Power System Operations and Control (EPE 609)

Lecture Set (7)

Review of Control Systems
Prof. Muwaffaq I. Alomoush
Department of Electrical Power Engineering
Faculty of Engineering Technology
Yarmouk University

e-mail: [email protected]

First Semester 2023/2024

1
 Review of Basic Concepts in Control Systems
• System – An interconnection of elements and devices for
a desired purpose.
• A control system consisting of interconnected
components is designed to achieve a desired purpose or a
system that can regulate itself and another system or a
control System is a device, or set of devices to manage,
command, direct or regulate the behaviour of other
device(s) or system(s).

• Process – The device, plant, or system under control. The

input and output relationship represents the cause-and-
effect relationship of the process.

Input Process Output

Process to be controlled
Definitions
Manipulated Variable
Input
or Output
Set point Controller Process Or
or Controlled Variable
reference

Disturbances
A disturbance is a signal that tends to unfavorably affect the
value of the system. It is an unwanted input of the system.

If a disturbance is generated within the system, it is called

internal disturbance. While an external disturbance is generated
outside the system.

3
 Open-Loop Control Systems
Open-Loop Control Systems utilize a controller or control actuator to
obtain the desired response.
• Output has no effect on the control action.
• In other words output is neither measured nor fed back.

Input Output Examples:

Controller Process Washing Machine,
Toaster,
Electric Fan,
Microwave oven

• Since in open loop control systems reference input is not compared with
measured output, for each reference input there is fixed operating condition.
Therefore, the accuracy of the system depends on calibration.
• The performance of open loop system is severely affected by the presence of
disturbances, or variation in operating/ environmental conditions.

4
Open-Loop Control Systems
utilize a controller or control
actuator to obtain the desired
response.

Closed-Loop Control
Systems utilizes feedback to
compare the actual output to
the desired output response.

Multivariable Control System

 Closed-Loop Control Systems
Closed-Loop Control Systems utilizes feedback to compare the
actual output to the desired output response.

Output
Input
Comparator Controller Process

Measurement

Examples:-
Refrigerator,
Electric Iron,
Air conditioner

6
 Multivariable Control System

Outputs
Temp
Humidity Comparator
Controller Process
Pressure

Measurements

7
Examples of Modern Control Systems
Open Loop Systems Closed Loop Systems
Advantages Advantages
1.They are simple and easy to build. 1.They are more accurate.
2.They are cheaper, as they use less 2.The effect of external disturbance
number of components to build. signals can be made very small.
3.They are usually stable. 3.The variations in parameters of the
4.Maintenance is easy. system do not affect the output of the
system( output less sensitive to variation
Disadvantages is parameters, forward path components
1.They are less accurate. less precision, less cost )
2.If external disturbances are present, 4.Speed of the response can be greatly
output differs significantly from the increased.
desired value.
3. If there are variations in the Disadvantages
parameters of the system, the output 1.They are more complex and
changes. expensive
2.They require higher forward path gains.
3.The systems are prone to instability.
Oscillations in the output many occur.
4.Cost of maintenance is high.
 Feedback Control System
• A system that maintains a prescribed relationship between the output and
some reference input by comparing them and using the difference (i.e.
error) as a means of control is called a feedback control system.

error
Input +- Controller Process Output

Feedback

• Feedback can be positive or negative.

10
Examples of Modern Control Systems
Examples of Modern Control Systems

(a) Automobile steering

control system.
(b) The driver uses the
difference between the
actual and the desired
direction of travel
to generate a controlled
adjustment of the
steering wheel.
(c) Typical direction-of-
travel response.
Examples of Modern Control Systems
 Block Diagram
• A Block Diagram is a shorthand pictorial representation of
the cause-and-effect relationship of a system.

• The interior of the rectangle representing the block usually

contains a description of or the name of the element, or the
symbol for the mathematical operation to be performed on
the input to yield the output.

• The arrows represent the direction of information or signal

flow.

d
x y
dt

14
• The operations of addition and subtraction have a special
representation.

