Center for Advanced Studies in Engineering, Islamabad
Control Systems Lab
Experiment # 11: Control System Design by Root-Locus Method
Using MATLAB
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Fall 2018-Semester V
CASE
Experiment # 11
Control System Design by Root-Locus Method
Using MATLAB
Objectives
1. Study the design techniques by root locus method
2. Study the effect of additional poles and zeros on root locus plot
3. Design of Lag and Lead Compensator by root locus method
Design by Root Locus Method
The root-locus plot of a system may indicate that the desired performance cannot be achieved
just by the adjustment of gain (or some other adjustable parameter). Then it is necessary to
reshape the root loci to meet the performance specifications. The design problems, therefore,
become those of improving system performance by insertion of a compensator.
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. In designing a control system, if other than a
gain adjustment is required, we must modify the original root loci by inserting a suitable
compensator. So, in the design by the root locus method, the root loci of the system are reshaped
through the use of a compensator.
Improving Transient and Steady State Response
Sometimes, we cannot achieve the desired transient and steady state response by simple gain
adjustment. This is because the closed loop pole for desired transient and steady state response
is not on the root locus. Now we have to include such points on the root locus such that your
locus will goes through the desired pole location for some value of gain. So, we have to design a
compensator, which will add additional pole and zero into the system to allow the root locus to
go through desired pole location.
Effects of the Addition of Poles on Root Locus
The addition of a pole to the open-loop transfer function has the effect of pulling the root locus
to the right, tending to lower the system’s relative stability and to slow down the settling of the
response. (Remember that the addition of integral control adds a pole at the origin, thus making
the system less stable.). Figure-1 shows the root loci for a system.
Figure-1: Effects of the Addition of Poles
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Exercise-1
Verify the effect of additional poles by using MATLAB.
Effects of the Addition of Zeros on Root Locus
The addition of a zero to the open-loop transfer function has the effect of pulling the root locus
to the left, tending to make the system more stable and to speed up the settling of the response.
(Physically, the addition of a zero in the feedforward transfer function means the addition of
derivative control to the system. Figure-2 shows the root loci for a system.
Figure-2: Effects of the Addition of Zeros
Exercise-2
Verify the effect of additional zeros by using MATLAB.
Compensator
In order to obtain the desired performance of the system, we use compensating networks.
Compensating networks introduces poles and zeros in the system thereby causes changes in the
transfer function of the system. Due to this, performance specifications of the system change.
There are three types of compensator.
1. Lag Compensator
2. Lead Compensator
3. Lag-Lead Compensator
1. Lead Compensation
Consider a design problem in which the original system either is unstable for all values of gain or
is stable but has undesirable transient-response characteristics. In such a case, the reshaping of
the root locus is necessary in the broad neighborhood of the jw axis and the origin in order that
the dominant closed-loop poles be at desired locations in the complex plane. This problem may
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be solved by inserting an appropriate lead compensator in cascade with the feedforward transfer
function. Lead compensation is basically used for improving the transient response in our system.
A system which add one pole and one dominating zero is known as lead network. In lead network,
the zero can be placed closer to origin than pole. Thus we can say in the lead compensator zero
is more dominating than the pole. Due to the presence of phase lead network the speed of the
system increases because of dominating zero. So it basically effects the transient response of the
system.
Figure-3: Pole Zero Configuration of Lead Network
Example
Consider the transfer function.
G(s) = __10 .
s (s + 1)
Compensate the following system to improve its transient response by using lead compensator.
Solution
The closed-loop transfer function for the system is,
The closed-loop poles are located at
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.
Steps for Solution
1. Sketch the root locus plot of original system and find the overshoot against the damping ratio
of 0.158.
2. From the performance specifications, determine the desired location for the dominant closed-
loop poles.
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3. By drawing the root-locus plot of the uncompensated system (original system), ascertain
whether or not the gain adjustment alone can yield the desired closed loop poles. If not, calculate
the angle deficiency θ. This angle must be contributed by the lead compensator if the new root
locus is to pass through the desired locations for the dominant closed-loop poles.
4. Determine the location of pole and zero of the lead compensator that produces the desired
response.
5. Draw a new root-locus plot for the compensated system and check to see whether all
performance specification have been met.
Step 1
The root locus plot and closed loop pole of original system is shown in fig-4 and fig-5.
