Control Systems
ANGELES UNIVERSITY FOUNDATION
College of Engineering and Architecture
Computer Engineering Department
NAME OF STUDENT: Cartijano, Carl Kevin
Castillo, Lemuel Zayin
Mercado, Lance Jabie
GROUP NUMBER: Group 4 DATE PERFORMED: 12/12/2022
COURSE CODE: DATE SUBMITTED: 01/06/2023
COURSE TITLE: Fecosy Lab YEAR AND SECTION: ECE-3
LAB. INSTRUCTOR: ENGR. Herbert Tulan GRADE:
SIMULAB NO. 9
Effects of the Adding Poles and Zeros on the Root Locus Plot
Objectives: To study the effects of adding the poles and zeros on the resultant output Root-
Locus shaping and to study their effects on the time response.
List of Equipment/Software
Following equipment/software is required:
MATLAB
Deliverables
A complete lab report including the following:
Summarized learning outcomes.
MATLAB scripts and their results should be reported properly.
Theory
The Root-Locus method is a graphical method for determining the locations of all closed-loop
poles from knowledge of the locations of the open loop poles and zeros as some parameters
(usually gain) is varied from zero to infinity. The method yields a clear indication of the effects
of parameter adjustment.
In practice, the Root-Locus plot of a system may indicate that the desired performance cannot be
achieved just by the adjustment of gain. In fact, in some cases, the system may not be stable for
all values of gain. Then it is necessary to reshape the root loci to meet the performance
specifications.
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Control Systems
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. Once the effects on the root locus of the
addition of poles and/or zeros are fully understood, we can readily determine the locations of the
pole(s) and zero(s) of the compensator that will reshape the root locus as desired. In essence, in
the design by the root-locus method, the root loci of the system are reshaped through the use of a
compensator so that a pair of dominant closed-loop poles can be placed at the desired location.
(Often, the damping ratio and undamped natural frequency of a pair of dominant closed-loop
poles are specified).
Effects of the Addition of Poles:
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. Figure 9-1 shows examples of root loci illustrating the effects of the addition of a pole
to a single-pole system and the addition of two poles to a single-pole system.
Figure 9-1
Procedure:
1. For the pen loop transfer function G(s) = 4/s(s+2), plot the root locus by the using
the following program:
clear
num=[4];
den=[1 2 0];
rlocus(num,den);
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Control Systems
2. And then, we have to see output response (closed loop system with unity feedback)
for the unit step using the following program:
clear
num=[4];
den=[1 2 4];
t=0:0.05:20;
c=step(num,den,t);
plot(t,c);
grid on;
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Control Systems
3. Repeat steps 1 and 2 with adding a single real pole s = -10.
4. Repeat steps 1 and 2 with adding a single real pole s = -6.
5. Repeat steps 1 and 2 with adding a single real pole s = -1.
Step 1
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Control Systems
Step 2
Step3
Adding a single real pole s = -10 in Step 1:
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Control Systems
Adding a single real pole s = -10 in Step 2:
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Control Systems
Step 4
Adding a single real pole s = -6 in Step 1:
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Control Systems
Adding a single real pole s = -6 in Step 2:
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Control Systems
Step 5
Adding a single real pole s = -1 in Step 1:
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Control Systems
Adding a single real pole s = -1 in Step 2:
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Control Systems
6. Compare the resultant shapes of the root locus with the actual system on the
same graphing paper.
- Our instructor instructs us not to execute this part of the procedure.
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Control Systems
Discussion:
1. Discuss the effect of adding a pole on the root locus shape, through the relative stability.
- The addition of poles to the open loop transfer function shifts the root locus to the right side of the S-
plane, diminishing relative stability and slowing response settling (an increase in settling time).
Initially, it is clear from Figure 9-1 in the laboratory handbook that there is an increased pole. We
can see a single pole added to a single-pole system and two poles added to a single-pole system. The
relative stability of the system decreases as the number of poles added increases.
2. Discuss the effect of adding a pole on time response, through the speed of the
response, overshoot, etc.
- The addition of a pole generally slows down the settling time of the response, resulting in an
increase in settling time. The addition of a single real pole of s = -10 and -6 increased the respective
Rise Time, Settling Time, and Peak Time. Their Settling Min, Settling Max, Overshoot, and Peak,
on the other hand, decreased. Furthermore, adding the single real pole of s = -1 enhanced the Rise
Time, Settling Time, Settling Max, Overshoot, Peak, and Peak Time. On the contrary, the only field
that has decreased is the Settling Min. It can also be observed that the undershoot has a value of zero
in all cases.
Effects of the Addition of Zeros:
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 feed-forward transfer function means the addition of
derivative control to the system. The effect of such control is to introduce a degree of
anticipation into the system and speed up the transient response.)
Figure 9-2 shows the root loci for a system that is stable for small gain but unstable for large
gain.
Figure 9-2(b) and (c), and (d) show the root locus plot for the system when a zero is added to
the open-loop transfer function. Notice that when a zero is added to the system of Figure 9-2(a),
it becomes stable for all values of gain.
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Control Systems
Figure 9-2
(a) Root-locus plot of a three-pole system; (b), (c) and (d) root-locus
plots showing effects of addition of a zero to the three-pole system.
