Cranking up the gain

Type 0 system (no disturbance) Steadystate error due to step input:

2
eR () =
2 + 0.3162K

eR () 0 as K
VVref
ref(s)
(s) 0.3162
0.3162 VV(s)
(s)
K
K s+2
s+2

Type 1 system with disturbance Steadystate error due to step input:

eR () = 0

Steadystate error due to step disturbance:

1
eD () =
VVref (s)
ref(s) 0.3162
0.3162 X(s)
X(s) K
K s(s+2)
s(s+2) eD () 0 as K

2.004 Fall 07 Lecture 17 Monday, Oct. 17

 Cranking up the gain
Type 1 system (no disturbance)

Vref
ref (s)
X(s)
X(s)
K 0.3162
s(s+2)

Closedloop transfer function

X(s) 0.3162K
= 2
Vref (s) s + 2s + 0.3162K

Pole locations

p1 = 1 + 1 0.3162K p2 = 1 1 0.3162K

System becomes underdamped

step response overshoots if

1 0.3162K < 0 K > 3.1626

2.004 Fall 07 Lecture 17 Monday, Oct. 17

Cranking up the gain: poles and step response

K increasing
K > 3.1626

K increasing
K < 3.1626

Root
Locus

2.004 Fall 07 Lecture 17 Monday, Oct. 17

Root locus for nonunity feedback systems
Forward Caveat: K>0
transfer
function
R(s) + Ea(s) C(s)
KG(s) Closed loop TF:
Input - Actuating Output
signal
(error) R(s) KG(s) C(s)
1 + KG(s)H(s)
H(s)
Nise Figure 8.1
Feedback transfer Open loop TF:
function Figures by MIT OpenCourseWare. G(s)H(s)

Closed-loop pole locations

K = 1/ |G(s)H(s)| ;
1 + KG(s)H(s) = 0 6 KG(s)H(s) = (2n + 1)180 .

2.004 Fall 07 Lecture 17 Monday, Oct. 17

 Root locus terminology
j j
Break-in point Breakaway point

j3 s-plane j1
s-plane
Asymptote j2 RL imaginary axis X X
Breakaway point intercept -4 -3 -2 -1

j1 -j1
Asymptote
Real-axis
angle
Asymptote segment
X X X X
-4 -3 -2 -1 0 1 2
Departure/Arrival angles j
Branches j
-j1
Asymptote j5
j6 = 0.45
real-axis intercept j4
2 + j4
-j2 s-plane j4 j3
Asymptote s-plane
X
j2
j2
-j3 j1
X X
-10 -5 -2 0 -4 -3 -2 -1 0 1 2 3 4
-j1
-j2
X -j2
-j4 -j3 2 - j4
-j6 -j4

Figure by MIT OpenCourseWare. -j5

2.004 Fall 07 Lecture 17 Monday, Oct. 17

Root-locus sketching rules

Rule 1: # branches = # poles

Rule 2: symmetrical about the real axis
Rule 3: real-axis segments are to the left of an odd number of real-
axis finite poles/zeros
NG (s) NH (s) Recall angle condition for closedloop pole:
Let G(s) = , H(s) = .
DG (s) DH (s)
6 KG(s)H(s) = (2n + 1)180 .
X X
6 G(s)H(s) = 6 (poles) 6 (zeros).
Complexpole/zero contributions: cancel
because of symmetry
Realpole/zero contributions: each is
0 from the left, 180 from the right;
total contributions from right must be
odd number of 190 s to satisfy angle condition.

Image removed due to copyright restrictions.

Please see: Fig. 8.8 in Nise, Norman S. Control Systems Engineering. 4th ed. Hoboken, NJ: John Wiley, 2004.

2.004 Fall 07 Lecture 17 Monday, Oct. 17

 Root-locus sketching rules

Rule 4: RL begins at poles, ends at zeros

NG (s) NH (s)
Let G(s) = , H(s) = .
DG (s) DH (s)

KNG (s)DH (s)

Closedloop TF(s) = .
DG (s)DH (s) + KNG (s)NH (s)

If K 0+ (small gain limit) If K + (large gain limit)

KNG (s)DH (s) KNG (s)DH (s)

Closedloop TF(s) Closedloop TF(s)
DG (s)DH (s) + + KNG (s)NH (s)

closedloop denominator is denominator of G(s)H(s) closedloop denominator is numerator of G(s)H(s)

closedloop poles are the poles of G(s)H(s). closedloop poles are the zeros of G(s)H(s).
j
Example
s-plane j1

X X
-4 -3 -2 -1

-j1
Nise Figure 8.10
Figure by MIT OpenCourseWare.

2.004 Fall 07 Lecture 17 Monday, Oct. 17

 Please see the following selections from

Mathworks, Inc. "Control System Toolbox Getting Started Guide."

http://www.mathworks.com/access/helpdesk/help/ pdf_doc/control/get_start.pdf

Ch. 4, pp. 3-18