Module 3F2: Systems and Control EXAMPLES PAPER 2 ROOTLOCUS. Solutions


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1 Cambridge University Engineering Dept. Third Year Module 3F: Systems and Control EXAMPLES PAPER ROOTLOCUS Solutions. (a) For the system L(s) = (s + a)(s + b) (a, b both real) show that the rootlocus diagram (for positive gains k) consists of the segment of the real axis between a and b, and the perpendicular bisector of that segment. Using Rule 3 (see Lecture Notes ) every point on the real axis between the two poles, namely every point on the segment between a and b, is on the rootlocus, since every such point is to the left of one pole. Using Rule 5 there are asymptotes, perpendicular to the real axis (angles (l + )π/, l =, ). These asymptotes emanate from the point ( a b)/, namely the midpoint of the segment between a and b. We are asked to show that every point on these asymptotes is actually on the rootlocus itself. Consider a point s on one of these asymptotes. From Figure it is clear that (s + a) + (s + b) = π (geometry of isosceles triangles). Hence every such point satsifies the Angle Condition and so is on the rootlocus. Imag s b a Real Figure : Note that this question can also be answered by considering the roots of the quadratic equation + kl(s) =, or s + (a + b)s + (ab + k) = and noting that the sum of the two roots is always (a + b). (b) Sketch the rootlocus diagram for positive gains k for the system L(s) = s(s + ) From Rule 3 every point on the negative real axis is on the rootlocus because for < s <, s is to the left of one pole, and for s < it is to the left of 3 poles.
2 Engineering Tripos Part IIA, Module 3F: Examples Paper Solutions There are 3 poles and no zeros (n = 3, m = ), so by Rule 5 there are 3 asymptotes, making angles (l + )π/3, l =,, with the positive real axis, and the asymptotes emanate from ( + )/3 = /3. Look for breakaway points, using Rule 4: d ds L(s) = d ds {s (s + ) } = s (s + ) s (s + ) 3 = (s + ) s s (s + ) = 3s s (s + ) = if s = 3 This leads to the sketch shown in Figure. Note: The breakaway point need not be located accurately, since the question says sketch, so the use of Rule 4 is optional here. Figure : Find the (positive) value of k at which closedloop stability is lost (i) from your diagram, and (ii) using the RouthHurwitz criterion. (i) From the diagram: At any point s on the rootlocus, the Angle Condition is satisfied: (s ) + (s + ) = π (since one pole is at, and two are at ). Let s find exactly where the rootlocus crosses the imaginary axis that s the point at which closedloop stability is lost. If s is on the imaginary axis then s = π/. Hence the angle condition reduces to (s + ) = π/, or (s + ) = π/4. Hence we must have s = j see Figure 3. Now find the corresponding gain from (see section.3 of Lecture Notes ): k = L(s ) = s s + s + = =. (ii) From RouthHurwitz criterion: The closedloop poles are the solutions of + kl(s) =, namely: + k s(s + ) = s(s + ) + k = s 3 + s + s + k =
3 Engineering Tripos Part IIA, Module 3F: Examples Paper Solutions 3 Figure 3: Now the RouthHurwitz criterion for this to have all solutions with negative real parts is (see section 3 of Lecture Notes, with n = 3): > k which is just violated when k =. (c) Draw the rootlocus diagram for positive gains k for the system L(s) = s (s +.5)(s + ) and hence show that the closedloop system is stable for all k >. Also sketch the rootlocus diagram for negative gains, and find the value of k at which closedloop stability is lost. k > : Using Rule 3, one branch of the rootlocus is the real axis between.5 and, and the other branch is the real axis to the left of. And that is the whole of the rootlocus. So both roots are real and negative for all k >, and hence the closedloop is (asymptotically) stable. k < : Using Rule 3 modified for k < every point on the real axis to the right of is on the rootlocus, as is every point on the real axis between and.5. There is a breakaway point somewhere between and.5 (could be calculated using Rule 4 but not important for rough sketch) and another one somewhere to the right of see Figure 4. The negative gain at which stability is just lost can be calculated in (at least) two ways:. Analytically, since only secondorder in this case: s + k (s+)(s+.5) = (s + )(s +.5) + ks = s + (.5 + k)s +.5 = stability just lost when.5 + k = or k =.5.. Using rootlocus methods: First find the value of ω, where s = jω is the point at which the rootlocus crosses the imaginary axis. The angle condition for k < is: (jω + ) + (jω +.5) (jω ) = α + β π =, so α + β = π, where α = (jω + ) and β = (jω +.5). Now tanα = ω, tanβ = ω, and tan(α + β) =. But tan(α + β) =, so tanα tanβ =, tan α+tan β tan αtan β
