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ME451: Control Systems Course Roadmap

1. The document outlines the steps to sketch a root locus plot, which graphically shows how the poles of a closed-loop system vary with changing gain. 2. It begins with reviewing the concept of root locus and introduces the characteristic equation. The root locus is obtained by finding the roots of the characteristic equation and sweeping the gain parameter. 3. The steps include determining where the root locus originates and terminates, finding the asymptotes and their angles, locating intersections and breakaway points, and calculating the angles of departure and arrival from poles and zeros. 4. Examples and sketches of proofs for the root locus algorithm are provided before moving on to applying root locus to control system examples.

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Vu Nghia
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61 views

ME451: Control Systems Course Roadmap

1. The document outlines the steps to sketch a root locus plot, which graphically shows how the poles of a closed-loop system vary with changing gain. 2. It begins with reviewing the concept of root locus and introduces the characteristic equation. The root locus is obtained by finding the roots of the characteristic equation and sweeping the gain parameter. 3. The steps include determining where the root locus originates and terminates, finding the asymptotes and their angles, locating intersections and breakaway points, and calculating the angles of departure and arrival from poles and zeros. 4. Examples and sketches of proofs for the root locus algorithm are provided before moving on to applying root locus to control system examples.

Uploaded by

Vu Nghia
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Course roadmap

ME451: Control Systems Modeling Analysis Design

Laplace transform Time response


Design specs
• Transient
Lecture 18 Transfer function • Steady state
Root locus
Root locus: Sketch of proofs
Models for systems Frequency response
Frequency domain
• electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Dr. Jongeun Choi Block diagrams • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist

Michigan State University

(Matlab simulations &) laboratories


1 2

What is Root Locus? (Review) Characteristic equation & root locus


ƒ Consider a feedback system that has one ƒ Characteristic equation
parameter (gain) K>0 to be designed.

K L(s)
L(s):
L(s): open-
open-loop TF
ƒ Root locus is obtained by
ƒ for a fixed K>0, finding roots of the characteristic
ƒ Root locus graphically shows how poles of the equation, and
closed-loop system varies as K varies from 0 to ƒ sweeping K over real positive numbers.
infinity. ƒ A point s is on the root locus, if and only if L(s)
evaluated for that s is a negative real number.
3 4
Angle and magnitude conditions A simple example
ƒ Characteristic eq. can be split into two conditions. Im

ƒ Angle condition Re

Odd number
ƒ Select a point s=-1+j ƒ Select a point s=-2+j

ƒ Magnitude condition

For any point s,


this condition holds
for some positive K. s is on root locus. s is NOT on root locus.

5 6

Root locus: Step 0 Root locus: Step 1-1


ƒ Root locus is symmetric w.r.t. the real axis. ƒ RL includes all points on real axis to the left of an
ƒ Characteristic equation is an equation with real odd number of real poles/zeros.
coefficients. Hence, if a complex number is a root, its Im
complex conjugate is also a root. Test point

ƒ The number of branches = order of L(s)


Re
ƒ If L(s)=
L(s)=n(s)/d(s
n(s)/d(s),
), then Ch. eq. is d(s)+Kn(s)=0,
d(s)+Kn(s)=0, which 0 0 0
has roots as many as the order of d(s).
d(s). Not satisfy angle condition!
Im
ƒ Mark poles of L with “x” and zeros of L with “o”.
Im
Re Re
180 0 0
Satisfy angle condition!
7 8
Root locus: Step 1-1 (cont’d) Root locus: Step 1-2
ƒ RL includes all points on real axis to the left of an ƒ RL originates from the poles of L, and terminates
odd number of real poles/zeros. at the zeros of L, including infinity zeros.
Im

Re
180 180 0
Not satisfy angle condition!
Im

Re
180 180 180
Satisfy angle condition! s: Poles of L(s)
L(s) s: Zeros of L(s)
L(s)
9 10

Root locus: Step 2-1 Root locus: Step 2-1 (cont’d)


ƒ Number of asymptotes = relative degree (r) of L: ƒ For a very large s,

ƒ Angles of asymptotes are ƒ Ch. eq is approximately

11 12
Root locus: Step 2-2 Root locus: Step 3
ƒ Intersections of asymptotes ƒ Breakaway points are among roots of

Suppose that s=b is a breakaway point.

ƒ Proof for this is omitted and not required in this


course.
ƒ Interested students should read page 363 in the
book by Dorf & Bishop.

13 14

Root locus: Step 4 Root locus: Step 4 (cont’d)


ƒ RL departs from a pole pj with angle of departure ƒ Sketch of proof for angle of departure
Im
For s to be on root locus,
due to angle condition

ƒ RL arrives at a zero zj with angle of arrival


Re

(No need to memorize these formula.)

15 16
Root locus: Step 4 (cont’d) Summary and exercises
ƒ Sketch of proof for angle of arrival ƒ Sketch of proofs for root locus algorithm
Im
ƒ Next, we will move on to root locus applications
For s to be on root locus, to control examples.
due to angle condition

Re

17 18

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