Professional Documents
Culture Documents
Root Locus (Kök Yer Eğrileri)
Root Locus (Kök Yer Eğrileri)
Root Locus (Kök Yer Eğrileri)
11
Lecture 1
Root Locus
What is Root-Locus? : A graphical representation of
closed loop poles as a system parameter varied.
Based on Root-Locus graph we can choose the
parameter for stability and the desired transient
response.
12
13
14
15
16
17
G()H() =
( zi)
( pi)
18
19
NG(s)
G(s) =
DG(s)
Therefore
KG(s)
KNG(s)DH (s)
T (s) =
=
1 + KG(s)H(s) DG(s)DH (s) + KNG(s)NH (s)
As a result,
when K is close to zero
KNG(s)DH (s)
T (s)
DG(s)DH (s)
i.e. the closed loop poles are essentially the the
poles of G(s)H(s).
when K is large
KNG(s)DH (s)
T (s)
KNG(s)NH (s)
i.e. the closed loop poles are essentially the zeros
of G(s)H(s).
Conclusion: The root locus begins at the finite
and infinite poles of G(s)H(s) and ends at the
finite and infinite zeros of G(s)H(s).
1 10
Behavior at Infinity
What if the number of (finite) open loop poles are
more than (finite) open loop zeros, e.g.,
K
KG(s)H(s) =
s(s + 1)(s + 2)
The poles are at 0, 1, 2
The zeros are at s .
Let s approach to then
K
KG(s)H(s) 3
s
Skipping the details, the asymptotes are calculated
using formulas:
The real axis intercept: The point where the
asymptotes merge on the real axis
P
f initepoles P f initezeros
a =
#f initepoles #f initezeros
The angles with real line:
a =
(2m + 1)
#f initepoles #f initezeros
Asymptotes: Example
Consider the unity feedback system
(1 2 4) (3)
4
=
41
3
(2m + 1)
a =
3
which yields 3 , and 5
3
1 11
1 12
Break-away
point
Break-in
point
1 13
1
G()H()
1 14
1 15
zero
dK 11 2 26 61
= 2
=0
2
d
( 8 + 15)
which is achieved for 1 = 1.45 and 2 = 3.82.
it can be shown that a break-away or break-in point
satisfy
1
1
X
X
=
+ zi
+ pi
Applying this formula to our problem, we obtain
1
1
1
1
+
=
+
3 5 +1 +2
which would yield
11 2 26 61 = 0
(same as what we obtained before)
1 16
j Axis Crossings
Use Routh-Hurwitz to find j axis crossings.
When we have j axis crossings, the Routh-table has
all zeros at a row.
Find the K value for which a row of zeros is achieved
in the Routh-table.
Example: Consider
T (s) =
K(s + 3)
s4 + 7s3 + 14s2 + (8 + K)s + 3K
1 = 2 + 3 4 5 + 6 (2k + 1)180o
1 17
2 = 1 3 + 4 + 5 6 + (2k + 1)180o
1 18
1 19
1 20
1 21
1 22
Number of branches: 3
Open Loop Poles: 0, 1 10 (Starting points)
Open Loop Zero: 1.5 (One of the end points)
Real Axis Segments: [1, 0] and [10 1.5]
Asymptotes: a =
11(1.5)
31
= 4.75 and a = 2 , 3
2.
1
Break-in,away points: The derivative of K = G()
yields
2 3 + 15.5 2 + 33 + 15
()2
equating to zero we obtain
1 23