Root Locus 265

FIGURE 7.15 Location of the breakaway point.

FIGURE 7.16 Determination of the departure angle.

The system is completely unstable for K < 0: Therefore, this

example is solved only for the condition K > 0:
2. There are four branches of the root locus.
3. The locus exists on the real axis between 0 and 25.
4. The angles of the asymptotes are
ð1 þ 2hÞ180
g¼ ¼
45 
135
4
5. The real-axis intercept of the asymptotes is
0  25  50  50
so ¼ ¼ 31:25
4
6. The breakaway point sa (see Fig. 7.15) on the real axis between 0
and 25 is found by solving dW ðsÞ=ds ¼ 0 [see Eq. (7.39)]:
K ¼ s 4 þ 125s 3 þ 5100s 2 þ 65000s
dðKÞ
¼ 4s 3 þ 375s 2 þ 10200s þ 65000 ¼ 0
ds
sa ¼ 9:15
7. The angle of departure f3D (see Fig. 7.16) from the pole 50 þ j 10 is
obtained from
f0 þ f1 þ f2 þ f3D ¼ ð1 þ 2hÞ180
168:7 þ 158:2 þ 90 þ f3D ¼ ð1 þ 2hÞ180


f3D ¼ 123:1

Similarly, the angle of departure from the pole 50 þ j 10 is 123.1.

Copyright © 2003 Marcel Dekker, Inc.