This document discusses using MATLAB to perform root locus analysis on a closed-loop control system with a PID controller and rocket dynamics. It provides the MATLAB commands to generate a root locus diagram for the system and find parameter values that place the poles in a target region for stability and desired response. Key steps include defining transfer functions, using rlocus to generate the diagram, and rlocfind to select parameter values from the diagram.
This document discusses using MATLAB to perform root locus analysis on a closed-loop control system with a PID controller and rocket dynamics. It provides the MATLAB commands to generate a root locus diagram for the system and find parameter values that place the poles in a target region for stability and desired response. Key steps include defining transfer functions, using rlocus to generate the diagram, and rlocfind to select parameter values from the diagram.
This document discusses using MATLAB to perform root locus analysis on a closed-loop control system with a PID controller and rocket dynamics. It provides the MATLAB commands to generate a root locus diagram for the system and find parameter values that place the poles in a target region for stability and desired response. Key steps include defining transfer functions, using rlocus to generate the diagram, and rlocfind to select parameter values from the diagram.
This document discusses using MATLAB to perform root locus analysis on a closed-loop control system with a PID controller and rocket dynamics. It provides the MATLAB commands to generate a root locus diagram for the system and find parameter values that place the poles in a target region for stability and desired response. Key steps include defining transfer functions, using rlocus to generate the diagram, and rlocfind to select parameter values from the diagram.
As an example of how to use MATLAB to perform a root locus analysis, consider design problem DP6.4. The block diagram of the closed-loop system is shown below. The goal is to use MATLAB to draw a root locus diagram for the parameter K, given the parameter m 4 .
Rocket PID Controller Dynamics +
The characteristic equation of the closed-loop system is 1 GH (s) 0 or 1 KP (s) 0 .
Substituting the transfer functions from the block diagram gives
Transfer function: s^2 + 6 s + 8 ------------- s^3 - s
>> rlocus(sys) >> axis('equal') >> title('Root Locus Diagram for K (m=4)')
Note that MATLAB does not show the direction of the movement of the poles. It is understood that the movement is from the poles to the zeros of P(s). The axis command ensures that the diagram is shown in its true shape.
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Target Regions for Poles o The damping ratios and settling times of the poles are determined by their X location on the root locus diagram. o To ensure a settling time less than Ts , the real parts of all the poles of the system must be to the left of 4 Ts . o The damping ratio of each of the complex poles is determined by drawing a vector from the origin to the location of the pole and measuring the angle between this vector and the negative real axis. o The damping ratio is calculated as cos() . For example, poles that lie below the 45o line have damping ratios 0.7 . See the diagram below.
Parameter Values Associated with Poles in the Target Region
To find parameter values associated with poles within the target region, use the rlocfind command in MATLAB. After executing the rlocfind command, click on a desirable pole location on one of the branches of the root locus in the root locus plot window. MATLAB automatically picks the point on the branch that is closest to your selection. The MATLAB commands are: >> grid >> [k,poles]=rlocfind(sys) Select a point in graphics window
selected_point = -3.9356 + 5.1761i
k= 9.6740
poles = -3.9335 + 5.2303i -3.9335 - 5.2303i -1.8070
Note that MATLAB places a + at the location of the chosen poles.