MATLAB Implementation
Figure-4: Root locus plot of Figure-5: Step response of
uncompensated system uncompensated system
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Step 2
It is desired to design a lead compensator so that the dominant closed-loop poles have the
damping ratio 0.5 and the undamped natural frequency is 3 rad/sec. The desired location of the
dominant closed-loop poles can be determined from
In some cases, after the root loci of the original system have been obtained, the dominant closed-
loop poles may be moved to the desired location by simple gain adjustment. This is, however,
not the case for the present system. Therefore, we shall insert a lead compensator in the
feedforward path.
Step 3
The angle from the pole at the origin to the desired dominant closed-loop pole at s = –1.5+
j2.5981 is 120°. The angle from the pole at s=–1 to the desired closed-loop pole is 100.894°.
Hence, the angle deficiency is
Angle deficiency=180° – 120° – 100.894° =-40.89°
This angle can be contributed by the pole of lead compensator.
A general procedure for determining the lead compensator is as follows: First, Assume a lead
compensator zero at −5 and summing the angles of the uncompensated system’s poles as well
as the compensator zero at −5, and the difference of this angle with 180 is the required angle
contribute by lead compensator pole.
Angle deficiency=180° – 120° – 100.894° + 36.58° = -4.314°
Step 4
Now we have to find the location of pole, which will contribute for the required pole angle. Using
the geometry, we get
Figure-6: Geometry
Tan(4.314) =2.5981
pc - 1.5
pc = 36
The transfer function for lead compensator is given below,
G(s) =Kc (s + 5).
(s + 36)
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The value of Kc can be determined by use of the magnitude condition.
Kc = 6.30
The open-loop transfer function of the designed system then becomes
Step 5
Write MATLAB code to find the step response and root locus plot of lead compensated system
as shown below.
Figure-7: Step Response for lead Figure-8: Root locus for lead
compensated system compensated system
Observation
So we can see that overshoot for compensated system is less than the uncompensated system.
In fig-15, we can see that the root locus plot have been reshaped for our desired response. So we
can see that our response is very much satisfactory. You can change the values of pole and zero
for the compensator because there are infinitely many solution, which depends upon your
performance criteria.
2. Lag Compensator
A system which has one zero and one dominating pole (the pole which is closer to origin that all
other poles is known as dominating pole) is known as lag network. If we want to add a dominating
pole for compensation in control system then, we have to select a lag compensation network.
The basic requirement of the phase lag network is that all poles and zeros of the transfer function
of the network must lie in negative real axis with a pole located nearest to the origin. Lag
compensation is basically used for removing the steady state error in our system.
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Figure-3: Uncompensated System
Figure-4: System with Lag Compensation
Figure-5: Compensator pole zero plot
In order to keep the transient response of the system unchanged, we know that the compensator
pole and zero are very close to each other. The improvement in steady state can be achieved by
an amount equal to the ratio of compensator zero to compensator pole. The ratio of zc and pc is
can be large in order to yield an appreciable improvement in steady state error and
simultaneously have the compensator pole and zero are very close to each other to minimize the
angular contribution and compensator pole zero pair must be close to origin.
Example
Consider the transfer function.
G(s)= _______1_ ___ .
(s + 1)(s + 2)(s + 10)
Compensate the following system to improve its steady state error by using lag compensator.
Steps for Solution
1. Draw the root locus plot for uncompensated system.
2. Evaluate the steady state error.
3. Determine the amount of increase in the static error constant necessary to satisfy the
specifications.
4. Determine the location of pole and zero of the lag compensator that produce the necessary
increase in the particular static error constant without appreciably altering the original root loci.
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5. Draw a new root-locus plot for the compensated system.
MATLAB Implementation
Step 1
Below figure shows the root locus for uncompensated system.
Figure-6: Root locus for uncompensated system
Step 2
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Figure-7: Step Response
The steady state error for this system is 0.95.
Step 3
Now you have to determine the location of pole and zero of lag compensator in such a way that
your steady state error is less than 0.1 to satisfy our design specification.
Step 4
The improvement in steady state error from uncompensated system to compensated system is
achieve by setting the required ratio of compensator zero to compensator pole. e.g. set the ratio
of zc to pc equal to 10 if the pole is at -0.01 and zero is at -0.1. Thus the ratio is 10 and this will
reduce the steady state error by an amount of 10. Since pole and zero are very close and angular
contribution of compensator is small.
