Mechatronics Dept.

, Dynamics & Control Group, 218001-Control System Technology

Control system: Analysis and

Design

Prepared by Q. C. Nguyen (PhD) & C. B. Pham (PhD) 4-1

 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Outline
- Transient and Steady-state Responses
- Frequency Domain Analysis of Control Systems
- Root Locus and Transient Performance
- Control System Design Techniques

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Process of modeling

- After modeling process, the mathematical representation is

obtained. The next problem is to analyze the system to see
whether the system behave as desired.
- The system is analyzed for its transient and steady response

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Typical step response

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Typical response

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Poles, Zero, and System Response

- Solving differential equation or taking the inverse Laplace
transform enable us to evaluate the output response. However,
these techniques are laborious and time-consuming.
- Alternative, the use of poles and zero and their relationship to
the time response of the system. The concept of poles and
zeros, fundamental to the analysis and design of control
systems, simplifies the evaluation of the a system’s response.

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

𝑁𝑁(𝑠𝑠) 𝑠𝑠 − 𝑧𝑧1 𝑠𝑠 − 𝑧𝑧2 … (𝑠𝑠 − 𝑧𝑧𝑚𝑚−1 )(𝑠𝑠 − 𝑧𝑧𝑚𝑚 )

𝐺𝐺 𝑠𝑠 = = 𝐾𝐾
𝐷𝐷(𝑠𝑠) 𝑠𝑠 − 𝑝𝑝1 𝑠𝑠 − 𝑝𝑝2 … (𝑠𝑠 − 𝑝𝑝𝑚𝑚−1 )(𝑠𝑠 − 𝑝𝑝𝑚𝑚 )
Poles of a Transfer Function
The poles of a transfer function are: (1) the values of the Laplace
transform variables, s, that cause the transfer function to become infinite
or (2) any roots of the denominator of the transfer function that are
common to roots of the numerator.
lim 𝐺𝐺 𝑠𝑠 = ∞
𝑠𝑠→𝑝𝑝𝑖𝑖

Zeros of a Transfer Function

The zeros of a transfer function are (1) the values of the Laplace
transform variable, s, that cause the transfer function to become a zero,
or (2) any roots of the numerator of the transfer function that are
common to roots of the denominator
lim 𝐺𝐺 𝑠𝑠 = 0
𝑠𝑠→𝑧𝑧𝑖𝑖

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Examples
A linear system is described by the differential equation

Find the system poles and zeros?

From the differential equation the transfer function is
2𝑠𝑠 + 1 1 𝑠𝑠 + 1/2
𝐺𝐺 𝑠𝑠 = 2 =
𝑠𝑠 + 5𝑠𝑠 + 6 2 (𝑠𝑠 + 3)(𝑠𝑠 + 2)
The system therefore has a single real zero at s = -1/2, and a pair of real
poles at s = -3 and s = -2

Remark:
The poles and zeros are properties of the transfer function, and therefore
of the differential equation describing the input-output system dynamics.

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Examples
A system has a pair of complex conjugate poles 𝑝𝑝1 , 𝑝𝑝2 = −1 ± 2𝑗𝑗, a single real
zero 𝑧𝑧1 = −4, and a gain factor 𝐾𝐾 = 3. Find the differential equation
representing the system.
- The transfer function is:

- The differential equation is

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

The pole-zero plot

A system is characterized by its poles and zeros in the sense that they allow
reconstruction of the input/output differential equation. In general, the poles
and zeros of a transfer function may be complex, and the system dynamics may
be represented graphically by plotting their locations on the complex s-plane,
whose axes represent the real and imaginary parts of the complex variable s.
Such plots are known as pole-zero plots. It is usual to mark a zero location by a
circle (◦) and a pole location a cross (×). The location of the poles and zeros
provide qualitative insights into the response characteristics of a system.

