Control Systems Engineering

Chapter 9: Design via Root Locus

Dr.-Ing. Witthawas Pongyart
 Chapter 9: Design via Root Locus
Chapter Objectives:
In this chapter you will learn the following:
• How to use the root locus to design cascade compensators to
improve the steady-state error
• How to use the root locus to design cascade compensators to
improve the transient response
• How to use the root locus to design cascade compensators to
improve both the steady-state error and the transient response
• How to use the root locus to design feedback compensators to
improve the transient response
• How to realize the designed compensators physically
 Chapter 9: Design via Root Locus
Case Study:
• Given the antenna azimuth position control system
shown on the front endpapers, you will be able to
design a cascade compensator to meet transient
response and steady-state error specifications.
 Chapter 9: Design via Root Locus
9.1 Introduction:
• In Chapter 8 we saw that the root locus graphically displayed both
transient response and stability information. The locus can be
sketched quickly to get a general idea of the changes in transient
response generated by changes in gain. Specific points on the locus
also can be found accurately to give quantitative design information.
• The root locus typically allows us to choose the proper loop gain to
meet a transient response specification. As the gain is varied, we
move through different regions of response. Setting the gain at a
particular value yields the transient response dictated by the poles
at that point on the root locus. Thus, we are limited to those
responses that exist along the root locus.
• Flexibility in the design of a desired transient response can be
increased if we can design for transient responses that are not on
the root locus.
 Chapter 9: Design via Root Locus
9.1 Introduction: Improving Transient Response
• Assume that the desired transient response, defined by percent
overshoot and settling time, is represented by point B.
• Unfortunately, on the current root locus at the specified percent
overshoot, we only can obtain the settling time represented by point
A after a simple gain adjustment.
 Chapter 9: Design via Root Locus
9.1 Introduction: Improving Transient Response
• Rather than change the existing system, we augment, or
compensate, the system with additional poles and zeros, so that the
compensated system has a root locus that goes through the desired
pole location for some value of gain.
 Chapter 9: Design via Root Locus
9.1 Introduction: Improving Steady-State Error
• Compensators are not only used to improve the transient response
of a system; they are also used independently to improve the
steady-state error characteristics.
 Chapter 9: Design via Root Locus
9.1 Introduction: Configurations
• Two configurations of compensation are covered in this chapter:
cascade compensation and feedback compensation.
 Chapter 9: Design via Root Locus
9.1 Introduction: Compensators

PI-Controller PD-Controller

Lag-Lead-Compensator
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error via Cascade Compensation
• In this section we discuss two ways to improve the steady-state
error of a feedback control system using cascade compensation. One
objective of this design is to improve the steady-state error without
appreciably affecting the transient response.

PI-Controller

Lag-Lead-Compensator
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Ideal Integral Compensation (PI)
• Steady-state error can be improved by placing an open-loop pole at
the origin, because this increases the system type by one.
• For example, a Type 0 system responding to a step input with a finite
error responds with zero error if the system type is increased by one.
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Ideal Integral Compensation (PI)
• If we add a pole at the origin to increase the system type, the
angular contribution of the open-loop poles at point A is not valid,
and the root locus no longer goes through point A.
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Ideal Integral Compensation (PI)
• To solve the problem, we also add a zero close to the pole at the
origin, as shown in the figure.
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Ideal Integral Compensation (PI)
Example 9.1.
• Given the system of operating with a damping ratio of 0.174, show
that the addition of the ideal integral compensator reduces the
steady-state error to zero for a step input without appreciably
affecting transient response.
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Ideal Integral Compensation (PI)
Example 9.1.
• Note: The compensating network is chosen with a pole at the origin
to increase the system type and a zero at -0.1 , close to the
compensator pole, so that the angular contribution of the
compensator evaluated at the original, dominant, second-order
poles is approximately zero.
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Ideal Integral Compensation (PI)
Example 9.1. : Solution
• We first analyze the uncompensated system and determine the
location of the dominant, second-order poles.

