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The Path Of: Lose When The Constant
The Path Of: Lose When The Constant
The Path Of: Lose When The Constant
His)
.. The path =lose
ofloop
C
changes.
(K)
x Y
1
Q B
- L _
Äm Lof \
|
NIIII
ST
of+
Constant gain
.
K, 5+4Feedback
O
F
It
Forward 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
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
:\
.ï
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
(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
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)
|
<
_
_
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