Examples
3𝑠𝑠 + 6
𝐺𝐺 𝑠𝑠 = 3
𝑠𝑠 + 3𝑠𝑠 2 + 7𝑠𝑠 + 5

𝑠𝑠 − (−2)
=3
(𝑠𝑠 − (−1))(𝑠𝑠 − (−1 − 2𝑗𝑗))(𝑠𝑠 + (−1 − 2𝑗𝑗))

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

The pole-zero plot for a typical third-order system with one real
pole and a complex conjugate pole pair, and a single real zero

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

System poles and the homogeneous response

Because the transfer function completely represents a system differential
equation, its poles and zeros effectively define the system response. In particular
the system poles directly define the components in the homogeneous response.
The unforced response of a linear SISO system to a set of initial conditions is
𝑛𝑛

𝑦𝑦ℎ (𝑡𝑡) = � 𝐶𝐶𝑖𝑖 𝑒𝑒 𝜆𝜆𝑖𝑖 𝑡𝑡

𝑖𝑖=1
where the constants Ci are determined from the given set of initial conditions
and the exponents λi are the roots of the characteristic equation. The
characteristic equation is
𝐷𝐷 𝑠𝑠 = 𝑠𝑠 𝑛𝑛 + 𝑎𝑎𝑛𝑛−1 𝑠𝑠 𝑛𝑛−1 + ⋯ + 𝑎𝑎0 = 0,
and its roots are the system poles, that is λi = pi, leading to the following
important relationship The transfer function poles are the roots of the
characteristic equation. 𝑛𝑛

𝑦𝑦ℎ (𝑡𝑡) = � 𝐶𝐶𝑖𝑖 𝑒𝑒 𝑝𝑝𝑖𝑖 𝑡𝑡

𝑖𝑖=1
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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

The location of the poles in the s-plane therefore define the n components in
the homogeneous response:
1) A real pole pi = −σ in the left-half of the s-plane defines an exponentially
decaying component, 𝐶𝐶𝑒𝑒 −𝜎𝜎𝜎𝜎, in the homogeneous response. The rate of the
decay is determined by the pole location; poles far from the origin in the left-half
plane correspond to components that decay rapidly, while poles near the origin
correspond to slowly decaying components.
2) A pole at the origin pi = 0 defines a component that is constant in amplitude
and defined by the initial conditions.
3) A real pole in the right-half plane corresponds to an exponentially increasing
component 𝐶𝐶𝑒𝑒 −𝜎𝜎𝜎𝜎 in the response; defining the system to be unstable.
4) A complex conjugate pole pair 𝜎𝜎 ± 𝑗𝑗𝑗𝑗 in the left-haft of the s-plane combine
to generate a response component that is a decaying sinusoid of the form
𝐴𝐴𝑒𝑒 −𝜎𝜎𝜎𝜎 sin(𝜔𝜔𝜔𝜔 + 𝜃𝜃) where A and θ determined by the initial condition. The rate
of decay is specified by σ; the frequency of oscillation is determined by ω.
5) An imaginary pole pair generates an oscillatory component with a constant ±𝑗𝑗𝑗𝑗
amplitude determined by the initial conditions.
6) A complex pole pair in the right half plane generates an exponentially
increasing component.
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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

The specification of the form of components of the homogeneous

response from the system pole locations on the pole-zero plot

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Example:
Comment on the expected form of the response of a system with a pole-zero
plot shown in the figure below to an arbitrary set of initial conditions.

The system has four poles and no zeros. The two real poles correspond to
decaying exponential terms 𝐶𝐶1 𝑒𝑒 −3𝑡𝑡and 𝐶𝐶1 𝑒𝑒 −0.1𝑡𝑡, and the complex conjugate
pole pair introduce an oscillatory component 𝐴𝐴𝑒𝑒 −𝑡𝑡 sin(2𝑡𝑡 + 𝜃𝜃) , so that the
total homogeneous response is
𝑦𝑦ℎ 𝑡𝑡 = 𝐶𝐶1 𝑒𝑒 −3𝑡𝑡 + 𝐶𝐶2 𝑒𝑒 −0.1𝑡𝑡 + 𝐴𝐴𝑒𝑒 −𝑡𝑡 sin(2𝑡𝑡 + 𝜃𝜃)

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Time response of a second order system

The pole locations of the classical second-order homogeneous system,
𝑑𝑑 2 𝑦𝑦 𝑑𝑑𝑦𝑦 2
+ 2𝜁𝜁𝜔𝜔𝑛𝑛 + 𝜔𝜔𝑛𝑛 𝑦𝑦 𝑡𝑡 = 0.
𝑑𝑑𝑡𝑡 2 𝑑𝑑𝑡𝑡
are given by
𝑝𝑝1 , 𝑝𝑝2 = −𝜁𝜁𝜔𝜔𝑛𝑛 ± 𝜔𝜔𝑛𝑛 𝜁𝜁 2 − 1