Procedure:
1. For the open loop transfer function G(s) = 4/s(s^2 + 5s + 6), plot the root locus by using
the following program:
clear
num=[4];
den=[1 5 6 0];
rlocus(num, den);
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Control Systems
2. And then, we have to see output response (closed loop system with unity feedback)
for the unit step using the following program
clear
num=[4];
den=[1 5 6 4];
t=0;0.05:20;
c=step(num,den,t);
plot(t,c);
grid on;
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Control Systems
Step 1:
Step 2:
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Control Systems
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Control Systems
3. Repeat steps 1 and 2 with adding a single real zero s = -4.
*Repeating Step 1 adding a single real zero s=-4
*Repeating Step 2 adding a single real zero s=-4
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Control Systems
4. Repeat steps 1 and 2 with adding a single real zero s = -2.5.
5. Repeat steps 1 and 2 with adding a single real zero s = -1.
6. Compare the resultant shapes of the root locus with the actual system on the
same graphing paper.
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Control Systems
Step 4:
*Repeating Step 1 adding a single real zero s=-2.5
*Repeating Step
2 adding a single real zero s=-2.5
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Control Systems
Step 5
*Repeating Step 1 adding a single real zero s=-1
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*Repeating Step 1 adding a single real zero s=-1
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Step 6:
Our professor instructed us to not include the execution of step 6.
Discussion 3
- Overall, adding zeros causes the root locus to move to the left of the s-plane. It subsequently improves
the relative stability. In the beginning, Figure 9-2 shows the root locus for a
system that is unreliable for large gains but reliable for small gains.
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Discussion 4
- The time response is altered by the addition of a zero to the open-loop transfer function in such a
way that the response settles more quickly, resulting in a shorter settling time. The system gains
derivative control when a zero is physically added to the feed-forward transfer function. Such control
has the effect of accelerating the transient response and adding a certain amount of anticipation to the
system.
Discussion:
3. Discuss the effect of adding a zero on the root locus shape, through the relative stability.
- Overall, adding zeros causes the root locus to move to the left of the s-plane. It subsequently
improves the relative stability. In the beginning, Figure 9-2 shows the root locus for a
system that is unreliable for large gains but reliable for small gains.
4. Discuss the effect of adding a zero on time response, through the speed of the
response, overshoot, etc.
- The time response is altered by the addition of a zero to the open-loop transfer function in such
a way that the response settles more quickly, resulting in a shorter settling time. The system
gains derivative control when a zero is physically added to the feed-forward transfer function.
Such control has the effect of accelerating the transient response and adding a certain amount
of anticipation to the system.
Observation:
- We investigated the Effects of Adding Poles and Zeros on the Root Locus Plot in this
experiment. This was done in the virtual environment of the software MATLAB. The
laboratory manual provides a theoretical overview of the Root-Locus Method prior to
the actual experiment.
- In the following section, we were instructed to plot the root locus of the open loop
transfer function G(s) = 4/s(s+2) for Step 1. Because the commands were already
given, we were able to generate the plot with relative ease. By entering the
corresponding coefficients, we defined the numerator and denominator. The root locus
was then calculated and plotted using the function rlocus. We now have the desired
plot, with the two poles located at 0 and -2 on the real axis. We plotted the output
response of the closed loop system with unity feedback for the unit step in the
following step. There was some confusion at first as to why the coefficients changed in
this section. It was then pointed out that the feedback loop's transfer function should be
computed first. We also defined the numerator and denominator. We also established
the time. The step response was then obtained by using the function step and plot. We
also added the stepinfo command, which computes the step-response characteristics for
a dynamic system model or an array of step-response data. The semicolon (;) was
removed from this command so that the values of the Rise Time, Settling Time,
Settling Min, Settling Max, Overshoot, Undershoot, Peak, and Peak Time could be
displayed in the command window. This makes it easier to analyze each output
response.
- Following that, another procedure was provided that took into account a new transfer
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function. Steps 1 and 2 are exactly the same as the first set of steps. We simply entered
different values. Instead of adding real poles, we added real zeros in the following
steps with s=-4, s=-2.5, and s=-1. We used poly to generate the root locus as well, but
only for the numerator because the numerator's roots or values of s are zeros. In
contrast, when plotting the step response, we first computed the feedback loop and then
considered the zero that should be added. The coefficients were then enclosed in
brackets when defining the numerator and denominator. The stepinfo was included in
every step response.
- Finally, we discussed the effects of adding poles and adding zeros on the root locus
shape via relative stability, and on time response via response speed, overshoot, and so
on. For example, adding a pole to the open-loop transfer function causes the root locus
to move to the right, decreasing the system's relative stability. Adding a zero, on the
other hand, pulls the root locus to the left, making the system more stable. Our
instructor also told us to skip the final step (step 6) because it had not yet been
discussed with us.
Conclusion:
- The root locus plot is a graphical representation of a system's roots as a function of a
design parameter like gain. The root locus method is a graphical technique used in
control systems engineering to determine the stability of a linear time-invariant system.
When poles and zeros are added to a root locus plot, the shape and location of the root
locus can change significantly. Poles represent the positions of the transfer function's
poles in the complex plane. When a pole is added to the root locus, the root locus
bends towards that pole. Depending on where the pole is, this can cause the root locus
to become more or less stable. Zeros, on the other hand, represent the positions of the
transfer function's zeros in the complex plane. When zero is added to the root locus,
the root locus bends away from the zero. Depending on where the zero is, this can
cause the root locus to become more or less stable.
- In conclusion, adding poles and zeros to a root locus plot can significantly affect
system stability and can be used to design a control system with the desired stability
properties. We also conclude that adding poles and zeros to the root-locus had a
significant effect on the resultant output shaping. The time response was also affected
by the addition of poles and zeros. These results were obtained using Matlab software.
It is important to note that the specific details of the effects on the root-locus and time
response, as well as any additional insights or conclusions, will depend on the specific
parameters and conditions of the experiment.
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