Root Locus Control Design

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Overview

The objective of this experiment is to design a feedback control system for a motor positioning system. Based on the motor model you developed in the Open Loop Step Response experiment, you will use the root locus diagram to determine the best closed loop pole locations when using both proportional and derivative feedback. After you have simulated the response of your feedback control systems, you will test the controller experimentally. You will then iterate your design to find the best possible response, in terms of settling time, percent overshoot and steady state error.

Click on the Handout PDF link in the right sidebar to download the Experiment Handout. It describes all of the steps you will need to perform to complete the experiment. The parts needed to run this experiment are the same as those from the Open Loop Step Response experiment. Software that you will need to run the experiment is available from the Software/Code link.

What You Will Learn

This experiment leads you through the design process for proportional and proportional plus derivative feedback controllers. The PD controller enables more control over the placement of closed loop poles, and allows an improved system response.

Prerequisites

Before running this experiment, you should perform the following experiment: Closed Loop Step Response.

Handout PDF

Hardware/Parts

Software/Code

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