276 Chapter 7

oscillations (Fig. 7.23d ). Those portions of the root locus that yield roots in
the RHP result in unstable operation (Fig. 7.23e and f ). Thus, the desirable
roots are on that portion of the root locus in the LHP. (As shown in Chap. 9,
the
jo axis of the s plane corresponds to the 1þj0 point of the Nyquist plot.)
Table 4.1 summarizes the information available from Fig. 7.23; i.e.,
it shows the correlation between the location of the closed-loop poles and
the corresponding transient component of the response. Thus, the value of
the root-locus method is that it is possible to determine all the forms of the
transient component of the response that a control system may have.

Plot of Characteristic Roots for 0 < z < 1

The important desired roots lie in the region in which 0 < z < 1 (generally
between 0.4 and 0.8). In Fig. 7.23a, the radius r from the origin to the root s1 is
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
r¼ o2d1 þ s21 2 ¼ o2n ð1  z2 Þ þ o2n z2 ¼ on ð7:81Þ

and

s
zo

1 2
n
cos Z ¼

¼ ¼z ð7:82Þ
r on
or
Z ¼ cos1 z ð7:83Þ
Based on the preceding equations, the constant-parameter loci
are drawn in Fig. 7.24. From Figs. 7.23 and 7.24 and Eqs. (7.81) to (7.83)

FIGURE 7.24 Constant-parameter curves on the s plane.

Copyright © 2003 Marcel Dekker, Inc.