Syed M.

Afzal, 180401046

Assignment 06
1 Sketch the root locus of the following transfer functions using
MATLAB:

1.1 Part a

g=conv([1 2],[1 6]);

k=1;
G=k*tf(g,[1 8 25]);
figure,
rlocus(G)

Figure 1 root locus of part a

Syed M. Afzal, 180401046

1.2 Part b

k=1;
G=k*tf([1 0 4],[1 0 1]);
figure,
rlocus(G)

Figure 2 root locus of part b

Syed M. Afzal, 180401046

1.3 Part c

k=1;
G=k*tf([1 0 4],[1 0 0]);
figure,
rlocus(G)

Figure 3 root locus of part c

Syed M. Afzal, 180401046

1.4 Part d

g=conv([1 3 3 1],[1 4]);

k=1;
G=k*tf([1],g);
figure,
rlocus(G)

Figure 4 root locus of part d

Syed M. Afzal, 180401046

2 Find the centroid and assymptotes of the above transfer functions

2.1 Part a

𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 = (𝑠𝑢𝑚 𝑜𝑓 𝑟𝑒𝑎𝑙 𝑝𝑜𝑙𝑒𝑠) – (𝑠𝑢𝑚 𝑜𝑓 𝑟𝑒𝑎𝑙 𝑧𝑒𝑟𝑜𝑠)/𝑃 − 𝑍

𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 = (−4 − 4) − (−2 − 6)/2 − 2

𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 = ∞

The number of poles and zeros are equal so the centroid is ∞ and there is no asymptote.

2.2 Part b

𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 = (𝑠𝑢𝑚 𝑜𝑓 𝑟𝑒𝑎𝑙 𝑝𝑜𝑙𝑒𝑠) – (𝑠𝑢𝑚 𝑜𝑓 𝑟𝑒𝑎𝑙 𝑧𝑒𝑟𝑜𝑠)/𝑃 − 𝑍

𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 = (0 + 0) − (0 + 0)/2 − 2

𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 = ∞

The number of poles and zeros are equal so the centroid is ∞ and there is no asymptote.

2.3 Part c

𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 = (0 + 0) – (0 + 0)/𝑃 − 𝑍

𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 = (−4 − 4) − (−2 − 6)/2 − 2

𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 = ∞

The number of poles and zeros are equal so the centroid is ∞ and there is no asymptote.

2.4 Part d

𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 = (𝑠𝑢𝑚 𝑜𝑓 𝑟𝑒𝑎𝑙 𝑝𝑜𝑙𝑒𝑠) – (𝑠𝑢𝑚 𝑜𝑓 𝑟𝑒𝑎𝑙 𝑧𝑒𝑟𝑜𝑠)/𝑃 − 𝑍

𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 = (−1 − 1 − 1 − 4) − (0)/4 − 0

7
𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 = − = −1.75
4
Syed M. Afzal, 180401046

180(2𝑞 + 1)
𝜃=
𝑃−𝑍
Q=0,1,2,…..,(P-Z-1)

180(0 + 1)
𝜃= 𝑞=0
4−0
𝜃 = 45

180(2 + 1)
𝜃= 𝑞=1
4−0
𝜃 = 135

180(4 + 1)
𝜃= 𝑞=2
4−0
𝜃 = 225

180(6 + 1)
𝜃= 𝑞=3
4−0
𝜃 = 315

3 By looking at the root locus graphs, comment on their stability.

3.1 Part a

As the poles of above system are all lie in left half plane so the system is stable.

3.2 Part b

As the poles of the system are lie on imaginary axis so the system is marginally stable.

3.3 Part c

The poles of the above system are at origin only so the system is unstable.

3.4 Part d

As the poles of above system are all lie in left half plane so the system is stable.