Faculty of Engineering Technology

Electrical Engineering Department

ELE 4623: Control Systems

LABORATORY WORK

LAB #05
Root Locus Analysis and Gain-Zero/Pole
Compensator Design

BY
Name: ID
Abdulla Sulaiman H00350247

Submission Date:
Instructor Name: Velmurugan

GENERAL INFORMATION AND GUIDE

 • This Lab manual should be used together with the class notes/lecture.
• Each student / group should work independently; direct copy of work will be highly
penalized according to the HCT policy.
• For group work, contribution of each member of the team should
• You are advised to follow the guide provided here for smooth and timely completion
of the experiments.
• The following should be noted regarding the report format:
 Prepare the report in softcopy, and upload in the appropriate BBL section.
 Diagram/Picture should be neatly and clearly prepared in the report.
 For the text font, use 12 points, Time New Roman and double spacing.
• Lab. demonstration of the experiment will be assessed during the Lab. session. See
rubric for the assessment in the BBL.
• Report submission due date: check the announcement on the course BBL 
Assessment Approach per each experiment:
Report: 60% (see report rubric) Demonstration: 40% (see
practical/simulation rubric)

ELE 4623 Lab No.5

TITLE: Root locus analysis and Gain compensator design

PURPOSE: Use the root locus technique to analyze a given (control) system stability and design a
gain compensator to achieve desired time domain performance specification.
Method:
1. Create a MATLAB script to create and plot Bode diagram of an LTI system.
2. Perform stability analysis of the system in s-domain using the Root Locus technique.
3. Design a gain compensator for a given performance specification.
4. Evaluate and compare the system’s step response performance for both uncompensated and
compensated system.
5. Prepare report

Lab resources:
1. Computer systems /Laptops
2. MATLAB software

Expected Outcome:
1. Sample of MATLAB mfile and SIMULINK block
2. Results of system responses
3. Report submission

1.1 Background
For a given Linear Time Invariant (LTI) system shown in Figure 1, the Laplace transfer function,
which relates the system output, Y(s) , and input; X(s) comprises of two polynomials, A(s) and
B(s) as follows:

(1) where A(s) is the numerator polynomial expressed as:

𝑎𝑛𝑠𝑛 + 𝑎𝑛−1𝑠𝑛−1 + ⋯ + 𝑎1𝑠 + 𝑎0 = 𝑎𝑛(𝑠 − 𝑝1)(𝑠 − 𝑝2) … (𝑠 − 𝑝𝑛) (2)

𝑝𝑖 ∶ 𝑝1, 𝑝2 , … , 𝑝𝑛 𝑎𝑟𝑒 𝑐𝑎𝑙𝑙𝑒𝑑 𝒑𝒐𝒍𝒆𝒔 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 𝑏𝑒𝑐𝑎𝑢𝑠𝑒 𝑡ℎ𝑒𝑦 𝑚𝑎𝑘𝑒 𝑡ℎ𝑒 𝑛𝑢𝑚𝑒𝑟𝑎𝑡𝑜𝑟 0 and
B(s) is the denominator polynomial expressed as:
𝑏𝑛𝑠𝑛 + 𝑏𝑛−1𝑠𝑛−1 + ⋯ + 𝑏1𝑠 + 𝑏0 = 𝑏𝑛(𝑠 − 𝑧1)(𝑠 − 𝑧2) … (𝑠 − 𝑧𝑛) (3)

𝑧𝑖 ∶ 𝑧1, 𝑧2 , … , 𝑧𝑛 𝑎𝑟𝑒 𝑐𝑎𝑙𝑙𝑒𝑑 𝒛𝒆𝒓𝒐𝒔 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 𝑏𝑒𝑐𝑎𝑢𝑠𝑒 𝑡ℎ𝑒𝑦 𝑚𝑎𝑘𝑒 𝑡ℎ𝑒 𝑑𝑒𝑛𝑜𝑚𝑖𝑛𝑎𝑡𝑜𝑟 0

Figure 1 : Block Diagram of a simple LTI system

The transfer function in (1) can be expressed as a function of the system poles and zeros as follows:

(4)
where 𝐾 = 𝑎𝑛⁄𝑏𝑛

The poles and zeros are the fundamental components of an LTI system. Type and values of poles
and zeros of a system determined its time domain performance and stability condition.

Given that, the Laplace, ‘s’ , variable is a complex number expressed as:
𝑠 = 𝜎 + 𝑗𝜔 (5)

The poles and zeros can be shown graphically on s-domain complex plot shown in Figure 2.

Figure 2: s-domain plane

1.2 Closed-Loop System Stability Analysis in s-domain (Laplace Domain):

Recall, a standard closed-system shown in Figure 3 comprises of plant/process model, G, controller
gain, K, and feedback (sensor) gain, H.

