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Root Locus: ELEC304-Alper Erdogan
Root Locus: ELEC304-Alper Erdogan
Lecture 1
Root Locus
• Lets write
NH (s) NG(s)
H(s) = G(s) =
DH (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).
Root Locus ELEC304-Alper Erdogan 1 – 10
Behavior at Infinity
Asymptotes: Example
Break-away
point Break-in
point
zero
dK 11σ 2 − 26σ − 61
= 2 2
=0
dσ (σ − 8σ + 15)
which is achieved for σ1 = −1.45 and σ2 = 3.82.
• it can be shown that a break-away or break-in point
satisfy
X 1 X 1
=
σ + zi σ + pi
• Applying this formula to our problem, we obtain
1 1 1 1
+ = +
σ−3 σ−5 σ+1 σ+2
which would yield
11σ 2 − 26σ − 61 = 0
(same as what we obtained before)
Root Locus ELEC304-Alper Erdogan 1 – 16
jω Axis Crossings
θ1 = θ2 + θ3 − θ4 − θ5 + θ6 − (2k + 1)180o
Root Locus ELEC304-Alper Erdogan 1 – 18
θ2 = θ1 − θ3 + θ4 + θ5 − θ6 + (2k + 1)180o
Root Locus ELEC304-Alper Erdogan 1 – 19
• 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]
−11−(−1.5)
• Asymptotes: σa = 3−1 = −4.75 and θa = π2 , 3π
2.
1
• Break-in,away points: The derivative of K = − G(σ)
yields
2σ 3 + 15.5σ 2 + 33σ + 15
()2
equating to zero we obtain
– σ1 = −0.62 with gain K = 2.511 (Break-away
point)
– σ2 = −4.4 with gain K = 28.89 (Break-away
point)
Root Locus ELEC304-Alper Erdogan 1 – 23