Slide 1Slide 2Slide 3Slide 4Slide 5Slide 6Slide 7Slide 8Slide 9Slide 10Slide 11Slide 12Slide 13Chapter 7: The Root Locus Method In the preceding chapters we discussed how the performance of a feedback system can be described in terms of the location of the roots of the characteristic equation in the s-plane. We know that the response of a closed-loop feedback system can be adjusted to achieve the desired performance by judicious selection of one or more system parameters. It is very useful to determine how the roots of the characteristic equation move around the s-plane as we change one parameter. The locus of roots in the s-plane can be determined by a graphical method. A graph of the locus of roots as one system parameter varies is known as a root locus plot. The root locus is a powerful tool for designing and analyzing feedback control systems and is the main topic of this chapter. We will discuss practical techniques for obtaining a sketch of a root locus plot by hand. We also consider computer-generated root locus plots and illustrate their effectiveness in the design process. The popular PID controller is introduced as a practical controller structure. We will show that it is possible to use root locus methods for design when two or three parameters vary. This provides us with the opportunity to design feedback systems with two or three adjustable parameters. For example the PID controller has three adjustable parameters. We will also define a measure of sensitivity of a specified root to a small incremental change in a system parameter.The Root Locus MethodThe root locus is a graphical procedure for determining the poles of a closed-loop system given the poles and zeros of a forward-loop system. Graphically, the locus is the set of paths in the complex plane traced by the closed-loop poles as the root locus gain is varied from zero to infinity. In mathematical terms, given a forward-loop transfer function, KG(s) where K is the root locus gain, and the corresponding closed-loop transfer function the root locus is the set of paths traced by the roots of as K varies from zero to infinity. As K changes, the solution to this equation changes. This equation is called the characteristic equation. This equation defines where the poles will be located for any value of the root locus gain, K. In other words, it defines the characteristics of the system behavior for various values of controller gain. The Root Locus MethodThe Root Locus MethodThe Root Locus MethodThe Root Locus MethodThe Root Locus MethodNo matter what we pick K to be, the closed-loop system must always have n poles, where n is the number of poles of G(s). The root locus must have n branches, each branch starts at a pole of G(s) and goes to a zero of G(s). If G(s) has more poles than zeros (as is often the case), m < n and we say that G(s) has zeros at infinity. In this case, the limit of G(s) as s -> infinity is zero. The number of zeros at infinity is n-m, the number of poles minus the number of zeros, and is the number of branches of the root locus that go to infinity (asymptotes). Since the root locus is actually the locations of all possible closed loop poles, from the root locus we can select a gain such that our closed-loop system will perform the way we want. If any of the selected poles are on the right half plane, the closed-loop system will be unstable. The poles that are closest to the imaginary axis have the greatest influence on the closed-loop response, so even though the system has three or four poles, it may still act like a second or even first order system depending on the location(s) of the dominant pole(s). The Root Locus MethodExampleMATLAB Example - Plotting the root locus of a transfer function Consider an open loop system which has a transfer function of G(s) = (s+7)/s(s+5)(s+15)(s+20) How do we design a feedback controller for the system by using the root locus method? Enter the transfer function, and the command to plot the root locus: num=[1 7]; den=conv(conv([1 0],[1 5]),conv([1 15],[1 20])); rlocus(num,den) axis([-22 3 -15 15]) ExampleGraphicalMethodGraphicalMethodRoot Locus Design GUI (rltool)The Root Locus Design GUI is an interactive graphical tool to design compensators using the root locus method. This GUI plots the locus of the closed-loop poles as a function of the compensator gains. You can use this GUI to add compensator poles and zeros and analyze how their location affects the root locus and various time and frequency domain responses. Click on the various controls on the GUI to see what they
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