Scribd
Upload
54 views51 pages

Week 11 12 Design of Control System Using Root Locus Revised May 20 2013

This document discusses root locus analysis and design of control systems using different types of compensators. It covers the principles of designing control systems using the root locus method and explains how to use lag, lead, and lag-lead compensators. The objectives are to discuss root locus design thoroughly and explain how to design control systems using these three common compensators. Procedures for designing each type of compensator using the root locus approach are provided.

Uploaded by

biruk1
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
54 views51 pages

Week 11 12 Design of Control System Using Root Locus Revised May 20 2013

This document discusses root locus analysis and design of control systems using different types of compensators. It covers the principles of designing control systems using the root locus method and explains how to use lag, lead, and lag-lead compensators. The objectives are to discuss root locus design thoroughly and explain how to design control systems using these three common compensators. Procedures for designing each type of compensator using the root locus approach are provided.

Uploaded by

biruk1
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 51

Control System Engineering

PE-3032
Prof. CHARLTON S. INAO
Defence Engineering College,
Debre Zeit , Ethiopia

Week 11 and 12 -Root Locus Analysis


Topics: Design of Control System by Root Locus
Method
1. Lag Compensation
2. Lead Compensation
3. Lead-Lag compensation
Instructional Objectives
At the end of this lecture, the students shall be able to:
1. Discuss thoroughly the principles of designing a
control system using root locus method.
2. Explain the design of control system using lag
compensator.
3. Explain the design of control system using lead
compensator.
4. Explain the design of control system using lag –lead
compensator.
Fundamentals
Series and Parallel Compensation
Root Locus Approach to Control
System Design
• In design using root locus, the desired behavior
is specified in terms of transient response and
steady state error requirement.
• The steady state error is usually specified in
terms of error constants for standard inputs,
while the transient response requirement is
specified in terms of peak overshoot, settling
time , rise time, etc. for a step input.
• The transient response specifications can be
translated into desired locations for a pair of
dominant closed loop poles.
In order to meet the desired specifications, the
root loci are reshaped so that they pass
through the points where the dominant closed
loop poles are located. The root loci are
reshaped by introducing a compensator.
Compensator is an additional device or
component introduce in the system to alter
the behaviour and to meet the desired
specifications.
The compensator will add a pole and or zero in
the open loop transfer function of the system.
The addition of a pole to the open loop transfer
function has the effect of pulling the root locus to the
right, which reduce the relative stability of the
system and increase the settling time.
The addition of a zero to the open loop transfer
function has the effect of pulling the root locus to the
left which make the system more stable and reduce
the settling time.
When a system is either unstable or stable but has
undesirable transient response characteristics a lead
compensator can be employed to modify the root
locus. The transfer function of lead compensator will
have a zero(compensating zero) and a
pole(compensating pole).
The compensator zero can be placed on the real
axis by trial and error to satisfy transient
response specifications. The introduction of
zero will amplify high frequency noise which
is eliminated by the compensating pole. The
compensating pole is located on real axis such
that it makes negligible effect on the root
locus in the region where the two dominant
closed loop poles are located.
• If the pole is located far away from zero then it will
not be effective in suppressing the noise.If the pole is
too close to zero then it will not allow the zero to do
its job. In order to avoid this conflict, the pole is
located 3 to 10 times the value of zero location.
• The lag compensator is employed when a stable
system has satisfactory transient response
characteristics but unsatisfactory steady state
characteristics, i. e. error requirement. The transfer
function of lag compensator will have a
zero(compensating zero) and a pole(compensating
pole).
• In order to preserve the transient response
characteristics' the compensating pole and zero
should have negligible effect on shape of root locus.
This is achieved by placing the compensating pole
and zero very close to each other. If the pole and zero
are located close to the origin then the error
constant will increase which will reduce the steady
state error.
• The lag lead compensator is employed when both
both the transient and steady state characteristics
are not satisfactory. The lead compensation will
improve the transient response and lag
compensation will reduce the steady state error.
Lag Compensator
Lag Compensator
Root locus lag compensator design
procedure
Lead Compensator
Root Locus Lead Compensator Design
Procedure
Lag –Lead Compensator
Root Locus Lag-Lead Compensator
Design Procedure

You might also like