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Generalrulesforconstructingrootloci

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Generalrulesforconstructingrootloci
Tofacilitatetheapplicationoftherootlocusmethodforsystemsofhigherorderthan2nd,rulescanbe
established.Theserulesarebasedupontheinterpretationoftheangleconditionandtheanalysisofthe
characteristicequation.Therulespresentedaidinobtainingtherootlocusbyexpeditingthemanualplotting
ofthelocus.Butforautomaticplottingusingacomputertheserulesprovidecheckpointstoensurethatthe
solutioniscorrect.
Thoughtheangleandmagnitudeconditionscanalsobeappliedtosystemshavingdeadtime,inthe
followingwerestricttothecaseoftheopenlooprationaltransferfunctionsaccordingtoEq.(6.3)
(6.11)

or
(6.12)

Asthistransferfunctioncanbewrittenintermsofpolesandzeros
)

and

canberepresentedbytheirmagnitudesandangles

or

(6.13)

FromEq.(6.8)themagnitudecondition

(6.14)

andfromEq.(6.9)theanglecondition
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for

follows.Here

and

denotetheanglesofthecomplexvalues

(6.15)

and

,respectively.All

anglesareconsideredpositive,measuredinthecounterclockwisesense.Ifforeachpointthesumofthese
anglesinthe planeiscalculated,justthoseparticularpointsthatfulfiltheconditioninEq.(6.15)arepoints
ontherootlocus.ThisprincipleofconstructingarootlocuscurveasshowninFigure6.3ismostlyused
forautomaticrootlocusplotting.

Figure6.3:Polezerodiagramforconstructionofthe
rootlocus
Inthefollowingthemostimportantrulesfortheconstructionofrootlocifor

arelisted:

Rule1Symmetry
Asallrootsareeitherrealorcomplexconjugatepairssothattherootlocusissymmetricaltothereal
axis.
Rule2Numberofbranches
Thenumberofbranchesoftherootlocusisequaltothenumberofpoles oftheopenlooptransfer
function.
Rule3Locusstartandendpoints
Thelocusstartingpoints(
areattheopenloopzeros.

)areattheopenlooppolesandthelocusendingpoints(

branchesendatinfinity.Thenumberofstartingbranchesfroma

poleandendingbranchesatazeroisequaltothemultiplicityofthepolesandzeros,respectively.A
pointatinfinityisconsideredasanequivalentzeroofmultiplicityequalto
.
Rule4Realaxislocus
Ifthetotalnumberofpolesandzerostotherightofapointontherealaxisisodd,thispointlieson
thelocus.
Rule5Asymptotes
Thereare

asymptotesoftherootlocuswithaslopeof

(6.16)

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For

and4oneobtainstheasymptoteconfigurationsasshowninFigure6.4.

Figure6.4:Asymptoteconfigurationsoftherootlocus
Rule6Realaxisinterceptoftheasymptotes
Therealaxiscrossing
oftheasymptotesisat

(6.17)

Rule7Breakawayandbreakinpointsontherealaxis
Atleastonebreakawayorbreakinpoint
existsifabranchoftherootlocusisonthereal
axisbetweentwopolesorzeros,respectively.Conditionstofindsuchrealpointsarebasedonthefact
thattheyrepresentmultiplerealroots.Inadditiontothecharacteristicequation(6.1)formultipleroots
thecondition
(6.18)

mustbefulfilled,whichisequivalentto
(6.19)

for

.Iftherearenopolesorzeros,thecorrespondingsumiszero.

Rule8Complexpole/zeroangleofdeparture/entry
Theangleofdepartureofpairsofpoleswithmultiplicity

is

(6.20)

andtheangleofentryofthepairsofzeroswithmultiplicity

(6.21)

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Generalrulesforconstructingrootloci

Rule9Rootlocuscalibration
Thelabelsofthevaluesof

canbedeterminedbyusing

(6.22)

For

thedenominatorisequaltoone.

Rule10Asymptoticstability
Theclosedloopsystemisasymptoticallystableforallvaluesof

forwhichthelocusliesinthe

lefthalf plane.Fromtheimaginaryaxiscrossingpointsthecriticalvalues
Therulesshownaboveareforpositivevaluesof
negativevaluesof

canbedetermined.

.AccordingtotheangleconditionofEq.(6.10)for

someruleshavetobemodified.Inthefollowingtheserulesarenumberedasabovebut

labelledbya*.
Rule3*Locusstartandendpoints
Thelocusstartingpoints(
areattheopenloopzeros.

)areattheopenlooppolesandthelocusendingpoints(

branchesendatinfinity.Thenumberofstartingbranchesfroma

poleandendingbranchesatazeroisequaltothemultiplicityofthepolesandzeros,respectively.A
pointatinfinityisconsideredasanequivalentzeroofmultiplicityequalto
.
Rule4*Realaxislocus
Ifthetotalnumberofpolesandzerostotherightofapointontherealaxisisevenincludingzero,
thispointliesonthelocus.
Rule5*Asymptotes
Thereare

asymptotesoftherootlocuswithaslopeof

(6.23)

Rule8*Complexpole/zeroangleofdeparture/entry
Theangleofdepartureofpairsofpoleswithmultiplicity

is

(6.24)

andtheangleofentryofthepairsofzeroswithmultiplicity

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(6.25)

Therootlocusmethodcanalsobeappliedforothercasesthanvarying

.Thisispossibleaslongas

canberewrittensuchthattheangleconditionaccordingtoEq.(6.15)andtherulesgivenabovecanbe
applied.Thiswillbedemonstratedinthefollowingtwoexamples.
Example6.2.1Giventheclosedloopcharacteristicequation

therootlocusforvaryingtheparameter

isrequired.Thecharacteristicequationisthereforerewrittenas

Thisformthencorrespondentstothestandardform

towhichtherulescanbeapplied.
Example6.2.2Giventheclosedloopcharacteristicequation

itisrequiredtofindtheeffectoftheparameter onthepositionoftheclosedlooppoles.Theequationis
rewrittenintothedesiredform

Usingtherules1to10onecaneasilypredictthegeometricalformoftherootlocusbasedonthedistribution
oftheopenlooppolesandzeros.Table6.2showssometypicaldistributionsofopenlooppolesandzeros
andtheirrootloci.
Table6.2:Typicaldistributionsofopenlooppolesandzerosandthe
rootloci

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Forthequalitativeassessmentoftherootlocusonecanuseaphysicalanalogy.Ifallopenlooppolesare
substitutedbyanegativeelectricalchargeandallzerosbyacommensuratepositiveoneandifamassless
negativechargedparticleisputontoapointoftherootlocus,amovementisobserved.Thepaththatthe
particletakesbecauseoftheinterplaybetweentherepulsionofthepolesandtheattractionofthezeroslies
justontherootlocus.Comparingtherootlocusexamples3and9ofTable6.2the'repulsive'effectofthe
additionalpolecanbeclearlyseen.

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