Note: cos (100.02) = 0.174

We find that the dominant poles are -0.694 ±j3.926

for a gain, K, of 164.6.
This gain yields Kp = 8.23.
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Ideal Integral Compensation (PI)
Example 9.1. : Solution
• Adding an ideal integral compensator with a zero at -0.1.
We find that the dominant poles are -0.678 ±j3.837
for a gain, K, of 158.2 .

The gain Kp = ∞, and e(∞) = 0

 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Ideal Integral Compensation (PI)
Example 9.1. : Solution
• Verify with simulation.
Note: The compensation at first may appear to yield deterioration
in the settling time. However, notice that the compensated system
reaches the uncompensated system's final value in about the
same time. The remaining time is used to improve the steady-
state error over that of the uncompensated system.
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Ideal Integral Compensation (PI)
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Ideal Integral Compensation (PI)
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Ideal Integral Compensation (PI)
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Lag Compensation
• One may guess that this placement of the pole, although it does not
increase the system type, does yield an improvement in the static
error constant over an uncompensated system.
• Without loss of generality, we demonstrate that this improvement is
indeed realized for a Type 1 system.
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Lag Compensation
9.2 Improving Steady-State Error Lag Compensation
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Lag Compensation
Example 9.2
• Compensate the system to improve the steady-state error by a factor
of 10 if the system is operating with a damping ratio of 0.174.

We find that the dominant poles are -0.694 ±j3.926

for a gain, K, of 164.6.
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Lag Compensation
Example 9.2
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Lag Compensation
Example 9.2

We find that the dominant poles are -0.678 ±j3.836

for a gain, K, of 158.1 .
 Chapter 9: Design via Root Locus
9.2 Improving Steady-State Error Lag Compensation
Example 9.2
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response via Cascade Compensation
• In this section we discuss two ways to improve the transient response
of a feedback control system by using cascade compensation. Firstly
the PD controller will be consider and then the lead compensator.

PD-controller

Lead compensator
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: PD-controller
• The transient response of a system can be selected by choosing an
appropriate closed-loop pole location on the s-plane.
• In order to accomplish the task, a zero can be added in the forward
path to produce a new open-loop function whose root locus goes
through the design point on the s-plane.
• This zero can be represented by a compensator whose transfer
function is
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: PD-controller
• Effect of the adding zero on the root locus, zc = 2.
• The new root locus passes the point outside the old locus.
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: PD-controller
• Effect of the adding zero on the root locus, zc = 3 and 4.
• The closer to the imaginary axis the longer Ts.
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: PD-controller
• Effect of the adding zero on the root locus, zc = 4, 3 and 2.
• The closer to the imaginary axis the longer Ts.
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: PD-controller
• Example 9.3 Given the system, design an ideal derivative compensator
to yield a 16% overshoot, with a threefold reduction in settling time.
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: PD-controller
• Example 9.3 Given the system, design an ideal derivative compensator
to yield a 16% overshoot, with a threefold reduction in settling time.
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: PD-controller
• Example 9.3 Given the system, design an ideal derivative compensator
to yield a 16% overshoot, with a threefold reduction in settling time.
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: PD-controller
• Example 9.3
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: PD-controller
• Example 9.3
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: Lead Compensation
• When passive networks are used, a single zero cannot be produced;
rather, a compensator zero and a pole result.
• However, if the pole is farther from the imaginary axis than the zero,
the angular contribution of the compensator is still positive and thus
approximates an equivalent single zero.
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: Lead Compensation
• The advantages of a passive lead network over an active PD
controller are that (1) no additional power supplies are required and
(2) noise due to differentiation is reduced.
• The disadvantage is that the additional pole does not reduce the
number of branches of the root locus that cross the imaginary axis
into the right half-plane.
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: Lead Compensation
Note: The number of lead compensators in the system is unlimited.
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: Lead Compensation
• Example 9.4: Design three lead compensators for the system that
will reduce the settling time by a factor of 2 while maintaining 30%
overshoot.
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: Lead Compensation
• Example 9.4: Design three lead compensators for the system that
will reduce the settling time by a factor of 2 while maintaining 30%
overshoot.