MATLAB Implementation with Lag Compensation
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Figure-8: Step Response with Lag Compensated System
Observation
As you can see that the steady state error of lag compensated system is less than that of
uncompensated system. So lag compensated system decreases the steady error by an amount of
10. You can further increases the gain and improve the steady state error in the above system by
changing the compensator pole and zero.
Step 5
Figure-9 shows the root locus for uncompensated and lag compensated system.
Figure-9: Root locus for uncompensated and lag compensated system
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Observation
Note that, since the pole and zero of the lag compensator are placed close together and are
located very near the origin, their effect on the shape of the original root loci has been small. So
the root loci of the compensated and the uncompensated systems are very similar to each other.
So the lag compensator with a pole that is closer to origin will improve the steady state error by
a factor of zero to pole ratio of compensator. There will be a minimal effect upon the transient
response if the pole and zero are placed close to origin.
Exercise
Q.1 Consider the system shown below.
Design a lag compensator to improve the steady state error of this system by a factor of 30.
Q2. Design a lead compensator for a system given below.
G(s) = ____218.6 __.
s (s + 4)(s + 6)
Design a lead compensator that will reduce the percent overshoot by 5% for this system. Choose
damping ratio and undamped natural frequency for this problem.
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Labs Rubrics
Control System
Lab # 11
Control System Design by Root-Locus Method Using MATLAB
Lab #11: Marks distribution
Criteria ER1 ER4 ER7 ER9 RR2
Marks
Lab #11: Marks obtained
Criteria ER1 ER4 ER7 ER9 RR2 Total
Marks
Lab Evaluation Rubrics
# Qualities & Criteria 0 < Poor <=40 40< Satisfactory <= 70 70 < Good <= 90 90< Excellent <=100
No Tasks were Some tasks were Few tasks were left All tasks completed in
completed/ completed. Could not to be completed. due time. All goals
ER1 Task Completion minimal effort justify the reasons for Provided acceptable achieved.
shown uncompleted tasks and justification for the
goals. uncompleted tasks
and goals.
ER4 System model/ None of the Incomplete diagrams Diagrams without Correct Diagrams,
Mathematical model/ requirements are and partially correct labels and few properly labeled
Network model/ Block fulfilled/ labels/Circuit doesn’t details. showing all the
diagram/ Circuit Demonstrates incorporate required Construction is necessary details and
Diagram/ Simulation minimal or no components/ Blocks not fairly good / Input/Outputs/
Diagram understanding of connected correctly/ Chooses a Chooses an optimal
the connection Chooses a mathematical mathematical mathematical model
between model that applies to an model that applies that applies to an
mathematical engineering problem, to an engineering engineering problem,
models and but requires assistance problem, and has and develops new
engineering in model development. some success in models.
problems/ minimal model
effort shown development.
ER7 Code indentation, No indentation of Computationally Working code and Good structure,
optimization and code, no complex routine with good indentation or optimized code and
descriptive variable optimization and improper indentation structure, but not good variable names
name no descriptive and variable names optimized resulting and comments
variable names/ in unnecessary
minimal effort computations
shown
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ER9 Results and Plots Unable to produce Inaccurate plots and Correct plots Good presentation of
any plots or results results without any the correct plots with
/minimal efforts necessary proper labels,
shown identifying features captions & visibility
such as labels,
captions & visibility
RR2 Content/Information The report is not The report is objective The report is The report is
objective based based and for some part objective based and objective based and
and addresses the addresses the issues for most part addresses the issues
issues referred in referred in the addresses the referred in the
the proposed topic proposed topic with an issues referred in proposed topic with
poorly. The acceptable the proposed topic in depth analysis and
provided engineering/theoretical with an acceptable reasoning. The
information & analysis. The provided engineering/theore provided information
results is not information & results tical analysis and & results is necessary,
coherent rather for some parts is reasoning. The relevant and
irrelevant. Little necessary and sufficient provided sufficient to discuss
engineering/theore to discuss these issues information & these issues. The
tical analysis is results for most details are easily
presented part is necessary understood at peer
and sufficient to level.
discuss these issues
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