Automatic Control 2

Lecture-1
Introduction to Subject
&
Review of Basic Concepts of Classical control

Dr. Mountasser Mohamed Ramadan

email: mountasser.m.r@gmail.com

1
 Course Outline (Control II)

Classical Control Design Modern Control Design

• Root Locus • State Feedback Control
• Bode Plot • State Observer
• Compensation • Optimal Control
• PID

2
 Course Outline
 Classical Control Design
• Review of basic concepts of classical control
• Design of Compensators (Lead, Lag and Lag_Lead)
• Design of Proportional
• Proportional plus Integral
• Proportional Integral and Derivative (PID) Controllers
 Modern Control Design
• State Space representation
• Pole Placement Design
• Design of Observers
• Optimal Quadratic Controllers
• Lypunove Design method
•
3
Riccati Equation
 Recommended Books

1. Modern Control Engineering, (3rd, 4th or 5th Edition)

By: Katsuhiko Ogata.
2. Burns R. “Advanced Control Engineering, Butterworth
Heinemann”, Latest edition.
3. Mutanmbara A.G.O.; Design and analysis of Control
Systems, Taylor and Francis, Latest Edition
4. Control Systems Engineering, (6th Edition)
By: Norman S. Nise
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 Lecture Outline
• Time-Domain Specification
• Summary of Time Domain Specifications
• Review of Root Locus
• Introduction to Root Locus
• Introduction
• The definition of a root locus
• Construction of root loci
• Closed loop stability via root locus 5
 Time-Domain Specification
For 0 < 𝜂 < 1 and 𝜔𝑛 > 0, the 2nd order system’s response due to
a unit step input looks like

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 Summary of Time Domain Specifications
Rise Time Peak Time

     
tr   tp  
d 2 d  1   2
n 1   n

Settling Time (2%)

4
t s  4T 
 n Maximum Overshoot


1 2
Settling Time (4%)
Mp e  100
3
t s  3T 
 n
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REVIEW OF ROOT LOCUS

8
 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.

• Why we need to trace the root locus?

9
 Introduction
• 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 is

K
G (s) 
s 1
• And the closed transfer function is
C (s) G (s) K
 
R( s) 1  G ( s) s  1  K 10
 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

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 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
1 -2 0.5
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 12
 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 13
 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 ?
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 Construction of Root Loci
• Finding the roots of the characteristic equation of
degree higher than 3 is laborious and will need
computer solution.

• A simple method for finding the roots of the

characteristic equation has been developed by W.
R. Evans and used extensively in control
engineering.

• This method, called the root-locus method, is one

in which the roots of the characteristic equation
are plotted for all values of a system parameter.
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 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.
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 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)
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 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.

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 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=0,1, 2, 3, …

• The magnitude of G(s)H(s) = -1 is

G (s) H (s)   1
G (s) H (s)  1
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 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. 20
 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
s 1
G (s) H (s) 
s ( s  3)( s  4)Pole-Zero Map
•
1
We have one zero at
• S = -1 0.5

•
Imaginary Axis

And three poles at 0

• S = 0, -3, -4
-0.5

• As shown in the figure

-1 21
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
 Angle and Magnitude Conditions (Graphically)
Pole-Zero Map
1
p

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 22
Angle and Magnitude Conditions graphically
Pole-Zero Map
1
p

0.5

A B1
Imaginary Axis

B3 B2
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 23
Angle and Magnitude Conditions (Graphically)

Angle condition

• Where ɸ1, θ1, θ2, θ3, and θ4 are

measured in counter clockwise
direction.

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Angle and Magnitude Conditions (Graphically)

Magnitude Condition

• Where B1, A1, A2, A3, and A4 are

the magnitudes of the complex
quantities s+p1, s+p2…..

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 Illustrative Example#1
• Apply angle and magnitude conditions
(Analytically as well as graphically) on following
unity feedback system.

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 Illustrative 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)
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 Illustrative Example#1
• For example to check whether s=-0.25 is on the root locus
or not we can apply angle condition as follows.

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)
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 Illustrative Example#1
• Home work:

– check whether s=-0.2+j0.937 is on the root

locus or not (Graphically as well as
analytically) ?

– check whether s=-1+j2 is on the root locus

or not (Graphically as well as analytically) ?

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 Illustrative Example#1
• Here
K
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)
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 Illustrative Example#1
• Now we know from angle condition that the point s = -0.25
is on the root 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 31
 Illustrative 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 32
 Illustrative Example#1
• Home work:

– If s=-0.2+j0.937 is on the root locus

determine the value of gain K at that point.

– If s=-1+j2 is on the root locus determine the

value of gain K at that point.

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