Contents

Introduction...........................................................................................................................................2
Methodology.........................................................................................................................................2
Task-1:...............................................................................................................................................2
Task-2:...............................................................................................................................................5
Task-3:...............................................................................................................................................6
Conclusion.............................................................................................................................................8
Reference:..............................................................................................................................................8
Appendix...............................................................................................................................................8
Introduction
The analysis of root locus curves in different system topologies is provided on this study. The
first chapter shows MATLAB simulations are conducted by a certain transfer function and
the changing of system parameters one at a time to assess what effect they have on results. As
part of a comprehensive analysis, several plots reveal how altering parameter values
influences the stability and responsiveness of the system. Indeed, it is crucial to note that
such simulations are inevitable in the clarification of feedback systems’ nature through
showing how poles and zeros vary due to changes located within a system. MATLAB is
implemented to assist in adding a graphical form, but also for improving accuracy. This is
used to explain any muddled ideas or concepts that are overly theoretical and understand the
dynamics beneath the surface.

For a deeper analysis of this approach, we will discuss Tasks-2 and -3. In task two, we will
conduct the calculations manually that derived from root locus for a better understanding of
how to make an analysis. The automated process described above will then be used to
compare the results against those obtained from MATLAB simulations, to make an
assessment about their accurateness and efficacy. Turning to Task 3 root locus is dynamic, in
terms of changing time constants we will deal with what the effect on would be. Through
revealing these differences, we will see how they influence the behavior of system in regards
to its stability and rate changes. By this enlightening analysis, we will consider interesting
information on efficient application of root locus as an essential element in the control
systems tuning.

Methodology

Task-1:

The first part of task1 includes an identification and definition of important system
parameters which are further accompanied by a MATLAB-based root locus analysis for
several dynamic systems. Some of the characteristics that describe these systems are
temporal constants, output parameter (y), gain factor ( k) shows how responsive an input
variable is to alteration in error signal as well as proportional controller element Kp. Those
properties inside the system, input and output ones that are linked to one another
mathematically can be represented by transfer function which is based on their
combination. For the particular system under consideration, value to be assigned for output
parameter y is evident as 3. In the first stage, MATLAB software is used to produce a
transfer function based on certain parameter values. This transfer function is then used to
draw the root locus diagram. A root locus plot is a pictorial form of the variations in
displacements for any potential closed-loop pole sites as regards to changes made on
proportional gain, ‘Kp’,. This study is crucial to evaluating the system’s time response
features, and its stability.
First stage to develop the transfer function from given values of each parameter. It is then
used to generate the root locus graph using this transfer function. The wict diagram is a
graphical representation of poles displacements which are not closed-loop pole sites, as the
proportional gain 'Kp' oscillate. This study is necessary for determining the instability and
methods of transient response control.
One of the key parts that is instilled in this analysis focuses on an investigation into how
setting y value to three affects it. The goal of this research is to investigate the impact that
variations in this variable have on the stability and conduct of such a system. The root locus
plot can be used as a visual tool by engineers and researchers, so that they have the ability of
setting up appropriate controller gain constants which ensure the functioning system. At the
end of this research, it becomes
possible to establish an optimal
structure for a system by explaining
which characteristics are
related with expected behavior.

In the second part of this task, the root locus analysis that was described in Part A is
followed up on by analyzing a specific scenario and finding out how it impacts system
dynamics. As in Part-A, here this part specifies the time constants (T1, T2, 3), the
proportional controller constant Kp and gain factor k. On the contrary, this section is
concerned with raising or increasing one of its output parameters “y” by 1.5 as compared to
what has been treated earlier in it. It should also be mentioned that the output parameter ‘y’ is
an important indicator of determining kinetic properties transfer function of such a system,
and by changing its value introduces dynamic restrictions to this whole.
Once the system parameters have been updated, MATLAB is used to create a transfer
function that explains the change in 'y.' As the proportional gain 'Kp' fluctuates, the possible
positions of closed-loop poles are then graphically shown using a root locus plot. This section
of the analysis clarifies how changes in the output parameter affect the root locus by
changing 'y' to equal 1.5. This helps to understand the nature of stability and transient
response characteristics under these new settings. After the system parameters have been
updated, MATLAB is used to create a transfer function that represents how ‘y’ changes with
Kp. Consequently, possible closed-loop pole locations are graphically displayed as
proportional gain 'Kp' oscillates
using root locus plot. This
part of the analysis makes
clear how altering 'y=1.5'
affects root locus by changing
output parameter in this
way. This helps to
comprehend the kind o stability
and transient response
characteristics under these new
conditions.

