MODERN CONTROL SYSTEMS

Lecture 6

Root Locus_ Compensation

Emam Fathy

Department of Electrical and Control Engineering

email: emfmz@aast.edu

http://www.aast.edu/cv.php?disp_unit=346&ser=68525
1
 Introduction
• A feedback control system that provides an optimum
performance without any necessary adjustment is rare.

• In building a control system, we know that proper

modification of the plant dynamics may be a simple way to
meet the performance specifications.

• This, however, may not be possible in many practical

situations because the plant may be fixed and not
modifiable.

• Then we must adjust parameters other than those in the

fixed plant.
 Introduction
• It is then required to reconsider the structure of the
system and redesign the system.

• The design problems, therefore, become those of

improving system performance by insertion of a
compensator.

• Compensator: is an additional component or circuit

that is inserted into a control system to equalize or
compensate for a deficient performance.
 Introduction
• Necessities of compensation
• A system may be unsatisfactory in：
Stability.
Speed of response.
Steady-state error.

• Thus the design of a system is concerned with the alteration

of the frequency response or the root locus of the system in
order to obtain a suitable system performance.
 Compensation via Root Locus
• Performance measures in the time domain:
– Peak time;

– Overshoot;

– Settling time for a step input;

– Steady-state error for test inputs

• These performance specifications can be defined in

terms of the desirable location of the poles and zeros of
the closed-loop.
• Root locus method can be used to find a suitable
compensator Gc(s) so that the resultant root locus results
in the desired closed-loop root configuration.
 Compensation via Root Locus
• The design by the root-locus method is based on reshaping
the root locus of the system by adding poles and zeros to
the system’s open-loop transfer function and forcing the
root loci to pass through desired closed-loop poles in the s
plane.

• The characteristic of the root-locus design is its being

based on the assumption that the closed-loop system has a
pair of dominant closed-loop poles.

• This means that the effects of zeros and additional poles

do not affect the response characteristics very much.
 Compensator Configurations
• Compensation schemes commonly used for feedback
control systems are:

– Series Compensation

– Parallel Compensation
 Compensator Configurations
• The choice between series compensation and parallel
compensation depends on
– the nature of the signals

– the power levels at various points

– available components

– the designer’s experience

– economic considerations and so on.

 Commonly Used Compensators
• Among the many kinds of compensators, widely
employed compensators are the
– lead compensators

– lag compensators

– lag–lead compensators
Lead Compensation
 Lead Compensation
• Lead Compensation essentially yields an appreciable
improvement in transient response and a small change
in steady state accuracy.

• There are many ways to realize lead compensators and

lag compensators, such as electronic networks using
operational amplifiers, electrical RC networks, and
mechanical spring-dashpot systems.
 Lead Compensation
• Generally Lead
compensators are
represented by
following transfer
function

𝑇𝑠+1
𝐺𝑐 𝑠 = 𝐾𝑐 𝛼 , (0 < 𝛼 < 1)
𝛼𝑇𝑠+1
• or
1
𝑠+
𝑇
𝐺𝑐 𝑠 = 𝐾𝑐 1 , (0 < 𝛼 < 1)
𝑠+
𝛼𝑇
 Electronic Lead Compensator
• Following figure shows an electronic lead compensator using
operational amplifiers.

𝐸𝑜 (𝑠) 𝑅2 𝑅4 𝑅1 𝐶1 𝑠 + 1
=
𝐸𝑖 (𝑠) 𝑅1 𝑅3 𝑅2 𝐶2 𝑠 + 1
 Electronic Lead Compensator
𝐸𝑜 (𝑠) 𝑅2 𝑅4 𝑅1 𝐶1 𝑠 + 1
=
𝐸𝑖 (𝑠) 𝑅1 𝑅3 𝑅2 𝐶2 𝑠 + 1
• This can be represented as
1
𝐸𝑜 (𝑠) 𝑅4 𝐶1 𝑠 + 𝑅1 𝐶1
=
𝐸𝑖 (𝑠) 𝑅3 𝐶2 𝑠 + 1
• Where, 𝑅2 𝐶2
𝑅4 𝐶1
𝑇 = 𝑅1 𝐶1 𝑎𝑇 = 𝑅2 𝐶2 𝐾𝑐 =
𝑅3 𝐶2
• Then, 𝑠+𝑇
1
𝐺𝑐 𝑠 = 𝐾𝑐 1 , (0 < 𝛼 < 1)
𝑠+𝛼𝑇
• 𝑵𝒐𝒕𝒊𝒄𝒆 𝒕𝒉𝒂𝒕
𝑹 𝟏 𝑪𝟏 > 𝑹 𝟐 𝑪𝟐
 Electronic Lead Compensator
• Pole-zero Configuration of
Lead Compensator

𝑅1 𝐶1 > 𝑅2 𝐶2
Lead Compensation Techniques Based
on the Root-Locus Approach.
• The root-locus approach to design is very powerful
when the specifications are given in terms of time-
domain quantities, such as

– damping ratio
– undamped natural frequency
– desired dominant closed-loop poles
– maximum overshoot
– rise time
– settling time.
 Lead Compensation Techniques Based
on the Root-Locus Approach.
• The steps for designing a lead compensator using root-
locus:
– Step-1: Analyze the given system via root locus.
– Step-2: From the performance specifications,
determine the desired location for the dominant
closed-loop poles.
– Step-3: design the compensator.
– Step-4: check your design.
 Example-1
• Consider the position control system shown in following
figure.

