lecture 2 - DESIGN IN TIME DOMAIN (ROOT LOCUS METHOD) The...

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1 DESIGN IN TIME DOMAIN (ROOT LOCUS METHOD) 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 parameter (usually the gain) is varied from zero to infinity. In some cases, the desired system performance can’t be achieved just by the adjustment of gain. Therefore it is necessary to insert compensators to reshape the root locus to meet the performance specifications.
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2 Series compensator 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. 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 lower the system’s relative stability and to slow down the settling of the response.
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3 PID Controllers s K s K K s G D I p c + + = ) ( PD Control PD Control is equivalent to adding a zero the open loop transfer function.
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lecture 2 - DESIGN IN TIME DOMAIN (ROOT LOCUS METHOD) The...

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