Copyright 2011 by John Wiley & Sons, Inc.

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Copyright 2011 by John Wiley & Sons, Inc.

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From 20.5% overshoot evaluate

0.45 . Also, since

compensated dominant poles are located at -

4
Ts

4
,
3

2.963 . The

2 = - 1.3333 j2.6432. Assuming

n j n 1-

the compensator zero at -0.02, the contribution of open-loop poles and the compensator zero to the
design point, - 1.3333 j2.6432 is -175.78o. Hence, the compensator pole must contribute
175.78o - 180o = -4.22o. Using the following geometry,

2.6432
= tan 4.22o , or pc = 37.16
pc 1.3333

Adding the pole to the system, K = 4401.52 at the design point..

Searching along the real axis segments of the root locus for K = 4401.52, we find higher-order
poles at -0.0202, -13.46, and -37.02. There is pole/zero cancellation at -0.02. Also, the poles at ,

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-13.46, and -37.02 are at least 5 times the design points real part. Thus, the second-order
approximation is valid.

From the plot, Ts = 2.81 seconds, and %OS = 20.8%. Thus, the requirements are met.

n = T = 0.5 = 8. Since
s

located at -

= 0.4, n = 20. Therefore the compensated closed-loop poles are

2 = -8 j18.33.
n j n 1-

Using the system's poles along with the compensator's pole at -15, the sum of angles to the test
point 8 j18.33 is -293.4o . Therefore, the compensator's zero must contribute 293.4o - 180o =
18.33
113.4o . Using the following geometry, 8 - z = tan 66.6o, or zc = 0.0679.
c

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