NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Root Locus Method Part 2

D Bishakh
Dr.
Bi h kh Bhattacharya
Bh tt h
Professor, Department of Mechanical Engineering
IIT Kanpur

Joint Initiative of IITs and IISc - Funded by MHRD

Module 3- Lecture 17

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

ThisLectureContains
AngleoftheAsymptotes

ImaginaryAxisIntercept
DepartureandArrivalAngle
NumericalSimulation

Joint Initiative of IITs and IISc - Funded by MHRD

Module 3- Lecture 17

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 3- Lecture 17

Angle of the Asymptotes

The root loci approaches the zeros at infinity along asymptotes. The real axis
i t
intercept
t and
d angle
l off which
hi h are given
i
by
b the
th following
f ll i
rules:
l

Rint

Poles Zeros

, mn

int

(2i 1)
180 0 , i 0,1,2..(m 1)
m

nz

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

J intercept: Use 1+KG(j

1+KG(j)H(j
)H(j
) = 0

Find
Find
and
andKandforanyComplexPoleFindAngle
KandforanyComplexPoleFindAngle
Anotherway:Use
Another way: Use Rouths
Anotherway:UseRouth
Routh s Array,findstabilityconditionforacompletezerorow,
Array find stability condition for a complete zero row
Obtain,K,gobacktotheupperrow,obtain
Obtain,K,gobacktotheupperrow,obtain
Takepointsalongtheimaginaryaxisandcheckthephasecondition
TrytheproblemT=K(s+3)/(s(s+1)(s+2)(s+4))(OLTFwithunityfeedback)
K2 65K+720=0=>K=9.65

Module 3- Lecture 17

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Angle Checking at a Test Point

Module 3- Lecture 17

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Departure and Arrival Angle

Angle of Departure from a complex Pole with r multiplicity:

rl,dep i i (180o 360o (l 1)), l 1..r

il
i

Angle of Arrival at a complex Pole with r multiplicity:

rl,arr i i (180o 360o (l 1)), l 1..r

i l

Module 3- Lecture 17

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 3- Lecture 17

Example:
E
l
K
G ( s) H ( s)
KF ( s)
s( s 2)(s 3)

1
F ( s)
s( s 2)( s 3)
P1 0, P2 2, P3 3

(1)3LociStartingFrom
(2)AllRootsLociTerminateat
OpenLoopZeros

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 3- Lecture 17

F(s)
s s 2 s 3 (2i 1)180o , i 0,1,2..
1
F ( s) , Or ,
K

K
1
s( s 2)(s 3)

((a)RootLocionTheRealAxis
)R
L i
Th R l A i

s s 2 s 3 0 o

(i)PositiveRealAxis
(i)PositiveRealAxis

(ii)

s : 0 2 ,

180 o ,

(iii) s : 2 3,
(iv) s : 3,

s 180 , s 2 s 3 0

360 o ,

540o ,

s 180 , s 2 180 , s 3 0

s 180 , s 2 180 , s 3 1800

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 3- Lecture 17

Six basic rules of Root-Locus

Root Locus Construction
1. n branches of root locus starts at the open
p loop
p
poles and m of them meet the zeroes of the same
2. Loci are on the real axis to the left of odd number of
poles and zeroes
3. For large s and K, n-m of the root loci are
asymptotic. Get Asymptote angle and Real intercept
by using the earlier equations
4. Calculate the Angle of Departure from poles and
arrival at zeroes by using the rule derived
5. Calculate the j crossing using Rouths stability
6. Calculate the break away and break-in points using
dK/d = 0

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 3- Lecture 17

Consideranothersystemwithunityfeedback.

10
GH
,H 1
s 2s p1
10
10
10
KGH
, CLT 2
2
s 2s p1
s (p1 2)s 2p1 10 s 2s 10 p1(s 2)
10 2
(s 2s 10)

p (s 2)
1 1
(s2 2s 10)
Findtherootlocusforgainp1 andTF:(s+2)/(s2+2s+10)

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 3- Lecture 17

Assignment: Find the position of the leftmost pole by using root

locus corresponding to the Control Gains K= 7 and 40

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 3- Lecture 17

Special References for this lecture

Feedback Control of Dynamic Systems, Frankline, Powell and Emami, Pearson
Control Systems Engineering Norman S Nise, John Wiley & Sons
Design of Feedback Control Systems Stefani,
Stefani Shahian,
Shahian Savant,
Savant Hostetter
Oxford

JointInitiativeofIITsandIISc Fundedby
MHRD

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