• It is desired to design an Electronic lead compensator Gc(s)

so that the dominant closed poles have the damping ratio
0.5 and undamped natural frequency 3 rad/sec.
 Step-1 (Example-1)
• Draw the root Locus plot of the given system.

10
G (s) H (s) 
s ( s  1)

• The closed loop transfer function

of the given system is:

C (s) 10
 2
R( s ) s  s  10

• The closed loop poles are

s  0.5  j3.1225
 Example-1
• Determine the characteristics of given system using root loci.

C (s) 10
 2
R( s ) s  s  10
• The damping ratio of the closed-loop
poles is 0.158.
• The undamped natural frequency of
the closed-loop poles is 3.1623
rad/sec.
• Because the damping ratio is
small, this system will have a large
overshoot in the step response and
is not desirable.
 Example-1
• From the performance specifications, determine the
desired location for the dominant closed-loop poles.

• Desired performance Specifications are:

 It is desired to have damping ratio 0.5 and undamped natural
frequency 3 rad/sec.

C ( s) n2 9
 2  2
R( s) s  2n s  n s  3s  9
2

s  1.5  j 2.5981
 Example-1
• Alternatively desired location of closed loop poles can also
be determined graphically
 Desired ωn= 3 rad/sec
Desired
 Desired damping ratio= 0.5 Closed Loop
Pole

  cos1 
60

  cos1 (0.5)  60

 Exampl-1
• calculate the angle deficiency.
• To calculate the angle of deficiency apply Angle Condition at desired
closed loop pole.

Desired Closed Loop Pole

s  1.5  j 2.5981

 d  180  120  100 -2

-1
 d  40
100o 120o

-2 -1
 Note
The solution to such a problem is not unique.
There are infinitely many solutions.
Exampl-1 (solution 1)

-2

40
-1

90o

-3 -2 -1.5 -1

𝑠 + 1.5
𝐺𝑐 𝑠 = 1.03
𝑠 + 3.6
 Example-1 (solution 2)

• First, draw a horizontal line passing through point P (line PA).

• Draw also a line connecting point P and the origin O.

P
A
-2

-1

O
-3 -2 -1
 Example-1 (solution 2)
• Bisect the angle between the lines PA and PO.

P
A

 -2
2 
2 -1

O
-3 -2 -1
 Example-1 (solution 2)
𝜃𝑑
• Draw two lines PC and PD that make angles ± with the the
2
bisector PB.
• The intersections of PC and PD with the negative real axis give the
necessary locations for the pole and zero of the lead network.

P
A
-2

d
2
d -1
2

O
-3 -2 -1
C
B
D
 Example-1 (solution 2)
• The lead compensator has zero at s=–1.9432 and pole at s=–4.6458.

P
A
-2

d
2
d -1
2

O
-3 -2 -1
C
B
D

• Thus, Gc(s) can be given as

1
𝑠+ 𝑠+1.9432
𝑇
𝐺𝑐 𝑠 = 𝐾𝑐 1 = 𝐾𝑐
𝑠+𝛼𝑇 𝑠+4.6458
 Example-1 (solution 2)
• The Kc is calculated as

𝐾𝑐 = 1.2287
• Hence, the lead compensator Gc(s) just designed is given
by
𝑠 + 1.9432
𝐺𝑐 𝑠 = 1.2287
𝑠 + 4.6458
 Example-1 (solution 2)

Desired Desired
Closed Loop Closed Loop
Pole Pole

Uncompensated Compensated
System System
 Example-1 (solution 2)
• It is worthwhile to check the static velocity error
constant Kv for the system just designed.

𝐾𝑣 = lim 𝑠𝐺𝑐 𝑠 𝐺(𝑠)

𝑠→0

𝑠 + 1.9432 10
𝐾𝑣 = lim 𝑠 1.2287 = 5.139
𝑠→0 𝑠 + 4.6458 𝑠(𝑠 + 1)

• Steady state error is

1 1
𝑒𝑠𝑠 = = = 0.194
𝐾𝑣 5.139
 Example-1 (solution 2)
Step Response
1.4
Actual System
1.2 Solution-3

1
Amplitude

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14
Time (sec)
 Step Response
1.4
Actual System
1.2 Solution-1
Solution-3
1
Amplitude

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14
 Example-2
• Consider the model of space vehicle control system
depicted in following figure.

