VAISHNAVI ACADEMY (THANE/NERUL/DADAR)
Type equation here.
Design of Controller using Root Locus Technique
Steps for Root Locus
Step 1 : calculation of poles and zeros
• Poles are lies in denominator and zeros are lies in numerator.
• Poles are denoted by ‘×’ and zeros are denoted by ‘o’
• Number of poles and zeros should be equal.
( If P ≠ Z, then assume it at ꝏ, those who are less )
( If P + Z is odd, then assume one ꝏ as negative )
Step 2 : Root locus on negative real axis
Take extreme left root on real axis, it may be pole or zero. If addition of all roots on
right side of that root on real axis is odd, then root locus will be present otherwise root
locus will be absent.
Step 3 : Starting point
Every pole is starting point
Step 4 : End point
Every zero is end point
Step 5 : Asymptotes
a) No. of asymptotes : P – Z
Where P = actual no. of poles
Z = actual no. of zeros
b) Centroid (Ϭc) :
∑ real part of poles − ∑ real part of zeros
Ϭc =
P−Z
c) Angle of asymptotes (ƟK ) :
( 2K + 1 )180˚
ƟK =
P−Z
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VAISHNAVI ACADEMY (THANE/NERUL/DADAR)
Type equation here.
Step 6 : No. of branches of root locus (N)
If P > Z then N = P and If P < Z then N = Z and If P = Z then N = P = Z
Step 7 : Angle of Departure and Angle of Arrival
Angle of Departure → Complex Poles Angle of Departure → Complex Zeros
Angle of Departure (𝛂𝐃 ) ∶ Angle of Arrival (𝛂𝐀 ) ∶
αD = 180˚ − α αA = 180˚ + α
α = ∑αP − ∑αZ α = ∑αP − ∑αZ
∑αP = addition of angle made by other poles
∑αP = addition of angle made by other zeros
Step 8 : Calculation of Break Away point and Break In point
• Break Away point lies between two adjacent poles.
• Break In point lies between two adjacent zeros.
But there should be root locus between them.
a) Characteristic equation : 1 + G(s) H(s) = 0
b) K = F(s)
c) differentiate w.r.t. s 𝑑𝐾 𝑑𝐹(𝑠)
= =0
𝑑𝑠 𝑑𝑠
d) Select valid break away point and break in point by observation.
Step 9 : Intersection with jω-axis
a) Characteristic equation : 1 + G(s) H(s) = 0
b) Routh Array
if Kmar is negative or
c) Kmarginal zero then there will be
d) Auxiliary equation : A(s) no intersection point
e) Roots of A(s) with jω-axis.
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VAISHNAVI ACADEMY (THANE/NERUL/DADAR)
Type equation here.
Design steps for PI controller by using Root Locus
This controller is used to improve steady state error. If steady state error
specification is given in the question then we can use this compensation technique.
Step 1 : Root locus for uncompensated system
Step 2 : Calculation of damping factor ( 𝛏 ) by using peak overshoot.
−πξ
√1− ξ2
%Mp = e × 100
Step 3 : Calculation of Ɵ
cos Ɵ = 𝛏
Step 4 : Calculation of Dominant pole ( 𝐒𝐝 )
In graph, we will get dominant pole at the intersection point of root locus and
line of damping factor.
Step 5 : Calculation of K
|G(s)|S = Sd = 1
Step 6 : Calculation of error constant and steady state error for uncompensated system
1
K p = lim G(s) H(s) ess = for type ‘0’
s→0 1+ Kp
1
K v = lim s G(s) H(s) ess = for type ‘1’
s→0 Kv
1
K a = lim s 2 G(s) H(s)
s→0
ess = Ka
for type ‘2’
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VAISHNAVI ACADEMY (THANE/NERUL/DADAR)
Type equation here.
Step 7 : Calculation of poles and zero for PI controller
Pole = 0 (origin ) zero = 0.1
Step 8 : Calculation of T. F. for compensated system
Gcomp (s) = G(s) GPI (s)
Step 9 : Draw the root locus for compensated system and calculate error constant and
steady state error 𝐞𝐬𝐬 for compensated system and verify the answer.
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VAISHNAVI ACADEMY (THANE/NERUL/DADAR)
Type equation here.
Design steps for PD controller by using Root Locus
This controller is used to improve transient response, that is to reduce the settling
time. If settling time specification is given in the question then we can use this
compensation technique.
Step 1 : Root locus for uncompensated system
Step 2 : Calculation of damping factor ( 𝛏 ) by using peak overshoot and natural frequency
(𝛚𝐧 ) by using settling time.
−πξ
√1− ξ2 4 4
%Mp = e × 100 TS = or TS =
ξωn − real part
(If settling time is not given then calculate it by using real part of dominant pole.)
Step 3 : Calculation of Ɵ
cos Ɵ = 𝛏
Step 4 : Calculation of Dominant pole ( 𝐒𝐝 )
In graph, we will get dominant pole at the intersection point of root locus and
line of damping factor.
Step 5 : Calculation of settling time of uncompensated system (𝐓𝐒 )𝐮𝐧𝐜𝐨𝐦𝐩𝐞𝐧𝐬𝐚𝐭𝐞𝐝
𝟒
(𝐓𝐒 )𝐮𝐧𝐜𝐨𝐦𝐩𝐞𝐧𝐬𝐚𝐭𝐞𝐝 =
− 𝐫𝐞𝐚𝐥 𝐩𝐚𝐫𝐭 𝐨𝐟 𝐝𝐨𝐦𝐢𝐧𝐚𝐧𝐭 𝐩𝐨𝐥𝐞 𝐒𝐝
Step 6 : Calculation of desired settling time (𝐓𝐒 )𝐝𝐞𝐬𝐢𝐫𝐞𝐝
For tenfold reduction in settling time, divide by 10 for Ts of uncompensated
system. Similarly for fivefold reduction, divide by 5 and so on.
(𝐓𝐒 )𝐮𝐧𝐜𝐨𝐦𝐩𝐞𝐧𝐬𝐚𝐭𝐞𝐝
(𝐓𝐒 )𝐝𝐞𝐬𝐢𝐫𝐞𝐝 =
specified reduction
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VAISHNAVI ACADEMY (THANE/NERUL/DADAR)
Type equation here.
Step 7 : Calculation of desired location of dominant pole (𝐒𝐝 )𝐝𝐞𝐬𝐢𝐫𝐞𝐝
−4
Real part = (𝐓 ) Imaginary part = Real part × tan( 180˚ − Ɵ)
𝐒 𝐝𝐞𝐬𝐢𝐫𝐞𝐝
(Sd )desired = (Real part) + j (Imaginary part)
Step 8 : Calculation of angular contribution required from compensated pole (Ɵ𝐙𝐂 )
(ƟZC ) = ( ∑ƟZ + ∑ƟP ) − 180˚
∑ƟZ = Contribution made by zeros
∑ƟP = contribution made by poles
Step 9 : Calculation of compensated pole ( 𝐙𝐂 )
Imaginary part
= tan (ƟZC )
Real part − PC
Step 10 : Calculation of T. F. for compensated system
Gcomp (s) = G(s) GPD (s)
Step 11 : Draw the root locus for compensated system and calculate settling time for
compensated system and verify the answer.
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