Using
Root Locus Information For Response Prediction
Once you have a root locus, the next question is "How do you use all of
the information that you get from the root locus to predict how the closed
loop system will respond?" Remember, you plot the root locus using
open loop information about the open loop poles and zeroes, but you are
getting information about how the closed loop system behaves. Here's
the story.
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Often,
you have some response criteria (response time, allowable overshoot, etc.)
that allows you to determine where you want the closed loop poles.
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For a given single closed
loop pole location on the root locus, we can calculate the root locus gain
that puts a closed loop pole at that position. For that gain, closed
loop poles will be somewhere on the other branches - and you would have
to locate them to do a complete prediction of the response.
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Given the value of the
root locus gain we can then compute the open loop DC gain.
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From the open loop DC
gain we can compute the Steady State response for a step input (the most
common test signal for judging system response) and from that we can compute
the SSE.
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From the pole locations,
we can determine the following characteristics of the closed loop response:
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Frequency of oscillations
- if there are any. The angular frequency of oscillations is the
vertical distance of the closed loop pole.
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Time constant (of oscillation
decay, if appropriate) from the horizontal distance to the left of the
imaginary axis.
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The damping ratio of complex
closed loop poles. In turn, that will allow estimation of overshoot
in the step response.