• The block becomes a small circle, called a summing point, with

the appropriate plus or minus sign associated with the arrows
entering the circle.

• The output is the algebraic sum of the inputs.

• Any number of inputs may enter a summing point.

• Some books put a cross in the circle.

15
• In order to have the same signal or variable be an input
to more than one block or summing point, a takeoff
point is used.

• This permits the signal to proceed unaltered along

several different paths to several destinations.

16
 Example
• Consider the following equations in which x1, x2, x3, are variables,
and a1, a2 are general coefficients or mathematical operators.

x3  a1 x1  a2 x2  5

17
 Characteristic Equation
• The control ratio is the closed loop transfer function of the system.
G(s )

C( s ) G( s )

R( s ) 1  G( s )H ( s )
H (s )

• The denominator of closed loop transfer function determines the

characteristic equation of the system.

• Which is usually determined as:

1  G( s )H ( s )  0

18
 Reduction of Complicated Block Diagrams
• The block diagram of a practical control system is often
quite complicated.

• It may include several feedback or feedforward loops, and

multiple inputs.

• By means of systematic block diagram reduction, every

multiple loop linear feedback system may be reduced to
canonical form.

19
 Reduction techniques
1. Combining blocks in cascade

G1 G2 G1G2
2. Combining blocks in parallel

G1
G1  G2
G2
20
Reduction techniques

3. Moving a summing point behind a block

G G
G

4. Moving a summing point ahead of a block

G G
1
G

21
5. Moving a pickoff point behind a block

G G
1
G

6. Moving a pickoff point ahead of a block

G G
G

22
7. Eliminating a feedback loop

G
G
1  GH
H

G
G
1 G

H 1

8. Swap with two neighboring summing points

A B B A

23
Example
Multiple Input System. Determine the output C due to inputs
R and U using the Superposition Method.

24
Example: Continue.

25
Example: Continue.

26
PD  Controller

PI  Controller

PID  Controller
 Controller Abbreviation Transfer Function Comments
A large K P will have the effect of reducing the rise time and will reduce (but
Proportional-Controller P-Controller G C (s)  K p never eliminate) the steady-state error. If the proportional gain is too high, the
system can become unstable. When P controller is used, large gain is needed
to improve steady state error. If constant steady state error can be accepted with
such processes, than P controller can be used. P controller can result in faster
dynamics.
KP Derivative control ( K D ) will have the effect of increasing the stability of the
G C (s)  K p  K D s  K D (s  )  K D (s  Z)
Proportional – PD-Controller KD system, reducing the overshoot, and improving the transient response.
Derivative-Controller
Proportional – Integral- PI-Controller KI Integral control ( K I ) has the effect of eliminating the steady-state error, but it
G C (s)  K p 
Controller s will make the transient response worse. If integral control is to be used, a small
KPs KI K I should always be tried first. However, introducing integral mode has a

s negative effect on speed of the response and overall stability of the system. PI
K P (s  K I /K P ) K P (s  Z) controller will not increase the speed of response.
 
s s
Proportional – Integral- PID- KI PID controller is often used in industry. It combines the best features of the three
G C (s)  K p   KDs above controllers. Tuning (adjustment) of the three parameters is required to
Derivative-Controller Controller s
obtain the optimum values for the desired control response. There are various
K P s  K I  K Ds2 methods for loop tuning, some of them:

s  Manual tuning method (trial and error),
K D (s 2  (K P /K D )s  (K I /K D ))  Ziegler–Nichols tuning method,
  PID tuning software methods.
s

The effects on the closed-loop response of adding to the controller terms are listed in table form below.