If −𝜁𝜁 > 0 , corresponding to an overdamped system, the corresponding to an

overdamped system, the two poles are real and lie in the left-half plane. For an
underdamped system, 0 ≤ 𝜁𝜁 ≤ 1, the pole form a complex conjugate pair,
𝑝𝑝1 , 𝑝𝑝2 = −𝜁𝜁𝜔𝜔𝑛𝑛 ± 𝑗𝑗𝜔𝜔𝑛𝑛 𝜁𝜁 2 − 1
and are located in the left-half plane.

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Definition of the parameters ωn and ζ for an underdamped,

second-order system from the complex conjugate pole locations.

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

System stability
The stability of a linear system may be determined directly from its transfer
function. An nth order linear system is asymptotically stable only if all of the
components in the homogeneous response from a finite set of initial conditions
decay to zero as time increases, or
𝑛𝑛

lim � 𝐶𝐶𝑖𝑖 𝑒𝑒 𝑝𝑝𝑖𝑖 𝑡𝑡 = 0

𝑡𝑡→∞
𝑖𝑖=1
where the pi are the system poles. In a stable system all components of the
homogeneous response must decay to zero as time increases. If any pole has a
positive real part there is a component in the output that increases without
bound, causing the system to be unstable. In order for a linear system to be
stable, all of its poles must have negative real parts, that is they must all lie
within the left-half of the s-plane. An “unstable” pole, lying in the right half of
the s-plane, generates a component in the system homogeneous response that
increases without bound from any finite initial conditions. A system having one
or more poles lying on the imaginary axis of the s-plane has non-decaying
oscillatory components in its homogeneous response, and is defined to be
marginally stable.
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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Geometric Evaluation of the Transfer Function

The transfer function may be evaluated for any value of s = σ + jω, and in
general, when s is complex the function H(s) itself is complex. It is common to
express the complex value of the transfer function in polar form as a magnitude
and an angle:
𝐻𝐻 𝑠𝑠 = 𝐻𝐻(𝑠𝑠) 𝑒𝑒 𝑗𝑗𝜃𝜃(𝑠𝑠)
magnitude |H(s)| and an angle φ(s) given by

where ℜ { } is the real operator, and ℑ { } is the imaginary operator.

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Geometric Evaluation of the Transfer Function

If the numerator and denominator polynomials are factored into terms (s − pi)
and (s − zi)

each of the factors in the numerator and denominator is a complex quantity, and
may be interpreted as a vector in the s-plane, originating from the point zi or pi
and directed to the point s at which the function is to be evaluated. Each of
these vectors may be written in polar form in terms of a magnitude and an
angle, for example for a pole pi = σi+ωij, the magnitude and angle of the vector
to the point s = σ + ωj are

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Geometric Evaluation of the Transfer Function

The magnitude and angle of the complete transfer function may then be written

The magnitude of each of the component vectors in the numerator and

denominator is the distance of the point s from the pole or zero on the s-plane.
If the vector from the pole pi to the point s on a pole-zero plot has a length qi
and an angle θi from the horizontal, and the vector from the zero zi to the point s
has a length ri and an angle θi, the value of the transfer function at the point s is

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Geometric Evaluation of the Transfer Function

Definition of s-plane geometric Geometric evaluation of the transfer

relationships in polar form function from the pole-zero plot

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

For each of the following transfer functions, write, the step responses:
400
(a) 𝐺𝐺 𝑠𝑠 = 2
𝑠𝑠 +12𝑠𝑠+400
900
(b) 𝐺𝐺 𝑠𝑠 = 2
𝑠𝑠 +90𝑠𝑠+900
225
(c) 𝐺𝐺 𝑠𝑠 = 2
𝑠𝑠 +30𝑠𝑠+225
625
(d) 𝐺𝐺 𝑠𝑠 = 2
𝑠𝑠 +625

