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
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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
6
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
7
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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