Closed-Loop System Response Performance Measures

Constant Rise Time Overshoot Settling time Steady-state error Stability

KP Decreases Increases No Change Decreases Worse

KI Decreases Increases Increases Eliminates Worse

KD No Change Decreases Decreases No Change Better if K D is small

 Routh-Hurwitz Stability Criterion
• It is a method for determining system stability.
• The Routh-Hurwitz criterion states that “the number of roots
of the characteristic equation with positive real parts is equal
to the number of changes in sign of the first column of the
Routh array”.
• This method yields stability information without the need to
solve for the closed-loop system poles.
• Using this method, we can tell how many closed-loop system
poles are in the left half-plane, in the right half-plane, and on
the jw-axis. (Notice that we say how many, not where.)
• The method requires two steps:
1. Generate a data table called a Routh table.
2. interpret the Routh table to tell how many closed-loop
system poles are in the LHP, the RHP, and on the jw-axis.
 Example: Generating a basic Routh Table.

• Only the first 2 rows of the array are obtained from the characteristic eq. the
remaining are calculated as follows;
Example
Find the stability of the continues system having the characteristic
equation of

The Routh table of the given system is computed as;

• Since there are no sign changes in the first column of the Routh
table, it means that all the roots of the characteristic equation
have negative real parts and hence this system is stable.
Example
Find the stability of the continues system having the characteristic
polynomial of a third order system is given below

• The Routh array is

• Because TWO changes in sign appear in the first column, we find

that two roots of the characteristic equation lie in the right hand
side of the s-plane. Hence the system is unstable.
 Example
Determine a rang of values of a system parameter K for which
the system is stable.

• The Routh table of the given system is computed and shown is

the table below;

• For system stability, it is necessary that the conditions 8 – k >0,

and 1 + k > 0, must be satisfied. Hence the rang of values of a
system parameter k must be lies between -1 and 8 (i.e., -1 < k < 8).
Example: Find the stability of the system shown below using Routh
criterion.

The close loop transfer function is shown in the figure

Routh table

Because TWO changes in sign appear in the first column, we find that two
roots of the characteristic equation lie in the right hand side of the s-plane.
Hence the system is unstable.
Example: Find the stability of the system shown below using Routh
criterion.

• The Routh table of the system is

• System is unstable because there are two sign changes in the first
column of the Routh’s table. Hence the equation has two roots on
the right half of the s-plane.
 Example
• Determine the number of right-half-plane poles in the closed-loop transfer
function.

• First we return to the row immediately above the row of zeros and form
an auxiliary polynomial, using the entries in that row as coefficients.

• Next we differentiate the polynomial with respect to s and obtain

• Finally, we use the coefficients of above equation to replace the row of

zeros. Again, for convenience, the third row is multiplied by 1/4 after
replacing the zeros.
Example: Determine the stability of the system.
The characteristic equation q(s) of the system is
Where K is an adjustable loop gain. The Routh array is then;

For a stable system, the value of K must be;

When K = 8, the two roots exist on the jω axis and the system will be marginally stable.
• Also, when K = 8, we obtain a row of zeros (case-III).
• The auxiliary polynomial, U(s), is the equation of the row preceding the row of
Zeros.
• The U(s) in this case, obtained from the s2 row.
• The order of the auxiliary polynomial is always even and indicates the number of
symmetrical root pairs.
 Introduction to Root Locus
• Consider a unity feedback control system shown
below.
K
R(s ) C (s )
s 1

• The open loop transfer function G(s) of the system

K
is G ( s ) 
s 1

• And the closed transfer function is

C (s) G ( s) K
 
R( s) 1  G ( s) s  1  K
 Introduction
• The open loop stability does not depend upon gain
K. K
G( s) 
s 1

• Whereas, the location of closed loop poles vary with

the variation in gain.
C (s) K

R( s) s  1  K
 Introduction
• Location of closed loop Pole for different values of
K (remember K>0). C ( s) K

R( s) s  1Pole-Zero
 K Map
K Pole 1

0.5 -1.5
0.5
1 -2
Imaginary Axis

2 -3
0
3 -4 K 0
5 -6 K 
-0.5
10 -11
15 -16
-16 -14 -12 -10 -8 -6 -4 -2
 What is Root Locus?
• The root locus is the path of the roots of the
characteristic equation traced out in the s-plane as
a system parameter varies from zero to infinity.
 How to Sketch root locus?