Answer
(a) c 𝑡𝑡 = 𝐴𝐴 + 𝐵𝐵𝑒𝑒 −6𝑡𝑡 cos(19.08𝑡𝑡 + 𝜃𝜃)
(b) c 𝑡𝑡 = 𝐴𝐴 + 𝐵𝐵𝑒𝑒 −78.5𝑡𝑡 + 𝐶𝐶𝑒𝑒 −11.46𝑡𝑡
(c)c 𝑡𝑡 = 𝐴𝐴 + 𝐵𝐵𝑒𝑒 −15𝑡𝑡 + 𝐶𝐶𝐶𝐶𝑒𝑒 −15𝑡𝑡
(d) 𝐺𝐺 𝑠𝑠 = 𝐴𝐴 + 𝐵𝐵cos(25𝑡𝑡 + 𝜃𝜃)

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Example
A second-order system has a pair of complex conjugate poles a s = −2+3j and a
single zero at the origin of the s-plane. Find the transfer function and use the
pole-zero plot to evaluate the transfer function at s = 0+j5.
Solution
From the problem description

The pole-zero plot is shown

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

From the figure the transfer function is

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Frequency Response and the Pole-Zero Plot

The frequency response may be written in terms of the system poles and zeros
by substituting jω for s directly into the factored form of the transfer function:
𝑗𝑗𝜔𝜔 − 𝑧𝑧1 𝑗𝑗𝜔𝜔 − 𝑧𝑧2 … (𝑗𝑗𝜔𝜔 − 𝑧𝑧𝑚𝑚−1 )(𝑗𝑗𝜔𝜔 − 𝑧𝑧𝑚𝑚 )
𝐻𝐻 𝑠𝑠 = 𝐾𝐾
𝑗𝑗𝜔𝜔 − 𝑝𝑝1 𝑗𝑗𝜔𝜔 − 𝑝𝑝2 … (𝑗𝑗𝜔𝜔 − 𝑝𝑝𝑚𝑚−1 )(𝑗𝑗𝜔𝜔 − 𝑝𝑝𝑚𝑚 )

Because the frequency response is the transfer function evaluated on the

imaginary axis of the s-plane, that is when s = jω, the graphical method for
evaluating the transfer function described above may be applied directly to the
frequency response. Each of the vectors from the n system poles to a test point s
= jω has a magnitude and an angle:

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

The vector from a pole (or zero) is defined

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Frequency Response and the Pole-Zero Plot

The magnitude and phase angle of the complete frequency response may then
be written in terms of the magnitudes and angles of these component vectors

The vectors
from all poles
and zeros in a
typical system

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Frequency Response and the Pole-Zero Plot

if the vector from the pole pi to the point s = jω has length qi and an angle θi
from the horizontal, and the vector from the zero zi to the point jω has a length ri
and an angle ϕi, the value of the frequency response at the point jω is

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Sinusoidal Frequency Analysis

- In summary, The transfer function is composed of both magnitude and phase
information as a function of frequency
H ( jω ) = H ( jω ) e j φ (ω )
where |H(jω)| is the magnitude and φ(ω) is the phase angle.
- Plots of the magnitude and phase characteristics are used to fully describe the
frequency response.
- A Bode plot is a (semilog) plot of the transfer function magnitude and phase
angle as a function of frequency
- The gain magnitude is many times expressed in terms of decibels (dB)
dB = 20 log10 A
where A is the amplitude or gain. A decade is defined as any 10-to-1 frequency
range

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Finding the Frequency Response

The shortcut method consists of the following steps:
Step 1. Set s = jω in G(s) to obtain G(jω).
Step 2. Rationalize G(jω); We want to express it in the form.

G(jω)=R + jI

where R and I are functions of ω. Simplify G(jω) by

multiplying the numerator and denominator by the
complex conjugate of the denominator.
Step 3. The amplitude ratio and phase angle of G(s) are given by:

AR
= R2 + I 2
Memorize ⇒
ϕ = tan −1 ( R / I )
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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology
Example Find the frequency response of a first-order system, with

Solution First, substitute s = jω in the transfer function

Then multiply both numerator and denominator by the complex

conjugate of the denominator, that is, − jωτ + 1

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

where

From Step 3 of the Shortcut Method,

or

Also,

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Complex Transfer Functions

Consider a complex transfer G(s),

Substitute s=jω,

From complex variable theory, we can express the magnitude and angle
of G ( jω ) as follows:

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Bode Diagrams
• A special graph, called the Bode diagram or Bode plot, provides a
convenient display of the frequency response characteristics of a
transfer function model. It consists of plots of AR and φ as a
function of ω.
• Ordinarily, ω is expressed in units of radians/time.
Bode Plot of A First-order System
Recall:

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Bode diagram for a first-order process.