Figure 3: Standard Closed-Loop System Block Diagram

The system Open Loop transfer function is given as:

𝐾𝐺𝐻(𝑠) (6)

For unity feedback system, H = 1, the open-loop transfer function becomes, 𝐾𝐺(𝑠)
And the system closed-loop transfer function, is given as:

(7)

In s-domain stability analysis, the position of the open-loop transfer function poles in s-domain plot
(Figure 2) is used to determine and analyze the system stability. In general, the stability conditions
for a constant controller gain (for instance, K = 1) are in the following three fundamental categories:

 Category 1: Stable
A system is stable if ONLY all the poles of the system’s transfer function are on the
LeftHand-Side (LHS) of the s-domain plot.
The stability condition can either has oscillation or without oscillation depends on whether
any of the poles has complex value.
 Stable and no oscillation: all poles lie on the 𝜎-plane, see Figure 3a
 Stable and oscillates: any or all of the poles has complex value (lies on j𝜔-plane), see
Figure 3b

Figure
3a Figure 3b

 Category 2: Unstable
A system is unstable if any (at least one of the poles) poles of the system’s transfer
function is on the Right-Hand-Side (RHS) of the s-domain plot.
The Instability condition can either has oscillation or without oscillation depends on whether
any of the poles has complex value.
 Unstable and no oscillation: all poles lie on the 𝜎-plane, see Figure 3a
 Unstable and oscillates: any or all of the poles has complex value (lies on j𝜔-plane),
see Figure 3b
 Figure 4a Figure 4b

 Category 3: Critically Stable

A system is critically table if there are poles of the system’s transfer function on the
imaginary line of the s-domain plot and no pole on the RHS.

Figure 5: Critical Stable

1.3 Root-Locus and Closed-Loop System Dynamic Stability Analysis

Above stability, analysis assumed a constant value of the closed-loop gain, K. What happen when
we change the gain, K, from zero to infinity? This dynamic analysis of the system stability due to
changes in the closed loop gain is made possible by the Root locus technique. Simply put, Root
Locus (RL) is the study of movement (path/locus) of closed-loop poles as the gain, K, changes from
0 to ∞. Application Note: although, the RL provides closed-loop system stability analysis, the
open-loop transfer function in equation (6) is used with K set to 1.
Depends on the system poles and zeros components, the dynamic movement of poles can lead to
any of the following stability conditions:
Condition 1: always stable for 𝑲 ∶ 𝟎 → ∞
 RL starts at LHS on the s-domain and keep moving on the LHS of the s-domain
Condition 2: always unstable for 𝑲 ∶ 𝟎 → ∞
 RL starts at RHS of the s-domain and keep moving on the RHS of the s-domain

Condition 3: stable initially but latter becomes unstable for 𝑲 ∶ 𝟎 → ∞

 RL starts at LHS of the s-domain but latter crosses to the RHS of the s-domain after certain
value (critical value) of K
Condition 4: unstable initially but latter becomes stable for 𝑲 ∶ 𝟎 → ∞
 RL starts at RHS of the s-domain but latter crosses to the LHS of the s-domain after certain
value of K

1.4. Effects of Adding Pole and Zero to the Open-Loop transfer function
(Pole/zero compensation)
The system RL characteristics can be tuned by adding extra pole or zero to the system’s open-loop
transfer function. If carefully done, it could lead to improve system stability and time domain
performance.
Adding Pole: in order to add extra pole of value “b” to a system transfer, multiply the open-loop

transfer function with . Therefore, the system open-loop transfer function becomes:

(8)
Adding Zero: in order to add extra zero of value “a” to a system transfer, multiply the open-loop
transfer function with (𝑠 + 𝑎) . Therefore, the system open-loop transfer function becomes:
(𝑠 + 𝑎)𝐺𝐻(𝑠) (9)
 LAB Exercises
System Description:
The block diagram in Figure 2 below model a simple DC motor robot arm gripper position control.
Input , 𝜃𝑖𝑛(𝑠), is the desired robot arm position, and the output , 𝜃𝑜𝑢𝑡(𝑠), is the actual robot arm
position. Position sensor, H, measure the actual position for the feedback system.

Figure 2: Block Diagram of a DC Motor robot arm gripper position control system.

The system parameters are:

Amplifier gain, A 1
Motor field resistance, Rf 10Ω
Motor constant, km 550 N.m/Amp
Motor shaft inertial, J 1 kg. m2
Friction coefficient, b 1 N.m.s
Sensor gain, H 1

PARTA
Uncompensated Root Locus Analysis
A.1. Derive the open loop transfer function (“GH” see equation (6)) of the above system

G(s)=A km/s
Rf(js+b)
Feedback
h=1
G(s)*H(s)=1*550/s10(s+1)=55/
s(s+1)

A.2. Perform Root Locus analysis of the system (uncompensated, K=A = 1) using MATLAB.

A.2.1. Present the MATLAB Codes (Note: Show your codes to the instructor.)