• One way is to compute the roots of the

characteristic equation for all possible values
of K. K Pole
0.5 -1.5
C (s) K 1 -2
 2 -3
R( s) s  1  K
3 -4
5 -6
10 -11
15 -16
 How to Sketch root locus?

• Computing the roots for all values of K

might be tedious for higher order systems.
K Pole
0.5 ?
1 ?
C ( s) K
 2 ?
R( s ) s ( s  1)(s  10)(s  20)  K
3 ?
5 ?
10 ?
15 ?
 Construction of Root Loci
• The roots corresponding to a particular value of this
parameter can then be located on the resulting graph.

• Note that the parameter is usually the gain, but any

other variable of the open-loop transfer function may
be used.

• By using the root-locus method the designer can

predict the effects on the location of the closed-loop
poles of varying the gain value or adding open-loop
poles and/or open-loop zeros.
 Angle & Magnitude Conditions
• In constructing the root loci angle and magnitude
conditions are important.
• Consider the system shown in following figure.

• The closed loop transfer function is

C (s) G ( s)

R( s) 1  G ( s) H ( s)
 Construction of Root Loci
• The characteristic equation is obtained by setting the
denominator polynomial equal to zero.

1  G( s) H ( s)  0
• Or
G( s) H ( s)  1

• Where G(s)H(s) is a ratio of polynomial in s.

• Since G(s)H(s) is a complex quantity it can be split

into angle and magnitude part.
 Angle & Magnitude Conditions
• The angle of G(s)H(s)=-1 is

G ( s) H ( s)    1
G ( s) H ( s)  180 (2k  1)

• Where k=1,2,3…

• The magnitude of G(s)H(s)=-1 is

G( s) H ( s)   1
G( s) H ( s)  1
 Angle & Magnitude Conditions
• Angle Condition
G ( s ) H ( s )  180  (2k  1) (k  1,2,3...)
• Magnitude Condition
G( s) H ( s)  1
• The values of s that fulfill both the angle and
magnitude conditions are the roots of the
characteristic equation, or the closed-loop poles.

• A locus of the points in the complex plane satisfying

the angle condition alone is the root locus.
Angle and Magnitude Conditions (Graphically)

• To apply Angle and magnitude conditions graphically we

must first draw the poles and zeros of G(s)H(s) in s-plane.

• For example if G(s)H(s) is given by

Pole-Zero Map
1

s 1 0.5

G(s) H (s) 
s ( s  3)(s  4) Imaginary Axis
0

-0.5

-1
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
Angle and Magnitude Conditions (Graphically)
Pole-Zero Map
1

0.5
Imaginary Axis

θ1 θ2 ɸ1 θ3
0

G ( s) H ( s) s  p  1  1   2   3
-0.5
• If angle of G(s)H(s) at s=p is equal to ±180o(2k+1)
the point p is on root locus.

-1
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
 Angle and Magnitude Conditions graphically
Pole-Zero Map
1

0.5

B1
Imaginary Axis

B3 B2 A
0

s  1 s p A
-0.5 G ( s) H ( s) s  p  
s s p s  3 s p s  4 s p B1 B2 B3

-1
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
 Example#1

• Apply angle and magnitude conditions

(Analytically as well as graphically) on following
unity feedback system at s=-0.25.
 Example#1
K
• Here G ( s) H ( s) 
s ( s  1)(s  2)

• For the given system the angle condition becomes

K
G ( s ) H ( s )  
s ( s  1)(s  2)

G( s) H ( s)  K  s  ( s  1)  ( s  2)

K  s  ( s  1)  ( s  2)  180(2k  1)
 Example#1
G( s) H ( s) s 0.25  K s 0.25  s s 0.25  ( s  1) s 0.25  ( s  2) s 0.25

G( s) H ( s) s 0.25  (0.25)  (0.75)  (1.75)

G( s) H ( s) s 0.25  180  0  0

G( s) H ( s) s 0.25  180(2k  1)

 Example#1
K
• Here G ( s) H ( s) 
s ( s  1)(s  2)

• And the Magnitude condition becomes

K
G( s) H ( s)  1
s( s  1)(s  2)
 Example#1
• Now we know from angle condition that the point s=-
0.25 is on the rot locus. But we do not know the value of
gain K at that specific point.

