Summary: Root Locus sketching rules

Negative Feedback
Rule 1: # branches = # poles
Rule 2: symmetrical about the real axis
Rule 3: real-axis segments are to the left of an odd number of real-axis finite
poles/zeros
Rule 4: RL begins at poles, ends at zeros
Rule 5: Asymptotes: real-axis intercept a,angles a
P
P
nite poles nite zeros
a =
#nite poles #nite zeros

m = 0, 1, 2, . . .

K() =

1
G()H()

( real)

and solving

dK()
=0
d

for real .

Rule 7: Imaginary axis crossings (transition to instability)

Found by setting

(2m + 1)
#nite poles #nite zeros

Rule 6: Real-axis break-in and breakaway points

Found by setting

a =

KG(j)H(j) = 1

and solving

Re KG(j)H(j) =

Im KG(j)H(j) =

1,
0.

Todays Goal: Shaping the transient response by adjusting the feedback gain

2.004 Fall 07

Lecture 20 Wednesday, Oct. 24

Damping ratio and pole location

Recall 2nd order
underdamped sustem

n2
.
s2 + 2n s + n2

+ jn 1 2 = jd

X
n

s-plane

n = d
X

jn 1 2 = jd

Figure by MIT OpenCourseWare.

Complex poles d jd ,

d =
p n,
where
d =
1 2 n .
From the geometry,
p
1 2
tan =

cos

Fig. 4.17

The angle that a complex pole subtends to the origin of the s-plane
determines the damping ratio of an underdamped 2nd order system.
The distance from the pole to the origin equals the natural frequency.
2.004 Fall 07

Lecture 20 Wednesday, Oct. 24

Transient response and pole location

Settling time

Ts 4/(n );
Damped osc. frequency

Images removed due to copyright restrictions.

Please see: Fig. 4.19 in Nise, Norman S. Control Systems Engineering. 4th ed. Hoboken, NJ: John Wiley, 2004.

p
d = 1 2 n

Overshoot %OS

%OS = exp p

tan =

2.004 Fall 07

Lecture 20 Wednesday, Oct. 24

1 2

1 2

Trends in underdamped response as increases

As ,

Fig. 4.14

Rise time Tr (slower);

c(t)

Settling time Ts 4/(n ) (slower);

p
Peak time Tp = /( 1 2 n ) (slower);

cmax
1.02cfinal
c final
0.98cfinal

Overshoot %OS (smaller)

0.9cfinal

0.1cfinal

Tr

Tp

Ts

Figure by MIT OpenCourseWare.

Images removed due to copyright restrictions.

Please see: Fig. 4.15 and 4.16 in Nise, Norman S. Control Systems Engineering. 4th ed. Hoboken, NJ: John Wiley, 2004.

2.004 Fall 07

Lecture 20 Wednesday, Oct. 24

Achieving a desired transient with a given RL

j
j6

j4

s-plane
s-plane

j1

X
j2
max

max

-4

-3

X
-2

X
-1

-10

-5

-2

-j2
X

-j1

-j4
-j6

Figure 8.10

As

Figure 8.25
Figure by MIT OpenCourseWare.

Rise time Tr (slower);

Settling time Ts (slower);
Peak time Tp (slower);
Overshoot %OS (smaller)
2.004 Fall 07

If the given RL does not

allow the desired transient
characteristics to be achieved,
then we must modify the RL
by adding poles/zeros
(compensator design)

Lecture 20 Wednesday, Oct. 24

Example: 2nd order type 1 system

Vref (s)

pc+

Also, cos = = 45 .

+1

pc

X(s)

We are given = 1/ 2 = 0.7071. For this value,

100 = e 100 = 4.32%.

%OS = exp p
1 2

j
closed loop
pole locations
for =0.7071

0.3162
s(s+2)

We can locate the closedloop poles

by nding the intersection of the root locus

with the lines = 45 .

We can also estimate the feedback gain K

that will yield the required closedloop poles pc+ , pc

from the relationship K = 1/ |G(pc )H(pc )|

|pc | |pc + 2|
2 2
K=
=
= 6.325.
0.3162
0.3162
The numerator is computed geometrically from the
equilateral triangle {(2), (pc+ ), (0)}

2.004 Fall 07

Lecture 20 Wednesday, Oct. 24

Example: higher order system

2.004 Fall 07

Lecture 20 Wednesday, Oct. 24

Positive feedback: sketching the Root Locus

R(s)

KG(s)

C(s)

Closedloop TF(s) =

H(s)

Figure 8.26

Figure by MIT OpenCourseWare.

Rule 1: # branches = # poles

Rule 2: symmetrical about the real axis
Rule 3: real-axis segments are to the left of an even number of real-axis finite
poles/zeros
Rule 4: RL begins at poles, ends at zeros
Rule 5: Asymptotes: real-axis intercept a,angles a
P
P
nite poles nite zeros
a =
#nite poles #nite zeros

a =

2m
#nite poles #nite zeros

m = 0, 1, 2, . . .

Rule 6: Real-axis break-in and breakaway points

Found by setting

KG(s)
.
1 KG(s)H(s)

1
K() = +

G()H()

( real)

and solving

dK()
=0
d

for real .

Rule 7: Imaginary axis crossings (transition to instability)

Found by setting

2.004 Fall 07

+
KG(j)H(j) = 1

and solving

1,
Re KG(j)H(j) = +

Im KG(j)H(j) =

Lecture 20 Wednesday, Oct. 24

0.

Example: positive feedback

R(s) +

K(s + 3)

C(s)

s(s + 1)(s + 2)(s + 4)

R(s)

K(s + 3)

-1

s(s + 1)(s + 2)(s + 4)

K<0

Figure by MIT OpenCourseWare.

with K > 0.
Figure by MIT OpenCourseWare.

Figure 8.26

Realaxis asymptote intercept:

Figure 8.11

a =

(1 2 4) (3)
4
=
3
41
Asymptote angles

a
Image removed due to copyright restrictions.
Please see Fig. 8.26b in Nise, Norman S. Control Systems Engineering. 4th ed. Hoboken, NJ: John Wiley, 2004.

2m
, m = 0, 1, 2, . . .
41
0,
m = 0,

=
=

2/3,
4/3,

m = 1,
m = 2.

Breakaway point:
found numerically.

2.004 Fall 07

Lecture 20 Wednesday, Oct. 24

C(s)