The Path Of: Lose When The Constant

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RootLOCUS

His)
.. The path =lose
ofloop
C

When the constant gain


O
poles .

changes.
(K)
x Y
1
Q B
- L _

Äm Lof \
|

NIIII
ST

of+
Constant gain
.

K, 5+4Feedback
O
F
It
Forward gain |

O pen loop Forward


thisFeedback
gain
P
D I
x g
(tell
Closed loop gain
.

His) =

this - I
=
K - St
LINK

Char. Equation
S=-FK
= 5+4 + K=0
| _10
|
K
inm
1000
100
0 |
.

Pole-4 -5 -11
4 -101+ -1001
^

IM

|
K=0
.
8
&
down ï
<
Shows
ï
-5
_
x Real
in Which direction -4
the pole moves when
K increases. origin pole
&
.
!

inOKD } If
s
_
6

sketchthe system root loc HE A


H(s)= K(s..) -
5+6 X K (5-1)
Char. eg5+6+(5-1)=0
STGTKSK =0
open -6
loop poleo pen loop Zero
-1
sot

s+sk =

" it kk K.6
KG to
sod
_
ï

K=0 | 0
Eat
K=ï

S= Kit
HK
_

|
o
k
s
- _
=|
T
0

-6 _
TIN
10
II
l
"
a I
101
ï

When KE*

him
Keeled*
4=1
1-6 =

HKopen
* ï loop
Close pole
=

{
open loopSit K=0
pole
only
A C osed loop pole
open loop only
Zeros i
Stepsto sketch root locus:

10 findopen
t
Ä
poles (
loop _ x
open loop Zeros (0)
G
X, e =
ï c
K _ | Z_
12
Y

_ j
5 5

Ä - Poles: 4 l - 3

(-4/(5+3)
S
Zeros: ï x
. . .
f
.
'_

@ Draw
_

-3

axis to
odd
X ï
is

&
N |G
:\

278
ïTN
Break
away
real
segments on
theleft of
numberpoles
ï an
798
. . .

ï
B x

point
5-1 -
of Zero
poles.
4

:
-31-4-5
| ' *1*
of

Inst
in
< XOXXs
*to
ï ï
f,
Io r
don
to
W

D
rise
A B
F poles

polesalways
KFTKB
odd
Kecks - $ even

move
No segm
to zeros
* Arrows go
polesout side
of inc
and inside (directio
Zeros.
so |Teak
sr
away (direc
point.

.
..

Assymp tote
(180∞}odd
-
(Gu
direction
odd: 5.7....
1,3,
#P # zeros
(finite zeros)
(180)
QF 2 - __
-
=9'0 -0

270
OZ =

(180)(31
of Z.
Break away point -s at
exist

Use cha
.

His) I
= A
BTKA
Char BTK
eq 7=0
51k*
= to
me K=., to
(5)
.
| _ (5-4
615) =
|

141=18 (5.4/(5+3)=
=

SX •18
25-1 $tttz
=0

Example Y

.
to {
|
a 5
_
+4)
10)(s

for His).
sketch the root locus

Open loop poles


101-4
- - _|
:-
O pen loop ïzeros
1*
x x
_
|
QF
_

(180)(1)
V
]
It
= (1801/30=270
OZ
$f)
dkts=25-
to
I
Terser

|_
.

V
B <

7=90
118
K=
Iker
=

5.
=

+4)
(5-105
65 -40
.
. _

K=0
bty
i
x)x<
IX5 for
| Unsta
K=0

|
Stable
in

When K=0 system


it
shu
all XT
Value
x
= x x
> +<
K=0 K=0

When K=0
K=0
_
x
::valuesit
the
*on s ret Ä to
<
|
of hi
.is unstable.
K=0

X
Stable for
K
_
x > <
KEO

|
\
system is
X
x
- .

K=o
Unstable
all value
X,
Example | y
_

^
onto
ï 0*
_
$5 _
-5+1)
|

<
_

sketch the root locus


O pen loop gain- G(s)=
55-1/(5
open loop0.1-1
poles
: :
o pen loop Zevos N, ï
to,
/
-
~
m
.
0=
anta

_
in

ï\ |
(180 db
e X \ /x
-1

\60 = 1
(180
#PHZ
ï

|
oxÄf

of-of|
, .B <
. . .

the

0, #1480 pt
3
=
I_
03 = =300
JK= (5-1/(5+1) = s
to
= s S

= 352-1=0 X
tou
$ls
5=

/
does
root locus.
6 is the pointhich
at w
:

centroid assympt
(Guidelines)
(0)+ |
EP.EZ+1-1)
=
6=
- #P_
(Asymptotes
guidel
and Notare

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