• We can use magnitude condition to determine the value

of gain at any point on the root locus.
K
1
s ( s  1)(s  2) s  0.25

K
1
(0.25)(0.25  1)(0.25  2) s  0.25
 Example#1
K
1
(0.25)(0.25  1)(0.25  2) s  0.25

K
1
(0.25)(0.75)(1.75)

K
1
 0.3285

K
1
0.328
K  0.328
 Example#1
• Home work:

– Check whether following point are on the root

locus or not (Graphically as well as analytically)
? If yes determine the value of gain K.

1. s=-0.2+j0.937
2. s=-1+j2
 Construction of root loci
• Step-1: The first step in constructing a root-locus plot
is to locate the open-loop poles and zeros in s-plane.
Pole-Zero Map
1

0.5

Imaginary Axis

K
G ( s) H ( s)  -0.5
s ( s  1)(s  2)

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-2: Determine the rootPole-Zero
loci onMap
the real axis.
1

0.5
Imaginary Axis

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.
Asymptote is the straight line approximation of a curve

Actual Curve
Asymptotic Approximation
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.
 180(2k  1)
Angle of asymptotes   
nm
• where
• n-----> number of poles
• m-----> number of zeros

K
• For this Transfer Function G ( s) H ( s) 
s ( s  1)(s  2)

 180(2k  1)

30
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.
 180(2k  1)
  60 when k  0 
30
 180 when k  1
 300 when k  2
 420 when k  3

• Since the angle repeats itself as k is varied, the distinct angles

for the asymptotes are determined as 60°, –60°, -180°and 180°.
• Thus, there are three asymptotes having angles 60°, –60°,
180°.
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.

• Before we can draw these asymptotes in the complex

plane, we must find the point where they intersect the real
axis.

• Point of intersection of asymptotes on real axis (or

centroid of asymptotes) can be find as out

 poles   zeros

nm
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.

K
• For G ( s) H ( s) 
s ( s  1)(s  2)

(0  1  2)  0

30

3
  1
3
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.
Pole-Zero Map
1

0.5

  60 ,60 , 180

Imaginary Axis

180 60

  1
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Home Work
• Consider following unity feedback system.

• Determine
– Root loci on real axis
– Angle of asymptotes
– Centroid of asymptotes
 Construction of root loci
• Step-4: Determine the breakaway point.
Pole-Zero Map
1
• The breakaway point
corresponds to a point
in the s plane where 0.5
multiple roots of the
Imaginary Axis
characteristic equation
occur. 0

• It is the point from

which the root locus -0.5

branches leaves real

axis and enter in
-1
complex plane. -5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-4: Determine the break-in point.
Pole-Zero Map
1
• The break-in point
corresponds to a point
in the s plane where 0.5
multiple roots of the
Imaginary Axis
characteristic equation
occur. 0

• It is the point where the

root locus branches -0.5

arrives at real axis.

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.

• The breakaway or break-in points can be determined from the

roots of
dK
0
ds
• It should be noted that not all the solutions of dK/ds=0 correspond
to actual breakaway points.

• If a point at which dK/ds=0 is on a root locus, it is an actual

breakaway or break-in point.

