LECTURE 13
Wednesday, July 26, 2023 9:14 AM
Lecture 13:
Introduction to
Complex Functional
Mapping and it's
Applications in
Control Systems
-Er. Dipesh Sapkota
Week5 Page 1
Complex Functional Mapping
Monday, July 10, 2023 11:59 AM
Real function of real variables can be mapped easily in x, f(x) plane. These real functions are easy to visualize as well
as shown in figure below.
However, complex function of complex variable cannot be mapped easily in a single plane/map because complex
substitution yields complex valued result for complex function. Thus, two planes are required to visualize the
relationship as shown in figure below. Complex point(s 0) is mapped through mapping function F(s) to a new point
F(s0) in F(s) plane.
Week5 Page 2
Complex Functional Mapping
Monday, July 10, 2023 11:59 AM
Evaluation of value of complex point via complex function can be done via: 1.)Direct substitution 2.)Vectoral Mapping
Consider a point s0 in the s-plane to be mapped via mapping function F(s) which has poles and zeroes at various locations in the s-plane.
Gives the point in F(s) plane, but not directly the
magnitude and angle.
Direct Substitution
These two are actually the same
Vectoral Mapping
Magnitude(M) and Angle(θ) can be written as:
Much easier to visualize, but doesn't give the exact point in F(s) plane just
the magnitude and the angle.
Week5 Page 3
Frequency Response of the LTI System and as a form of Complex
Functional Mapping
Monday, July 10, 2023 11:59 AM
When certain sinusoidal signal is given as an input to LTI system, then output from such system is
sinusoidal signal with the same frequency but (possibly with) different amplitude and phase. But
How…..????
Thus, output frequency is the same as the input frequency, however, amplitude and phase of the output signal is(could be) different from the input signal. Since,
sinusoidal and cosine signals can be written in terms of complex exponentials, same results are obtained for these signals as well.
Week5 Page 4
Applications of Complex Functional Mapping
Sunday, July 2, 2023 10:41 AM
The poles of the closed loop transfer function varies
with gain 'K'. Thus, many things regarding system
specifications vary with gain 'K'. Complex
Functional Mapping can be used to infer about the
properties of the system in much more dynamic
way.
1. Root Locus Plot
Root Locus are all the points in the s-plane when mapped via open loop transfer function K.G(s).H(s) yield a value of -1
K.G(s).H(s) plane
2. Nyquist Plot
Nyquist Plot is the plot obtained when entire RHP of the s-plane is mapped via open loop transfer function
G(s).H(s)
G(s).H(s) plane
Week5 Page 5
Applications of Complex Functional Mapping
Tuesday, July 11, 2023 1:40 PM
3. Bode Plot
Bode Plot is the plot obtained when imaginary axis is mapped via function G(s).H(s)
Week5 Page 6
LECTURE 14&15
Wednesday, July 26, 2023 9:14 AM
Lecture 14&15:
Root Locus Analysis
-Er. Dipesh Sapkota
Week5 Page 7
Control System Design Problem
Sunday, July 2, 2023 10:41 AM
Let's consider a -ve feedback system with closed loop transfer function as shown in figure below:
The poles of the closed loop transfer function varies with gain
'K'. It is often required to visualize the location of closed loop
poles of the system as gain 'K' is varied.
For Example:
Consider a -ve feedback system with closed loop transfer function as shown in figure below:
As gain 'K' is varied, the location of the closed loop poles can be visualized in s-plane as below:
Thus, root loci technique helps in visualizing the closed loop poles of the system as gain K is varied.
Week5 Page 8
Defining the Root Locus
Sunday, July 2, 2023 10:41 AM
Definition 1:
Root locus is the locus traced in s-plane by the
closed loop poles of the transfer function as
gain 'K' is varied.
For 's' to be the closed loop pole of
the closed loop transfer function
For 's' to be the closed loop pole of K.G(s).H(s) plane
the closed loop transfer function
Definition 2: Root locus is the locus of all the points in the s-plane which when mapped
via mapping function K.G(s).H(s) yields a value of -1.
Week5 Page 9
Rules for Plotting the Root Loci
Sunday, July 2, 2023 10:41 AM
1. Number of Branches:
Number of branches of root loci is equal to the number of closed loop poles.
2. Symmetry:
Root loci for systems with transfer function that has real coefficients is symmetric about the real axis.
3. Real Axis Segments:
For K>0, root loci on the real axis exists to the left of an odd number of finite open loop poles and/or finite open loop zeroes.
4. Starting and Ending points of the Root Loci:
Root loci starts at finite/infinite open loop poles and ends at finite/infinite open loop zeroes.
5. Behavior at Infinity:
When there are unequal number of finite open loop poles and zeroes, then according to Rule 4, there must be open loop
zeroes/poles which are located at infinity.
The location of infinite poles/zeroes can be given by asymptotic line with the real axis intercept and angle of the asysmptotic
line as below:
Week5 Page 10
Rules for Plotting the Root Loci
Sunday, July 2, 2023 10:41 AM
6. Break-Away/Break-In Points:
Week5 Page 11
Rules for Plotting the Root Loci
Sunday, July 2, 2023 10:41 AM
7. Imaginary axis(jw axis) Crossings:
Week5 Page 12
Rules for Plotting the Root Loci
Sunday, July 2, 2023 10:41 AM
8. Angle of Departure and Angle of Arrival from Complex Poles/Zeroes
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Steps for Sketching the Root Loci
Sunday, July 2, 2023 10:41 AM
1. Determine the open loop transfer function i.e. KG(s)H(s) of the system.
2. Determine the finite open loop poles (P) and finite open loop zeroes(Z) of the system.
3. Determine N such that N=P-Z
a. If N=0, root loci starts at finite open loop poles and ends at finite open loop zeroes.
b. If N=+ve, then root loci starts at finite open loop poles and ends at finite/infinite open loop zeroes.
c. If N=-ve, then root loci starts at finite/infinite open loop poles and ends at finite open loop zeroes.
4. Determine the real axis segment where root loci exists.
5. If N=+ve/-ve, the behavior at infinity needs to be determined using the asymptotic equation as follows:
5. Determine if there are any break-away/break-in points, jw axis crossings and angle of arrival/departure from
complex poles or zeroes.
Week5 Page 14