By comparing the plotted root locus

from both Part A and B, it becomes
clear how variations in y can impact the
system's dynamics. This process of
iterative analysis is crucial in
determining the appropriate system
parameters for achieving the
desired performance and
stability. It also provides a
structured approach for controller
design and optimization.
The third part of task1 gives a new
system parameter set with the output
variable y equal to one. Here, the focus
is to understand how these system
parameter variations affect the root locus and consequently influence on stability dynamic
response of closed-loop. The parameters include time constants, a gain factor ‘k,' and the
proportional controller gain 'Kp.’ This section endeavors to alter these system parameters
while keeping ‘y’ constant as one. This approach enables engineers to understand a lot of
information about the system’s response characteristics, in an array of
configurations. Varying factors such as the time constants, gain factor and proportional
controller gain in a systematic way allows engineers to observe how root locus moves or
locations of possible closed-loop poles.

The analysis in Part-C contributes to a

deeper understanding of how the
system's behavior is influenced by
variations in key parameters. By
maintaining 'y' at a constant value, the
investigation hones in on the impact of
other parameters, allowing engineers to discern the interplay between these factors and the
resulting stability and dynamic response of the closed-loop system. This knowledge is crucial
for fine-tuning control parameters to optimize system performance under various operating
conditions, contributing to more robust and adaptable control strategies.
In fourth and fifth part of the analysis, responses from systems are analyzed while i as an
output parameter is isolated dynamics. This case creates a very advanced knowledge of the
systems behavior when other elements do not make significant contributions to the
result. When the impact of each system component can be assessed separately from all other
components for determining their respective outcomes, this form is vital.
As for this fourth step, the analysis omits the output parameter and generates important
information about how other components of it behave. This thorough analysis is crucial for
improving the efficiency of control tactics and system as a whole.
In Part-E, elements with minimal impact on the output are isolated, helping engineers
identify crucial factors influencing system behavior without compromising performance.

Task-2:

In Task 2, I elected to perform the roots locus analysis of our system using my hands because
manual exploration did not involve a mathematical calculation that required computer
assistance. This involved knowledge of the subtleties that come with this system by
pinpointing crucial places such as poles and zeros, which not only would plot some
asymptotes on these paths but also
their dynamics. The
mathematical expressions of
calculating the angles, center of gravity
as well as breakaway points and
intersections with imaginary axis brought
out a truly rich meaning.
The method could be considered solving a
puzzle whose steps demonstrated
essential features that defined intra
systemic behavior. The process
of determining the breakaway points
and identifying inter notations, with
imaginary axis went about like
decoding clues to reveal all mysterious details concerning equilibrium point problem; as well
other equilibria hiding around symmetric stability region within control system. In the end,
root-locus plot provided individuals with a realistic view of response for selected system and
translated mathematical equations into some narrative that informs design decisions about
implementing systems’ capabilities. This research endeavor did not only lead me to the
establishment of a better perception but also gave off that satisfaction I got when breaking
through an intelligent control mechanism.

Task-3:

Task 3 deals with root locus analysis using PID control. The analysis is performed using
three scenarios for integral time (Ti).
In first part of task3 where Ti > 15, an integral PID controller is utilized with Ti value that
constantly exceeds the limit set at15. PID controller, in which the proportional element
contributes with all control action to its own weight. By plotting the root locus which
provides a pictorial display of how an ordinary PID controller acts upon, system stability can
be graphically represented for varying proportional gain. In the framework of our analysis,
we also investigate how a longer integral time affects distribution in closed-loops and entire
system behavior.
The root locus analysis of second part, in which 2 < T_I < 15, used the PID controller and an
interval for varying Ti from 2 to 15. The fluctuation of the integral time imposed some
dynamism into controlling error as an attraction to which is provided by integrator block. The
root locus is represented by the Pole distribution and gain stability that occurs when changing
0 to I within this range. In this section, engineers are offered the required opportunity for
understanding all that makes part of same-time error and transient dynamics tradeoffs
intrinsic in various integral constants Ti.