A=1;
J=1;
B=1;
Rf=10;
Km=550; H=1,
num=[Km]
den=[Rf*J Rf*B 0]
sys=tf(num,den)
sysOT=A*sys*H
rlocus(sysOT)
grid on

A.2.2. Show the Root Locus plot: [format, label, correctness and neatness]
A.2.3. Provide dynamic stability of the system (minimum 50 words)

In this part we find the open loop by finding the series part only. The system is stable because
the poles s is on the right-hand side of the plot and we do not have any poles in the left of the plot.

A.3 Evaluate the closed-loop unit step response of the uncompensated system.

Present the MATLAB Codes (Note: Show your codes to the instructor.)

A=1;
J=1;
B=1;
Rf=10;
Km=550; H=1,
num=[Km]
den=[Rf*J Rf*B 0]
sys=tf(num,den)
sysOT=A*sys*H
figure()
rlocus(sysOT)
grid on
sysCL=feedback(A*sys,H)
figure() step(sysCL)

Show the system Step response plot: [format, label, correctness and neatness]
Determine the Uncompensated Step Response Performance parameters from the plot

Rise time Settling time % overshoot Steady state error

Uncompensated 0.1481 7.6963 80.8710 0.5764

system

A.3.4. Provide performance analysis report (minimum 50 words)

In the system performance in terms of speed the speed doesn’t change even when we
change the value of K because it depends only on zeta and we of the system so if we change the
value of k it will have the same speed response while also having an overshoot of 80.871% and
the system is stable for all the values of K
 PARTB
Gain-Zero/Pole Compensated Design Root Locus Analysis
Design Problem Statement (Design specifications):
Design and evaluate a gain plus zero compensator, 𝐾(𝑠 + 𝑧) , OR a gain with pole compensator,
using the Root locus plot approach to achieve the following control objectives:
 Overshoot less than or equal to 10% 
Settling time not more than 0.2 sec.

Follow the steps below to perform this design task:

B.1 Choose appropriate location for zero or pole on the LHS of the plot to obtain ‘z’ or ‘p’ point.
Add the zero compensator or the pole compensator to the system open loop transfer
function ( See section 1.4 equations (8) and (9)), and perform the Root locus analysis
of the compensated system with zero/pole.

State the compensated Open loop transfer function with zero/pole (new transfer function with
zero or pole added)

GHcompensted= 55(s+25)/s(s+1)

Show the Root Locus plot: [format, label, correctness and neatness]
Observation/comment: state your observation on the Root Locus with the zero/pole added

B.2 Determine the appropriate gain, K, to achieve the control objectives from the Root Locus in
A.4.1 above (that is, Root locus of the compensated system with zero or pole)

Show the Root Locus plot with K indicated: [format, label, correctness and neatness]

State the compensated Open loop transfer function with the gain-zero/pole (new transfer
function with gain plus zero or pole added)

B.3 Evaluate the closed-loop unit step response of the compensated system (system with gain and
pole/zero compensator).

Present the MATLAB Codes (Note: Show your codes to the instructor.)

syms s;
A=1;
J=1;
B=1;
Rf=10;
Km=550; H=1,
num=sym2poly(2.68*A*Km*(s+25)); den=sym2poly(s*Rf*(J*s+B));
sys_forwarf_path_tf1=tf(num,den)
%system feedback gain sys_feedback_gain=H;
oltf1=sys_forwarf_path_tf1*sys_feedback_gain;
 sys_closed_loop_tf1=feedback(sys_forwarf_path_tf1,sys_feedback_gain);
figure;
step(sys_closed_loop_tf1); grid
on;

Show the system Step response plot: [format, label, correctness and neatness]

Note: Show the result to the instructor.

Determine the compensated Step Response Performance parameters from the plot above

Rise time Settling time % overshoot Steady state error

compensated 0.0092 0.0881 6.7781 0.0276

system
 PARTC
Comparative Analysis
Compare and present comparative analysis of uncompensated and compensated systems in PartA
and PartB

C.1 Comparative Performance Data

Rise time Settling time % overshoot Steady state error

Uncompensated 0.1481 7.6963 80.8710 0.5764

system
Compensated 0.0092 0.0881 6.7781 0.0276
system

C.2. Comparative step response plots: provide step response plots of both compensated and
uncompensated systems on one graph
C.3. Comparative analysis: provide comparative report of both systems (minimum 50
words)

We can see from observation that the system with compensated and uncompensated gain had
the same final value but the compensated had faster speed response and a more stable step
response to where it had almost no overshoot, while the uncompensated had slower speed
response and high overshoot of an 80%.

Conclusion (at least 20 words)

In conclusion, we can see that root locus is a helpful method to avoid having the
system being unstable for a certain value because it can find all the values that will
determine the stability of the system.

Reference Materials:
(Provide reference to all materials used in this assignment)