4 Engineering Tripos Part IIA, Module 3F: Examples Paper Solutions 4.5 Figure 4: hence ω = or ω = /. (This could also be estimated graphically by trial and error in more complicated cases an analytical solution would not be possible.) Now the corresponding gain must be found, using the method shown in section.3 of Lecture Notes : k = j/ + j/ +.5 3/ 3/4 / = / = 3. Hence k = 3/.. (a) Sketch the variation of the closedloop poles as the tacho feedback gain k d varies (i) using rootlocus construction rules The closedloop poles are the solutions of s + k d s + 5 = (s + 5) + k d s = s + k d s +5 = which is in the rootlocus form. So the rootlocus diagram has one zero at and two poles at ±5j. By Rule 3 every point on the negative real axis is on the rootlocus. By Rule 5 there is one asymptote, along the negative real axis, and by Rule the zero attracts one branch of the rootlocus. So there must be one breakaway point where the two complex roots become real, and this can (optionally) be calculated using Rule 4: ( d s ) ds s + 5 = (s + 5) s(s) (s + 5) = s + 5 = s = ±5 so the breakaway point is at 5. (+5 is not on the locus.) The locus traced by the two complex branches is in fact a semicircle, but this is not easy to show by this method. See Figure 5. Sketch the variation of the closedloop poles as the tacho feedback gain k d varies (ii) by finding an explicit expression for the closedloop poles. The closedloop poles are the solutions of s + k d s + 5 =, namely: s = k d ± (k d ) 4 5 = 5 ( ) k d ± k d ( When k d < these are complex conjugates, 5 k d ± j ) kd, with modulus 5 kd + ( k d ) = 5, so the locus for k d < lies on a circle of radius 5. (This can also be seen by noting that ω n = 5 independently of k d.)
5 Engineering Tripos Part IIA, Module 3F: Examples Paper Solutions 5 Figure 5: When k d > these are two real roots, s < 5, 5 < s < (since k d < k d). (b) What is the damping factor of the closed loop as a function of k d? The closedloop characteristic polynomial is s + k d s + 5. Comparing this to the standard secondorder form s + ζω n s + ωn (or s ω + ζ n ω n + ) gives ω n = 5 and hence ζ = k d, hence ζ = k d. Sketch the time response of the load angular position to a step change of radian in desired angular position for values of k d =.6 and k d =.. This is a secondorder system with ζ = k d, and ω n = 5. From Examples Paper, Q.(b) we know that the closedloop transfer function from θ d to θ is G(s) = 5/(s + k d s + 5), so the steadystate gain is G() =, hence the final value of θ will be rad. Now get the step response sketches from the Mechanics Data Book, paying attention to the correct calibration of the time axis (the Data Book shows ω n t), and showing the final value correctly. See Figure 6..4 Step responses with damping factor.6 and. From: U(). Position (rad) To: Y() Time (sec.) Figure 6:
6 Engineering Tripos Part IIA, Module 3F: Examples Paper Solutions 6 3. A negative feedback system consists of a plant whose transfer function is that given in Question (b), and a controller which is just a positive gain k. The reference signal is a ramp r(t) = t. Suppose that k is set to that value which gives two coincident real closedloop poles at /3. What is this value of k, and what is the steadystate error e = r y (where y is the output of the plant) obtained with this value? Use the rootlocus diagram obtained for Question (b). The question tells you that the breakaway point on the rootlocus diagram is at /3 (in case it has not been worked out in Question (b)). Working out the corresponding gain, using the method described in section.3 of Lecture Notes gives: k = = 4 7 The transfer function from the reference input to the error is (from notes or work out from firstprinciples): ē(s) r(s) = + kl(s) and recall that r(s) = s. Apply the FinalValue Theorem to get the steadystate value: lim e(t) = lim sē(s) = lim s t s s + kl(s) s = lim s ( ) = s + 4/7 s(s+) 54 4 = 7 How should the gain be adjusted to reduce this error? What can be said about the locations of the closedloop poles if this is done? From the working above it can be seen that the steadystate error is, in general, /k. So the gain should be increased to reduce the steadystate error. From the rootlocus diagram the effect of this will be to make two of the closedloop poles complex. If the gain is increased too far, these will become very underdamped or even unstable. [From the answer to Question (b) it is seen that stability is lost for k >. So the smallest steadystate error achievable is, but in practice rather greater than that in order to have reasonable closedloop damping (stability margins).] J.M. Maciejowski February 4 Revised February 8
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