262 Chapter 7

K
FIGURE 7.14 Root locus for GðsÞHðsÞ ¼ .
ðs þ 2Þðs þ 4Þðs2 þ 6s þ 10Þ

in the form
Q
K wh¼1 ðs  zh Þ
GðsÞH ðsÞ ¼ Q ð7:64Þ
s m uc¼1 ðs  pc Þ
Recalling that for physical systems w  n ¼ u þ m, the denominator of C(s)/
R(s) can be written as
Qn
j¼1 ðs  rj Þ
BðsÞ ¼ 1 þ GðsÞH ðsÞ ¼ m Qu ð7:65Þ
s c¼1 ðs  pc Þ

where rj are the roots described by the root locus.

By substituting from Eq. (7.64) into Eq. (7.65) and equating numerators
on each side of the resulting equation, the result is
Y
u Y
w Y
n
sm ðs  pc Þ þ K ðs  zh Þ ¼ ðs  rj Þ ð7:66Þ
c¼1 h¼1 j¼1

Expanding both sides of this equation gives

! !
X
u X
w
s  n
pc s n1
þ þ K s  w
zh s w1
þ
c¼1 h¼1
X
n
¼ sn  rj s n1 þ ð7:67Þ
j¼1

For those open-loop transfer functions in which w  n  2 the follow-

ing is obtained by equating the coefficients of s n1 of Eq. (7.67):
X
u X
n
pc ¼ rj
c¼1 j¼1

Since m open-loop poles have values of zero,this equation can also be written as
X
n X
n
pj ¼ rj ð7:68Þ
j¼1 j¼1

Copyright © 2003 Marcel Dekker, Inc.