KIG 4001

Control Engineering
(Group 1)

Compensator Design using Root Locus

(Statics Compensator)

Assoc. Prof. Dr. Yap Hwa Jen

Compensator Design using Root Locus

1) Simple gain adjustment

(Static Compensator)
Adjust the gain to meet the desired
transient response. However, the
adjustment or design is limited to
those responses that exist along
the root locus.
Rt 05%1 e↑
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 Compensator Design using Root Locus

1) Simple gain adjustment (Static Compensator)

➢ Simple gain adjustment can only improve the transient
response of a system which exist along the root locus.
➢ Transient response & Steady-state error is a function of
gain K

K  e  but %OS 
K  %OS  but e 

Compensator Design using Root Locus

2) Cascade compensation/Augmentation
(Dynamic compensator) > Root locus

➢ Flexibility in the design of a desired

transient response can be increased if
we can design for transient response
that are not on the root locus.
Point B – desired transient response
Point A – simple gain adjustment (same %OS but different
ts from point B)
To get desired response at point B:
a) Replace the existing system with a system whose root
locus intersects the point B. (But this method is
expensive and counterproductive).
b) Compensate the system with additional poles & zeros
so that the root locus of compensate system intersect
the desired point B. (Cheap and easy to implement)
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 Compensator Design using Root Locus
2) Cascade compensation/Augmentation (Dynamic compensator)

Ideal integral compensator or PI

Ideal compensator controller (use pure integration)
(Active networks)
Ideal derivative compensator or PD
controller (use pure differentiation)

Lag Compensator
Compensator (Passive networks)
(Passive networks)
Lead Compensator
(Passive networks)
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Design procedure
(For second-order system or second order approximation is valid)

Design problem:
Design the gain K and compensator (if necessary) to meet desired performance
characteristics (i.e. %OS, ts and static error constants)

Procedure:
1) Find 𝜁 and 𝜔𝑛 from given %OS and settling time.
2) Calculate the desired complex poles, 𝑠𝑑 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2
3) Test whether this desired poles is on the root locus or not using angle criterion.
4) If angle criterion is satisfied (i.e. desired poles are on the root locus), then
design the gain K using magnitude criterion (simple gain adjustment):
𝑛
For 2nd-order system
𝐾 = ෑ 𝑠 + 𝑝𝑖
without zero
𝑖=1 𝑠=𝑠𝑑

\5) If angle criterion is not satisfied, then dynamic compensator is needed (i.e. PI,
PD, PID, Lead, Lag or Lead-Lag compensator).
table ?
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 Simple gain adjustment
Consider a unity-feedback system with a forward-path transfer function
𝐾
𝐺 𝑠 = ; 𝐾 ≥ 0; 𝑝1 , 𝑝2 ∈ ℜ
𝑠 + 𝑝1 𝑠 + 𝑝2
Find the gain K which gives the closed-loop system response with
certain %OS.
 j
P
1) Sketch the root locus
2) From given %OS, obtain 𝜁
3) Find breakaway point, 𝜎 0 = cos
- '

4) θ = cos −1 𝜁 B  ✓

5) BP = 𝜎 tan 𝜃 -p2 1 -p1

6) Desired pole, 𝑠 = −𝜎 + 𝑗𝐵𝑃

7) Gain 𝐾 = 𝑠 + 𝑝1 𝑠 + 𝑝2 𝑠=−𝜎+𝑗𝐵𝑃
n
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Simple gain adjustment: Least-damped oscillatory

response (maximum %OS)
a) Open-loop T. F poles is real & distinct
➢ Consider a unity-feedback system with a forward path transfer function
𝐾 𝑠+𝑏
𝐹 𝑠 = ; 𝐾≥0
𝑠 + 𝑎1 𝑠 + 𝑎2
➢ Prove that part of the root locus is  min
a circle centred at −𝑏, 0 with radius
P
given by 𝑏 − 𝑎1 𝑏 − 𝑎2

 O
- - -

G A B

1.
root locus

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 Simple gain adjustment: Least-damped oscillatory
response (maximum %OS)

Let 𝑠 = 𝜎 + 𝑗𝜔, at this point: F ( s ) =  ( zero angles) − ( pole angles)

K ( + j + b)
F ( s) = =  3 − (1 +  2 )
( + j + a1 )( + j + a 2 )

K ( + b + j )     
= = tan −1 − tan −1 + tan −1
( + a1 )( + a 2 ) + j ( + a1 +  + a 2 ) −  2  + b   + a1  + a 2 

K ( + b + j )     
=   + 
( + a1 )( + a 2 ) −  2 + j ( + a1 +  + a 2 )    + a1  + a 2 
= tan −1 −  tan −1  
 +b  1 −      
  
    + a1   + a 2  


Simple gain adjustment: Least-damped oscillatory

response (maximum %OS)
  (2 + a1 + a 2 )
F ( s ) = tan −1 − tan −1
 +b ( + a1 )( + a 2 ) −  2
   (2 + a1 + a 2 ) 
 − 
−1   + b ( + a1 )( + a 2 ) −  2 
= tan  
1 +    (2 + a1 + a 2 )  
  + b  ( + a1 )( + a 2 ) −  2  
  

  (2 + a1 + a 2 )
−
 + b ( + a1 )( + a 2 ) −  2
∠𝐹 𝑠 is a multiple of 180° if =0
   (2 + a1 + a 2 ) 
1+  
 + b  ( + a1 )( + a 2 ) −  2 
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 Simple gain adjustment: Least-damped oscillatory
response (maximum %OS)

Manipulation of this equation gives:

𝜎 + 𝑏 2 + 𝜔2 = 𝑏 − 𝑎1 𝑏 − 𝑎2
This is the equation of a circle with centre at −𝑏, 0 and
radius 𝑏 − 𝑎1 𝑏 − 𝑎2
It can easily be verified that at every point on this circle in
the s-plane, ∠𝐹 𝑠 is ±180°

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Example
Let us assume the following numerical values for open-loop
poles and zeros, 𝑎1 = 1, 𝑎2 = 2, 𝑏 = 5

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 Solution
1) The damping ratio for maximum oscillatory response 𝜁min is obtained by drawing a
straight line OP tangential to the circular locus as shown above. By geometry,
𝑂𝑃 𝑂𝐺 2 − 𝐺𝑃 2
𝜁min = cos 𝜃 = = = 0.72
𝑂𝐺 𝑂𝐺
where, 𝐺𝑃 = 𝑏 − 𝑎1 𝑏 − 𝑎2

2) The least-damped complex-conjugate closed-loop poles are

𝑠1,2 = −𝑂𝑃 cos 𝜃 ± 𝑗𝑂𝑃 sin 𝜃 = −2.6 ± 𝑗2.5

3) The value of K corresponding to least damping may obtained by applying the

magnitude criterion at the point P where OP is a straight line tangential to the
circular locus
𝐴𝑃 𝐵𝑃 2.6 × 2.9
𝐾= = = 2.2
𝐺𝑃 3.45
Remarks:
The systems which have been considered are 2 nd-order with additional zeros. So, 2nd-order approximation
is needed in order to use general 2nd-order transient response formulae.
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Simple gain adjustment: Least-damped oscillatory

response (maximum %OS)
b) Open-loop T. F poles is complex number
➢ Consider a unity-feedback system with a forward path transfer function
K ( s + b)
F ( s) = ; K 0
( s +  + j )(s +  − j )
➢ Prove that part of the root locus is a circle centred at −𝑏, 0 with radius
given by 𝛼 − 𝑏 2 + 𝛽 2

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 Simple gain adjustment: Least-damped oscillatory
response (maximum %OS)
K ( + j + b)
Let s = 𝜎 + 𝑗𝜔, at this point: F ( s) =
( + j +  + j )( + j +  − j )
K ( + b + j )
= 2
( +  + 2 −  2 +  2 ) + j 2 ( +  )
2

F ( s ) =  zero angles −  pole angles

 2 ( +  )
= tan −1 − tan −1
 +b ( +  + 2 −  2 +  2 )
2 2

  2 ( +  ) 
 − 2 
−1   + b ( +  + 2 −  +  ) 
2 2 2
= tan  
1 +   2 ( +  ) 
  + b  ( 2 +  2 + 2 −  2 +  2 )  
  15

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Simple gain adjustment: Least-damped oscillatory

response (maximum %OS)
 2 ( +  )
−
 + b ( +  + 2 −  2 +  2 )
2 2
∠𝐹 𝑠 is a multiple of 180° if =0
  2 ( +  ) 
1+
 + b  ( 2 +  2 + 2 −  2 +  2 ) 

➢ Manipulation of this equation gives:

(σ + b)2 +𝜔2 = 𝛼 − 𝑏 2 + 𝛽 2
➢ This is the equation of a circle with centre at −𝑏, 0 and
radius 𝛼 − 𝑏 2 + 𝛽 2
➢ It can easily be verified that at every point on this circle in the
s-plane, ∠𝐹 𝑠 is ±180°

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 Example
Let us assume the following numerical values for open-loop poles
and zeros, 𝛼 = 1, 𝛽 = 2, 𝑏 = 2 , 𝜁 = 0.7

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Example – Solution

1) The desired complex-conjugate closed-loop poles are

𝜃 = cos −1 𝜁
𝑂𝑃 = 𝐸𝑃 2 − 𝑂𝐸 2 + 2 𝐸𝑃 𝑂𝐸 cos 𝜃 = 2.369
𝑠1,2 = −𝑂𝑃 cos 𝜃 ± 𝑗𝑂𝑃 sin 𝜃 = −1.65 ± 𝑗1.7

2) The value of K corresponding to damping ratio 0.7 may obtained by

applying the magnitude criterion at the point P:
𝐴𝑃 𝐵𝑃 0.7 × 3.2
𝐾= = ≅ 1.3
𝐸𝑃 1.73

Remarks:
The systems which have been considered are 2 nd-order with additional zeros. So, 2nd-order
approximation is needed in order to use general 2 nd-order transient response formulae.

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 Design procedure
(For second-order system or second order approximation is valid)
Design problem:
Design the gain K and compensator (if necessary) to meet desired performance
characteristics (i.e. %OS, ts and static error constants)

Procedure:
1) Find 𝜁 and 𝜔𝑛 from given %OS and settling time.
2) Calculate the desired complex poles, 𝑠 = −𝜁𝜔𝑛 ± 𝑗𝜔𝑛 1 − 𝜁 2
3) Test whether this desired poles is on the root locus or not using angle criterion.
4) If angle criterion is satisfied (i.e. desired poles are on the root locus), then
design the gain K using magnitude criterion: (simple gain adjustment)
𝑛
For 2nd-order system
𝐾 = ෑ 𝑠 + 𝑝𝑖 without zero
𝑖=1 𝑠=𝑠𝑑
5) If angle criterion is not satisfied, then dynamic compensator is needed (i.e. PI,
PD, PID, Lead, Lag or Lead-Lag compensator).
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,
,

wµ , , ,, ,µ , µ, , , ,
,
JENG FENG FENG . .

Chapter
9 !!

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