In the following section, analysis is

conducted with a proportional integral
derivative (PID) controller and an
Integral Time Ti < 2. Short integral has
a quicker response to
accumulated error having the
possibility of system instability and
their propensity for overshooting
due. In this context, the plot of
root locus tells us how changes in
control gain influence closed loop
system dynamics and gives a perspective on shortened integral time impact high performance
controller behavior.

Conclusion:
The detailed root locus analysis performed in Task 1, combined with manual computations
arising from Task 2 and the development of PID controllers through this task is presented as
an insightful portrayal of how our control system possesses certain characteristics. Task 1,
MATLAB enabled extensive investigation of the root locus under various
situations. Variations in ‘y’ helped understand the systems sensitivity to external forces and
observed that it was highly sensitive.

However, task 2 moved further into the details of the root locus with manual calculations
because identification poles zeros and critical points plays a crucial role for understanding
how system acts regarding its stability and transient response features. This multimodal way
improves our understanding of the dynamics in control system and helps us to create efficient
strategies of control.

Reference:

Modern Control Systems_Robert Bishop_11E

Appendix:

%% system parameters (A)

clc,clear all
T1 = 2;
T2 = 1;
T3 = 0.5;
y = 3;
k = 1;
Kp = 1;

num = k * [y, 1];

den = conv([1, T1, 1], conv([1, T2, 1], [1, T3, 1]));

system = tf(num, den);

figure;
rlocus(Kp * system);
title('Root Locus - Part (a)');

%% (B)
clc,clear all
T1 = 2;
T2 = 1;
T3 = 0.5;
y = 1.5;
k = 1;
Kp = 1;

num = k * [y, 1];

den = conv([1, T1, 1], conv([1, T2, 1], [1, T3, 1]));

system = tf(num, den);

figure;
rlocus(Kp * system);
title('Root Locus - Part (b)');
%% (C)
clc,clear all
T1 = 2;
T2 = 1;
T3 = 0.5;
y = 1;
k = 1;
Kp = 1;

num = k * [y, 1];

den = conv([1, T1, 1], conv([1, T2, 1], [1, T3, 1]));

system = tf(num, den);

figure;
rlocus(Kp * system);
title('Root Locus - Part (c)');
%% (D)
clc,clear all
T1 = 2;
T2 = 1;
T3 = 0.5;
y = 0;
k = 1;
Kp = 1;

den = conv([1, T1, 1], conv([1, T2, 1], [1, T3, 1]));

system = tf(1, den);

figure;
rlocus(Kp * system);
title('Root Locus - Part (d)');
%% (E)
clc,clear all
T1 = 2;
T2 = 1;
T3 = 0.5;
y = -1;
k = 1;
Kp = 1;

num = k * [y, 1];

den = conv([1, T1, 1], conv([1, T2, 1], [1, T3, 1]));

system = tf(num, den);

figure;
rlocus(Kp * system);
title('Root Locus - Part (e)');

TASK-3:
% Part (a): T_I > 15
K_p = 1;
T_I = 20;

num = [0 0 2 * K_p];
den = [30 21 + 8 * K_p * T_I 3 + 2 * K_p * T_I + 8 * K_p 2 * K_p];

figure;
rlocus(num, den);
title('Root Locus for T_I > 15');
%% Part (b): 2 < T_I < 15
clc, close all
K_p = 1;
T_I = 10;

num = [0 0 2 * K_p];
den = [30 21 + 8 * K_p * T_I 3 + 2 * K_p * T_I + 8 * K_p 2 * K_p];

figure;
rlocus(num, den);
title('Root Locus for 2 < T_I < 15');
%% Part (c): T_I < 2
clc, close all
K_p = 1;
T_I = 1;

num = [0 0 2 * K_p];
den = [30 21 3 0];
figure;
rlocus(num, den);
title('Root Locus for T_I < 2');