Control System Assignment

MBEYA UNIVERSITY OF SCIENCE AND TECHNOLOGY
DEPARTMENT : COMPUTER SCIENCE AND COMPUTER

ENGINEERING
PROGRAM : BACHELOR IN COMPUTER ENGINEERING
TASK : GROUP ASSIGNMENT.
MODULE NAME : CONTROL SYSTEM DESING 2
MODULE CODE : CS 8343
LEVEL : UQF 8 3RD YEAR,
MODULE FACILITATOR: SIR JOACHIM J.M
GROUP MEMBERS
S/N NAMES REG NO. CA.N0 SIGN
1 EZEKIEL NDOLE 20100534050013
2 OMBENI AKYOO 20100534050007 CA/BCE/22/14626
3 ANORD AMRI 20100534050006
4. CHACHA MATIBWI 20100534050038
5 ELIZABETH KABISU 20100534050009 CA/BCE/22/14632
6 REMINA AMMA 20100534050039
7 HASSAN RASSHID 20100534050052
8 ELIUD KIGALI 20100534050024
9 ALLY EDWARD 20100534050005 CA/BCE/22/14628
10 INNOCENT MAHENGE 20100534050048

Root locus
 The root locus is a graphical representation of the possible

locations of the system's closed-loop poles as a parameter,
typically a controller gain, is varied. It is a powerful tool
used for analyzing and designing control systems.
 The root locus plot provides insights into the stability and
dynamic behavior of a control system. By examining the
root locus, engineers can determine the range of parameter
values that will result in a stable closed-loop system, as well
as gain values that lead to desired performance
characteristics such as damping, settling time, and
overshoot.

What plane is root locus plotted
 The root locus is typically plotted on a complex plane, with the real and
imaginary axes. It shows the path of the poles as the parameter changes.
The poles represent the characteristic equation's roots, which are the
values of s (Laplace variable) that make the denominator of the closed-
loop transfer function equal to zero.
The key features of a root locus
plot
 Asymptotes: These are straight lines that provide an approximation of the root locus at
high values of the parameter. The number of asymptotes and their angles depend on the
number of poles and zeros in the system.
 Branches: The root locus consists of branches that start at the open-loop poles and end at
the open-loop zeros. These branches represent the paths of the closed-loop poles as the
parameter changes.
 Breakaway and break-in points: These are the locations where the root locus branches
either start (breakaway) or end (break-in). These points determine the stability limits of
the system.
 Imaginary axis crossings: The root locus may intersect the imaginary axis. The points of
intersection indicate the values of the parameter where oscillatory behavior occurs.
USES OF ROOT LOCUS
1.Stability Analysis:
The root locus provides valuable insights into the stability of a control
system. By examining the root locus plot, engineers can determine the
range of parameter values that result in a stable closed-loop system.
They can identify regions of the plot where the poles move into the right-
half plane (RHP), indicating instability. This information helps in assessing
the stability of the system and selecting appropriate parameter values to
ensure stability.
2.System Design:
The root locus plot aids in designing control systems to meet desired performance
specifications. Engineers can manipulate the root locus by adjusting the controller
gain or introducing additional poles and zeros. By analyzing the plot, they can
choose appropriate parameter values to achieve desired performance characteristics
such as damping, settling time, and overshoot. The root locus guides the design
process by providing a graphical representation of how the system's closed-loop
poles behave with varying parameters.
3. Controller Tuning
The root locus assists in controller tuning, where engineers adjust the parameters
of the controller to optimize system performance. By analyzing the root locus,
engineers can observe the effect of changing the controller gain on the location
and behavior of the poles. They can tune the controller gain to achieve the
desired performance trade-offs, such as stability, response speed, and robustness.
4. Sensitivity Analysis:
The root locus helps in analyzing the sensitivity of a control system to parameter
variations. By examining the plot, engineers can observe how changes in system
parameters, such as plant gain or time constants, affect the location and behavior
of the poles. This information aids in understanding the system's sensitivity to
parameter variations and can guide decisions related to robustness and parameter
tolerance.
Procedures of Plotting root locus in matlab
1.Define the open-loop transfer function of your control system in

MATLAB using the tf function. For example, if you have a transfer
function with numerator coefficients [1] and denominator coefficients [1,
2, 1], you can define it as follows:
 num = [1];
 den = [1, 2, 1];
 G = tf(num, den);
Cont…
2.Use the rlocus function in MATLAB to calculate and plot the root
locus. Pass your transfer function G as the input to the rlocus function.
Additionally, you can specify a range of values for the parameter (e.g.,
controller gain) using the linspace function.
Consider;
 k = linspace(0, 10, 100); % Range of controller gain values

 rlocus(G, k);
Cont….
3. Customize the plot as needed. MATLAB provides various
options to modify the appearance of the root locus plot. You can
adjust the axis limits, labels, titles, line colors, and styles
 For instance;
 grid on; % Show grid lines