• Design an Electrical lead compensator such that the

damping ratio and natural undamped frequency of
dominant closed loop poles are 0.5 and 2 rad/sec.
Lag Compensation

39
 Lag Compensation
• Lag compensation is used to improve the steady state error
of the system.
• Generally Lag compensators are represented by following
transfer function
𝑇𝑠+1
෡𝑐 𝛽
𝐺𝑐 𝑠 = 𝐾 , (β > 1)
𝛽𝑇𝑠+1
• Or 1
𝑠+
෡𝑐
𝐺𝑐 𝑠 = 𝐾 𝑇
1 , (β > 1)
𝑠+
𝛽𝑇
෡ 𝑐is gain of lag compensator.
• Where 𝐾

40
 Example-4
• Consider the system shown in following figure.

• The damping ratio of the dominant closed-loop poles is

0.491. The undamped natural frequency of the dominant
closed-loop poles is 0.673 rad/sec. The static velocity error
constant is 0.53 sec–1.
• It is desired to increase the static velocity error constant Kv to
about 5 sec–1 without appreciably changing the location of
the dominant closed-loop poles.
46
 Example-4
• The dominant closed-loop poles of given system are

s = -0.3307 ± j0.5864

47
 Example-4
• The static velocity error constant of the plant (𝐾𝑣 𝑢𝑛𝑐𝑜𝑚𝑝 ) is

1.06
𝐾𝑣 𝑢𝑛𝑐𝑜𝑚𝑝 = lim𝑠𝐺(𝑠) = lim 𝑠 = 0.53𝑠 −1
𝑠→0 𝑠→0 𝑠 𝑠+1 𝑠+2
• The desired static velocity error constant (𝐾𝑣 𝑟𝑒𝑞 ) of the
compensated system is 5𝑠 −1 .

𝐾𝑣 𝑟𝑒𝑞 5
𝛽= =
𝐾𝑣 𝑢𝑛𝑐𝑜𝑚𝑝 0.53 𝛽 = 10

1
𝑠+ 𝑍
𝑇
𝐺𝑐 𝑠 = 1 𝛽=
𝑠+ 𝑃
𝛽𝑇 50
 Example-4 (solution 1)
• Let the zero s=–0.05 so the pole s=–0.005.

• The transfer function of the lag compensator becomes

𝑠+0.05
𝐺𝑐 𝑠 =
𝑠+0.005
• Open loop transfer function is given as

𝑠+0.05 1.06
𝐺𝑐 𝑠 𝐺(𝑠)=
𝑠+0.005 𝑠(𝑠+1)(𝑠+2)

1.06(𝑠+0.05)
𝐺𝑐 𝑠 𝐺(𝑠)=
𝑠(𝑠+0.005)(𝑠+1)(𝑠+2)
51
 Example-4 (solution 1)
• Root locus of uncompensated and compensated systems.

• New Closed Loop poles

are

𝑠 = −0.31 ± 𝑗0.55

52
 Example-4 (Design Check)
• The compensated system has following open loop transfer
function.
1.0235(𝑠+0.05)
𝐺𝑐 𝑠 𝐺(𝑠)=
𝑠(𝑠+0.005)(𝑠+1)(𝑠+2)

• Static velocity error constant is calculated as

෡𝑣 𝑐𝑜𝑚𝑝 = lim 𝑠𝐺𝑐 𝑠 𝐺(𝑠)
𝐾
𝑠→0
1.0235 𝑠 + 0.05
෡𝑣 𝑐𝑜𝑚𝑝 = lim 𝑠[
𝐾 ]
𝑠→0 𝑠 𝑠 + 0.005 𝑠 + 1 𝑠 + 2

1.0235 0.05
෡𝑣 𝑐𝑜𝑚𝑝 =
𝐾 = 5.12𝑠 −1
0.005 1 2
55
 Example-4 (solution 2)
• Place the zero and pole of the lag compensator at s=–0.01
and s=–0.001, respectively.

• The transfer function of the lag compensator becomes

𝑠+0.01
෡𝑐
𝐺𝑐 𝑠 =𝐾
𝑠+0.001
• Open loop transfer function is given as
𝑠+0.01 1.06
෡𝑐
𝐺𝑐 𝑠 𝐺(𝑠)=𝐾
𝑠+0.001 𝑠(𝑠+1)(𝑠+2)
𝐾(𝑠+0.01)
𝐺𝑐 𝑠 𝐺(𝑠)=
𝑠(𝑠+0.001)(𝑠+1)(𝑠+2)

෡𝑐
𝑤ℎ𝑒𝑟𝑒 𝐾 = 1.06𝐾 56
 Example-4 (Step-5) Solution-2

• Root locus of uncompensated and compensated systems.

Root Locus
6
• New Closed Loop poles Actual System
are 4 Compensated System

𝑠 = −0.33 ± 𝑗0.55 2
Imaginary Axis

-2

-4

-6
-8 -6 -4 -2 0 2 4
Real Axis 57
 Example-5
• Design a lag compensator for following unity
feedback system such that the static velocity error
constant is 50 sec-1 without appreciably changing the
closed loop poles, which are at 𝑠 = −2 ± 𝑗 6.

58
End of Lec