• Stated differently, if at a point at which dK/ds=0 the value of K

takes a real positive value, then that point is an actual breakaway
or break-in point.
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.
K
G ( s) H ( s) 
s ( s  1)(s  2)
• The characteristic equation of the system is
K
1  G (s) H (s)  1  0
s ( s  1)(s  2)

K
 1
s ( s  1)(s  2)

K  s( s  1)(s  2)

• The breakaway point can now be determined as
  s( s  1)(s  2)
dK d
ds ds
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.

  s( s  1)(s  2)

dK d
ds ds
dK
ds

d 3
ds

s  3s 2  2s 
dK
 3s 2  6s  2
ds
• Set dK/ds=0 in order to determine breakaway point.
 3s 2  6s  2  0
3s 2  6s  2  0

s  0.4226
 1.5774
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.
s  0.4226 G ( s) H ( s) 
K
s ( s  1)(s  2)
 1.5774
• Since the breakaway point must lie on a root locus between 0
and –1, it is clear that s=–0.4226 corresponds to the actual
breakaway point.
• Point s=–1.5774 is not on the root locus. Hence, this point is
not an actual breakaway or break-in point.
• In fact, evaluation of the values of K corresponding to s=–
0.4226 and s=–1.5774 yields
 Construction of root loci
• Step-4: Determine the breakaway point.
Pole-Zero Map
1

0.5

s  0.4226
Imaginary Axis

180 60
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-4: Determine the breakaway point.
Pole-Zero Map
1

0.5
Imaginary Axis

s  0.4226
0

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Home Work

• Determine the Breakaway and break in

points
 Solution

K ( s 2  8s  15)
 1
s  3s  2
2

( s 2  3s  2)
K  2
( s  8s  15)
• Differentiating K with respect to s and setting the derivative equal to zero yields;
dK [(s 2  8s  15)(2s  3)  ( s 2  3s  2)(2s  8)]
 0
ds ( s  8s  15)
2 2

11s 2  26s  61  0

Hence, solving for s, we find the

break-away and break-in points; s = -1.45 and 3.82
 Solution

-1.45 3.82
 Construction of root loci
• Step-5: Determine the points where root loci cross the
imaginary axis.
Pole-Zero Map
1

0.5
Imaginary Axis

180 60
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
 Construction of root loci
• Step-5: Determine the points where root loci cross the
imaginary axis.
– These points can be found by use of Routh’s stability criterion.

– Since the characteristic equation for the present system is

– The Routh Array Becomes

 Construction of root loci
• Step-5: Determine the points where root loci cross the
imaginary axis.
• The value(s) of K that makes the system
marginally stable is 6.

• The crossing points on the imaginary

axis can then be found by solving the
auxiliary equation obtained from the
s2 row, that is,

• Which yields
 Construction of root loci
• Step-5: Determine the points where root loci cross the
imaginary axis.
• An alternative approach is to let s=jω in the characteristic
equation, equate both the real part and the imaginary part to
zero, and then solve for ω and K.

• For present system the characteristic equation is

s 3  3s 2  2s  K  0

( j ) 3  3( j ) 2  2 j  K  0

( K  3 2 )  j (2   3 )  0
 Construction of root loci
• Step-5: Determine the points where root loci cross the
imaginary axis.
( K  3 2 )  j (2   3 )  0
• Equating both real and imaginary parts of this equation to
zero
(2   3 )  0

( K  3 2 )  0
• Which yields
 Root Locus
5

2
Imaginary Axis

-1

-2

-3

-4

-5
-7 -6 -5 -4 -3 -2 -1 0 1 2
Real Axis
 Example#2
• Consider following unity feedback system.

• Determine the value of K such that the damping ratio of a

pair of dominant complex-conjugate closed-loop poles is
0.5.
K
G ( s) H ( s) 
s ( s  1)(s  2)
 Example#2
• The damping ratio of 0.5 corresponds to
  cos

  cos 1 

  cos 1 (0.5)  60

?
 Example#2
• The value of K that yields such poles is found from the
magnitude condition

K
1
s ( s  1)( s  2) s  0.3337  j 0.5780
 Example#2
• The third closed loop pole at K=1.0383 can be obtained
as
K
1  G (s) H (s)  1  0
s ( s  1)(s  2)
1.0383
1 0
s ( s  1)(s  2)

s( s  1)(s  2)  1.0383  0
 Home Work
• Consider following unity feedback system.