 xlabel('Re'); % X-axis label
 ylabel('Im'); % Y-axis label
 title('Root Locus Plot'); % Title
4. Execute the above code and analyse the behavior and the
stability of the closed-loop control system for different parameters.
Now, what are the information
portrayed in root locus plot.
Rlocus plot portray info such as;
 Stability:
The root locus plot helps determine the stability of the system. If all the
poles of the system lie in the left-half plane (LHP) of the complex plane,
the system is stable. If any poles move into the right-half plane (RHP), the
system becomes unstable. The root locus plot allows you to identify
regions where poles cross the imaginary axis or move towards the RHP,
indicating potential instability.
Cont…
 Pole Migration:
The root locus plot shows the movement of the system's closed-loop poles
as a parameter, such as controller gain, is varied. By observing the path of
the root locus branches, you can track the migration of the poles as the
parameter changes. This information helps understand how the system's
behavior evolves with different parameter values.
Cont…
 Dominant Poles:
The root locus plot provides insights into the dominant poles of the system.
Dominant poles are the poles that have the most significant influence on
the system's behavior. By examining the root locus branches, you can
identify the poles that move the most and have the greatest impact on the
system's dynamics. The location and behavior of these dominant poles can
provide important insights into the system's performance
Cont…
 Damping and Oscillatory Behavior:
The root locus plot can help analyze the damping characteristics and
potential oscillatory behavior of the system. The angle at which the root
locus branches intersect the imaginary axis determines the damping ratio of
the corresponding poles. Poles close to the real axis indicate well-damped
behavior, while poles far from the real axis suggest potential oscillations or
instability.
Cont…
 Gain Selection:
The root locus plot assists in selecting an appropriate value for the
parameter being varied, such as the controller gain. By analyzing the plot,
you can identify regions where the desired performance specifications,
such as damping ratio, settling time, or overshoot, are achieved. This
information helps in selecting the appropriate parameter value to meet the
desired system performance requirements.
HOW TO PLOT THE RLOCUS BY HANDS
1. Determine the open-loop transfer function of the control system. It
should be in the form of a ratio of polynomials in the Laplace variable 's’.
For example, let's consider a transfer function G(s) = (s + 2) / (s^2 + 3s
+ 2).
2. Write the characteristic equation of the closed-loop system by setting

the denominator of the transfer function to zero. In this example, the
characteristic equation is 1 + G(s)H(s) = 0, where H(s) represents the
transfer function of the controller.
Cont….
3. Determine the values of s that satisfy the characteristic equation. These
values represent the poles of the closed-loop system.
4. Calculate the angles and the magnitudes of the poles relative to the
open-loop transfer function poles and zeros. The angle and magnitude
calculations are based on the rules of the root locus plot, which can be
found in control system textbooks or online resources.
5. Plot the root locus on a piece of paper or graphing paper. Mark the
location of each pole for different values of the parameter, usually the
controller gain. The poles can be plotted as points or small crosses.
6. Draw the root locus branches starting from the open-loop poles and
moving towards the zeros. The branches should follow the determined
angles and magnitudes. They can be represented as curves or lines,
depending on the system's behavior.
Cont…
7. Determine the breakaway and break-in points on the root locus. These
points occur when the branches intersect or approach the real axis.
8. Analyze the behavior of the closed-loop system based on the root locus
plot. Identify regions of stability, regions of potential instability, and
regions with desired performance characteristics (e.g., damping ratio,
settling time).
Effect of gain in stability of feedback system
 Changing the gain in a feedback system can have a significant impact

on its stability. The root locus plot provides a clear depiction of how the
system's stability is affected by varying the gain.
 In a feedback control system, increasing the gain amplifies the effect of
the controller's input on the output. The root locus plot shows the
movement of the closed-loop poles as the gain varies
Here's how the root locus plot indicates the
stability changes with gain:
 Stable Region:
At lower values of the gain, the root locus plot usually starts from the open-
loop poles (plant poles) and moves towards the open-loop zeros (if any).
The closed-loop poles move along the root locus branches. If all the poles
remain in the left-half plane (LHP) throughout the entire range of the gain,
the system is stable. The root locus plot will show the closed-loop poles
moving along stable branches within the LHP.
Cont…
 Breakaway Points:
As the gain increases, the root locus branches may approach the real axis. At
certain gain values, known as breakaway points, the branches may either touch
or start to move away from the real axis. These breakaway points represent the
boundary between stable and unstable behavior. If the gain exceeds the
breakaway points, the system becomes unstable as the poles move into the
right-half plane (RHP).
Cont…
 Oscillatory Behavior:
In some cases, the root locus branches may cross or approach the
imaginary axis. These crossings indicate the occurrence of complex
conjugate poles with oscillatory behavior. The gain at which the root locus
crosses the imaginary axis represents the point where the system transitions
from overdamped to underdamped or critically damped behavior. Crossing
the imaginary axis suggests the presence of oscillations in the system
response.
Cont…
 Unstable Region:
Beyond the breakaway points, the root locus branches move into the RHP,
indicating unstable behavior. The system becomes more and more unstable
as the gain increases. The branches move away from the stable region, and
the closed-loop poles move into the RHP, potentially leading to divergent
or unstable responses.
Overall, the root locus plot provides a visual representation of the stability
characteristics of the system and helps in selecting an appropriate gain to
achieve the desired stability and performance in a feedback control system.
THE END OF OUR PRESENTATION.
THANKS FOR LISTENING

REFERENCES:
www.tutorialpoint/controlsystem
https/www.mathworks.com
https/www.educba.com/root-locus

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MBEYA UNIVERSITY OF SCIENCE AND TECHNOLOGY

DEPARTMENT : COMPUTER SCIENCE AND COMPUTER

1 EZEKIEL NDOLE 20100534050013

2 OMBENI AKYOO 20100534050007 CA/BCE/22/14626

3 ANORD AMRI 20100534050006

4. CHACHA MATIBWI 20100534050038

5 ELIZABETH KABISU 20100534050009 CA/BCE/22/14632

6 REMINA AMMA 20100534050039

7 HASSAN RASSHID 20100534050052

8 ELIUD KIGALI 20100534050024

9 ALLY EDWARD 20100534050005 CA/BCE/22/14628

10 INNOCENT MAHENGE 20100534050048

 The root locus is a graphical representation of the possible

1.Define the open-loop transfer function of your control system in

 k = linspace(0, 10, 100); % Range of controller gain values

 grid on; % Show grid lines

2. Write the characteristic equation of the closed-loop system by setting

 Changing the gain in a feedback system can have a significant impact

THANKS FOR LISTENING

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