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K1
K1 ( s a )
GH 2 ( s )
s( s 2)( s 3)
s( s 2)( s 3)
Im
Im
a 2.5
a 0.5
Re
Re
2
Im
Im
2.5
Re
3 2
a 0.5
Re
2
a 1.25
Generally, adding a open zero in the left s-plane will lead the root loci to be
bended to the left. And the more closer to the imaginary axis the open zero is,
the more prominent the effect on the systems performance is.
GH1 ( s )
K 1 ( s 3)
K 1 ( s 3)
GH 2 ( s )
s ( s 2)
s( s 2)( s a )
Im
Im
a 2
Re
3
Re
Im
Im
Re
2
a 0
Re
3
a 0.5
Generally, adding a open pole in the left s-plane will lead the root loci to be
bended to the right. And the more closer to the imaginary axis the open
pole is, the more prominent the effect on the systems performance is.
The location of the poles and zeros of a transfer function in the s-plane
greatly affects the transient response of the system.
For analysis and design purposes, it is important to sort out the poles
that have a dominant effect on the transient response and call these
the dominant poles.
Because most control systems in practice are of orders higher than two,
it would be useful to establish guidelines on the approximation of highorder systems by lower-order ones insofar as the transient response is
concerned.
In design, we can use the dominant poles to control the dynamic
performance of the system, whereas the insignificant poles are used for
the purpose of ensuring that the controller transfer function can be
realized by physical components.
For all practical purposes, we can divide the s-plane into regions in
which the dominant and insignificant poles can lie.
We intentionally do not assign specific values to the coordinates,
since these are all relative to a given system.
Im
region of
dominant
poles
region of
insignificant
poles
unstable
region
Re
unstable
region
We must point out that the regions shown in Fig. are selected merely
for the definitions of dominant and insignificant poles.
For design purposes, such as in pole placement design, the dominant
poles and the insignificant poles should most likely be located in the
red regions.
Im
Again, we do not show any
region of
absolute coordinates. except
region of
dominant
insignificant
unstable
that the desired region of the
poles
poles
region
dominant poles is centered
Re
450
around the line that corresponds
450
to = 0.707.
D
unstable
It should also be noted that,
region
while designing, we cannot place the
insignificant poles arbitrarily far to the
left in the s-plane or these may require
Regions of dominant and insignificant poles
in the s-plane for design purpose.
unrealistic system parameter values.
Example
The proper way of neglecting the insignificant poles with
consideration of the steady-state response
C ( s)
20
R( s) ( s 10)(s 2 2s 2)
(a)
C ( s)
20
R( s) 10( s / 10 1)(s 2 2s 2)
(b)
Then we reason that s / 10 1 when the absolute value of s is much smaller than 10,
because of the dominant nature of the complex poles. The term s/10 can be neglected
when compared with 1. Then, Eq.(b) is approximated by
M ( s)
20
10( s 2 2s 2)
(c)
the third-order system described by Eq. (a) and the second-order system
approximated by Eq. (c) all have a final value of unity when a unit-step input is applied.
On the other hand, if we simply throw away the term (s + 10) in Eq. (a), the
approximating second-order system will have a different steady-state value when a
unit-step input is applied.
Solution :
s 2(s 1 ) 4 s(s 1 ) 0
s(s 1 )
s(s 1 )
1 2
1
1 Geq ( s) 0
2
s (s 1 ) 4
(s 2 )( s s 2 )
Geq ( s)
s(s 1 )
(s 2 )( s 2 s 2 )
1
7
j
2
2
1
7
j
, p3 2
2
2
Re
1
1
7
j
2
2
1
s 1
1
s
KT
G ( s) H ( s) K
(s z )
i
i 1
n
(s p )
j
j 1
s
1 KT 2
0
s s4
Thus, for root-locus purposes,
the zeros are at s=0,
And the poles are at -1/2+j1.94 and -1/2-j1.94.
G ( s) H ( s) K
(s z )
G(s)
i 1
n
(s p )
j
H (s)
j 1
1 K
( s zi )
i 1
n
(s p )
j
j 1
(s z )
i
i 1
n
(s p )
j
j 1
G (s)
G (s) H ( s) K
(s z )
i
i 1
n
(s p )
H (s)
j 1
| s z
|
1
i 1
n
| s p
Magnitude criterion
j 1
(s z ) (s p ) 2k
i 1
j 1
k 0, 1, 2,
Angle criterion