• Determine the value of K such that the natural undamped

frequency of dominant complex-conjugate closed-loop
poles is 1 rad/sec.
K
G ( s) H ( s) 
s ( s  1)(s  2)
 Root Locus

1.5

-0.2+j0.96
1

0.5
Imaginary Axis

-0.5

-1

-1.5

-2

-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5

 Example#3
• Sketch the root locus of following system and
determine the location of dominant closed loop
poles to yield maximum overshoot in the step
response less than 30%.
 Example#3
• Step-1: Pole-Zero Map
Pole-Zero Map
1

0.8

0.6

0.4
Imaginary Axis

0.2

-0.2

-0.4

-0.6

-0.8

-1
-5 -4 -3 -2 -1 0 1
Real Axis
 Example#3
• Step-2: Root Loci on Real axis
Pole-Zero Map
1

0.8

0.6

0.4
Imaginary Axis

0.2

-0.2

-0.4

-0.6

-0.8

-1
-5 -4 -3 -2 -1 0 1
Real Axis
 Example#3
• Step-3: Asymptotes
Pole-Zero Map
1

0.8

0.6
  90 0.4
Imaginary Axis

0.2

  2 0

-0.2

-0.4

-0.6

-0.8

-1
-5 -4 -3 -2 -1 0 1
Real Axis
 Example#3
• Step-4: breakaway point
Pole-Zero Map
1

0.8

0.6

0.4
Imaginary Axis

0.2

-0.2 -1.55
-0.4

-0.6

-0.8

-1
-5 -4 -3 -2 -1 0 1
Real Axis
 Example#3
Root Locus
8

2
Imaginary Axis

-2

-4

-6

-8
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
 Example#3
• Mp<30% corresponds to


1 2
Mp e 100



1 2
30%  e  100

  0.35

  cos 1 (0.35)

  69.5
 Example#3
Root Locus
8

6
6 0.35

2
Imaginary Axis

-2

-4

-6 0.35
6

-8
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
 Example#3
Root Locus
8

6
6 0.35

System: sys
4
Gain: 28.9
Pole: -1.96 + 5.19i
2 Damping: 0.354
Overshoot (%): 30.5
Imaginary Axis

Frequency (rad/sec): 5.55

0

-2

-4

-6 0.35
6

-8
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
Example-4: For the system shown below, find the frequency and
gain, K, for which the root locus crosses the imaginary jω-axis. For
what range of gain K is the system stable?

• The closed-loop transfer function for the system is;

 Root Locus of Higher Order System
• Sketch the Root Loci of following unity feedback system

K ( s  3)
G (s) H (s) 
s ( s  1)( s  2)(s  4)
• Let us begin by calculating the asymptotes. The real-axis intercept is
evaluated as;

• The angles of the lines that intersect at - 4/3, given by

• The Figure shows the complete root locus as well as the asymptotes
that were just calculated.
 Example: Sketch the root locus for the system with the characteristic
equation of;

a) Number of finite poles = n = 4.

b) Number of finite zeros = m = 1.
c) Number of asymptotes = n - m = 3.
d) Number of branches or loci equals to the number of finite poles (n) =
4.
e) The portion of the real-axis between, 0 and -2, and between, -4 and -
• Using
∞, Eq. (v),the
lie on theroot
real-axis asymptotes
locus for K > 0. intercept is evaluated as;

• The angles of the asymptotes that intersect at - 3, given by Eq. (vi), are;
For K = 0, θa = 60o
For K = 1, θa = 180o
For K = 2, θa = 300o
• The root-locus plot of the system is shown in the figure below.
• It is noted that there are three asymptotes. Since n – m = 3.
• The root loci must begin at the poles; two loci (or branches) must leave the
double pole at s = -4.
• Using Eq. (vii), the breakaway point, σ, can be determine as;

• The solution of the above equation is