damping ratio zeta of greater than

Imaginary Axis (seconds-1)

5
0.7)
% If Rise time of 1 second (which means a 0.7
1.8
0
natural frequency omega greater than 1.8) 0.7
Zeta = 0.7;
-5
Wn = 1.8;
sgrid(Zeta,Wn)
-10

-15
-20 -15 -10 -5 0
Real Axis (seconds -1)

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 Dynamic Systems and Control, Chapter 4: Control Design

Motivation example (2)

• B is the desired root: we can’t

access by changing K!
• What can we do?
- Change parameters of the
original system: Impossible or
Expensive
- Add a Compensation System!

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 Dynamic Systems and Control, Chapter 4: Control Design

Closed-loop design by root locus

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 Dynamic Systems and Control, Chapter 4: Control Design

A Compensation System?
Simple controller system with two purposes:
• Improving the transient response by changing pole locations. (Differentiator
Based)
• Improving the steady-state performance. (Integrator Based)
There are 2 types of compensators (Depending on where you place the compensator
system): Cascade(a) or Feedback(b)

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 Dynamic Systems and Control, Chapter 4: Control Design

Compensators

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 Dynamic Systems and Control, Chapter 4: Control Design

Cascade compensation

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 Dynamic Systems and Control, Chapter 4: Control Design
Compensator design

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 Dynamic Systems and Control, Chapter 4: Control Design

Lead compensation

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 Dynamic Systems and Control, Chapter 4: Control Design
Lead compensation

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 Dynamic Systems and Control, Chapter 4: Control Design
Active lead and lag networks

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 Dynamic Systems and Control, Chapter 4: Control Design
Principles of Lead design via Root Locus

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 Dynamic Systems and Control, Chapter 4: Control Design

Root Locus Principles

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 Dynamic Systems and Control, Chapter 4: Control Design
RL design: Basic procedure

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 Dynamic Systems and Control, Chapter 4: Control Design

How to choose the zero and pole from phase cond.: Pole-
zero Cancellation

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 Dynamic Systems and Control, Chapter 4: Control Design

How to choose the zero and pole from phase cond.: Zero
under C.L pole

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 Dynamic Systems and Control, Chapter 4: Control Design

How to choose the zero and pole from phase cond.:

Geometrical Construction

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 Dynamic Systems and Control, Chapter 4: Control Design

Lead compensator example

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 Dynamic Systems and Control, Chapter 4: Control Design

Attempt proportional control

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 Dynamic Systems and Control, Chapter 4: Control Design

Attempt proportional control

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 Dynamic Systems and Control, Chapter 4: Control Design

Proportional control, step response

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 Dynamic Systems and Control, Chapter 4: Control Design

Lead compensated design

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 Dynamic Systems and Control, Chapter 4: Control Design

Lead compensated design

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 Dynamic Systems and Control, Chapter 4: Control Design

Lead compensator example

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 Dynamic Systems and Control, Chapter 4: Control Design

Lead compensator example

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 Dynamic Systems and Control, Chapter 4: Control Design

Lead compensator example

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 Dynamic Systems and Control, Chapter 4: Control Design

Lead compensator example

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 Dynamic Systems and Control, Chapter 4: Control Design

What to do now?

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 Dynamic Systems and Control, Chapter 4: Control Design

Root Locus, new lead compensator

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 Dynamic Systems and Control, Chapter 4: Control Design

New lead compensator

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 Dynamic Systems and Control, Chapter 4: Control Design

New lead compensator, ramp response

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 Dynamic Systems and Control, Chapter 4: Control Design

New lead compensator, step response

Note faster settling

time than prop.
controlled loop.
However, the CL zero
has increased the
overshoot a little.
Perhaps we should go
back and re-design for
ζ ≈ 0.40
in order to better
control the overshoot.

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 Dynamic Systems and Control, Chapter 4: Control Design

Remark points of the lead compensator

• Root locus approach to phase lead design was reasonably successful in

terms of putting dominant poles in desired positions; e.g., in terms of ζ
and ωn.

• We did this by positioning the pole and zero of the lead

compensator so as to change the shape of the root locus

• However, root locus approach does not provide independent control

over steady-state error constants(details upcoming)

• That said, since lead compensators reduce the DC gain

(they resemble differentiators), they are not normally used to control
steady-state error.

• The goal of our lag compensator design will be to increase the steady-
state error constants, without moving the other poles too far.

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 Dynamic Systems and Control, Chapter 4: Control Design

Lag comp. design via Root Locus

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

Compensator and Bode Diagram

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

Cascade compensation and steady-state errors

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

Classification of the system based on the steady-state errors

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 Dynamic Systems and Control, Chapter 4: Control Design
Steady-state errors

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 Dynamic Systems and Control, Chapter 4: Control Design
Steady-state errors

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 Dynamic Systems and Control, Chapter 4: Control Design
Lag compensation

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 Dynamic Systems and Control, Chapter 4: Control Design
Frequency response

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

Lag compensator design

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 Dynamic Systems and Control, Chapter 4: Control Design

Lag compensator design

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 Dynamic Systems and Control, Chapter 4: Control Design

Lag compensator design in frequency response

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

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 Dynamic Systems and Control, Chapter 4: Control Design

Active lead and lag networks

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