Our job is to determine zc, pc, and K.

 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: Lead Compensation
• Example 9.4: Design three lead compensators for the system that
will reduce the settling time by a factor of 2 while maintaining 30%
overshoot.

Arbitrarily assume a compensator zero at -5

on the real axis as a possible solution. (zc = 5)
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: Lead Compensation
• Example 9.4: Design three lead compensators for the system that
will reduce the settling time by a factor of 2 while maintaining 30%
overshoot.

(zc = 5)
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: Lead Compensation
• Example 9.4: Design three lead compensators for the system that
will reduce the settling time by a factor of 2 while maintaining 30%
overshoot.

(zc = 5)

K = 1423
 Chapter 9: Design via Root Locus
9.3 Improving Transient Response: Lead Compensation
• Example 9.4: Design three lead compensators for the system that
will reduce the settling time by a factor of 2 while maintaining 30%
overshoot.
 Chapter 9: Design via Root Locus
9.3 Improving Steady-State Error and Transient Response
• We now combine the design techniques covered in Sections 9.2 and
9.3 to obtain improvement in steady-state error and transient
response independently.
• Basically, we first improve the transient response by using the
methods of Section 9.3. Then we improve the steady-state error of
this compensated system by applying the methods of Section 9.2. A
disadvantage of this approach is the slight decrease in the speed of
the response when the steady-state error is improved.
• As an alternative, we can improve the steady-state error first and
then follow with the design to improve the transient response. A
disadvantage of this approach is that the improvement in transient
response in some cases yields deterioration in the improvement of
the steady-state error, which was designed first.
 Chapter 9: Design via Root Locus
9.3 Improving Steady-State Error and Transient Response
• In this textbook we first design for transient response and then
design for steady-state error.
• PID Controller:
– Fist the PD is design to meet the required transient characteristic.
– Then the PI is applied to improve the steady state error.
• Lag-Lead Compensator
– The Lead Compensator is firstly design to achieve the transient
performance.
– Then Lag Compensator is utilized to improve the steady state error.
 Chapter 9: Design via Root Locus
9.3 Improving Steady-State Error and Transient Response
• PID Controller:
 Chapter 9: Design via Root Locus
9.3 PID Controller:
• Example: Given the system of Figure 9-31, design a PID controller so
that the system can operate with a peak time that is two-thirds that
of the uncompensated system at 20% overshoot and with zero
steady-state error for a step input.

Step 1 Let us first evaluate the uncompensated system operating at

20% overshoot.
 Chapter 9: Design via Root Locus
9.3 PID Controller:
Step 1 Let us first evaluate the uncompensated system operating at
20% overshoot.

We estimate that the uncompensated system has a

peak time of 0.297 second at 20% overshoot.
 Chapter 9: Design via Root Locus
9.3 PID Controller:
Step 2 compensate the system to reduce the peak time to two-thirds of
that of the uncompensated system.
 Chapter 9: Design via Root Locus
9.3 PID Controller:
Step 2 compensate the system to reduce the peak time to two-thirds of
that of the uncompensated system.
 Chapter 9: Design via Root Locus
9.3 PID Controller:
Step 2 compensate the system to reduce the peak time to two-thirds of
that of the uncompensated system.
 Chapter 9: Design via Root Locus
9.3 PID Controller:
Step 3-4 Simulate the PD-compensated system.(see the figure)
Step 5 Design the ideal PI Controller
 Chapter 9: Design via Root Locus
9.3 PID Controller:
Step 5 Simulate the system.
 Chapter 9: Design via Root Locus
9.3 PID Controller:
Step 6 determine the gains, K1,K2, and K3.
 Chapter 9: Design via Root Locus
9.3 PID Controller: Implementation
 Chapter 9: Design via Root Locus
9.3 PID Controller: Implementation