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

ω ω=
• Note that the asymptotes intersect at= b 1/ τ , known as
the break frequency or corner frequency. Here the value of ARN
is:

• Some books and software defined AR differently, in terms of

decibels. The amplitude ratio in decibels ARd is defined as

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology
Integrating Elements
The transfer function for an integrating element was given

Second-Order Process
A general transfer function that describes any underdamped, critically
damped, or overdamped second-order system is

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Substituting s = jω and rearranging yields:

Bode diagrams for second-order processes

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Basic concept of stability

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Stability of the system and roots of characteristic equations

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Routh-Hurwitz Criterion

It is a technique that one can use to check the stability of the

system from the characteristic equation without solving it.
Consider

Determine the closed-loop stability of this system

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

The characteristic equation of the system is:

1 + G(s) = 0
s3 + s2 + 2s +24 = 0
The Routh-Hurwitz table can be formulated as follows:

Since there are two changes in the sign of the first column of the
Routh-Hurwitz table, there are two unstable poles in the closed-loop
system.
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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology
Example
Consider the system

Determine the stability of the system as a function of the

parameter K.

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology
Root locus and transient response
The characteristic equation of the closed-loop system is

The root locus is essentially the trajectories of roots of the

characteristic equation as the parameter K is varied from 0 to infinity.
1 + K G(s) = 0

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Example
A camera control system:

How the dynamics of the camera changes as K is varied ?

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Pole location

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

(a) Pole plots (b) Root locus.

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology
Main properties of root locus
- Locus always starts from the open-loop poles

- Locus always ends at the open-loop zeros or infinity

- The number of branches of loci is equal to the order of the system, i.e.
the number of open-loop poles

- Root locus is always symmetric with respect to real axis

- Locus goes to infinity by following certain asymptotes

- The section of the real axis is a part of locus if and only if the sum of
the number of poles and zeros to its right is odd

- Routh-Hurwitz criteria can be used to determine the gain value at

which the locus goes across the imaginary axis

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Location and angles of asymptotes

The intersection of the asymptotes with the real axis can be
determined by:

σa = ∑ finite poles − ∑ finite zeros

# finite poles−# finite zero

The angles of the asymptotes are

(2k + 1)π
θa =
# finite poles−# finite zeros

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Example
Construct a root locus for the following system

Basically, we want to solve the roots of the following

characteristic equation as a function of the parameter K.

s(s+1)(s+2)(s+4)+ K(s+3) = 0

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Example

K=9.666

4
σa = −
3
θ a = π / 3, π, 5π / 3

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Effect of adding poles

Adding a pole to open-loop transfer function has the effect of
pushing the root loci toward the right half of s-plane.

Let’s consider:
K
KG (s ) = a >0
s (s + a )

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Effect of adding poles

Adding one pole to this system, we have
K
KG (s ) = b >a >0
s (s + a )(s + b )

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Effect of adding poles

If we add another pole, i.e.
K
KG (s ) = c >b >a >0
s (s + a )(s + b )(s + c )

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Time domain response prediction based on root locus

Let’s consider the following system:

where
1
G (s ) =
s (s + 1)(s + 2)

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology
Root locus of this example (low gain)

K= 0.4

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology
Root locus of this example (media gain)

K= 2.0

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology
Root locus of this example (critical gain)

K= 6.0

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology
Root locus of this example (high gain)

K= 6.2

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology
Time domain step response (low gain)

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology
Time domain step response (media gain)

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology

Time domain step response (critical gain)

K=6

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology
Time domain step response (high gain)

K=6.2

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 Mechatronics Dept., Dynamics & Control Group, 218001-Control System Technology
Control system design using root locus method

• One can modify the dynamic behavior of a closed-loop system by

introducing extra poles and zeros to shape up the system
characteristics.

• One can also select appropriate gain values to achieve the

desired transient response.

• Root locus technique can also be used to study the effects of the
multiple system parameters by varying one parameter at a time.

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