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34-37 - Root Locus Final SV
34-37 - Root Locus Final SV
KGB HCS I
I t K is g 8
32 ft Jm O
pi
1Pa
Capri
m no
of open loop zeros
n no
of open loop poles
Angle of a Test Point
Suppose a
following system is given
HCS K Cst3D
Kals
1Stpi DtPD Sfpd tPD
ZHEN E layoff
I KG HID K B1
At Az As A4
Note The complex poles or zeros always exist as a conjugate
pain and symmetrically located about the real aai
Root locus is always about the real axis
symmetric
the root locus is constructed draw The
If
upper half of
of upperhalf in the lower half plane
minor image the s
Kab Hcs LE LE LE
I 180 2g l
of
0 I 2
KGB HID L
K_
S S DCS12
Ajw Ajw
Testpint
X
o oo
X
Z 180
64 Xs f ng Q o f
5 2 S I 5 2 S I
v jw v jw
O 1800 188
satisfiesthe conditionofangle
Real axis fan o to 1 is the partof
soot locus
Ajw
O 188 Igo
Testpoint
360
Coo
f 480 480
64
5 2 5 1 so b angle condition is not satisfied
Real anisfsan l bi z is not
the partofroot locus
a jw
Ajw
Ajw
Potton Rootbows
givorootloas
Z z
X X X x
64 5 1 5 0
21
5
Noroot
lows
v jw
General Method of Root hoeus
Symmetry Rule I Root locus is always symmetric aboutThe
real axis The roots are either real or complex conjugate or
the combination both so the soot locus is always symmetric
of
about the real axis
Rule 2 Numberof Loei
0L TF poles n
OL T F m
zeros
No of soot loci n
IfEach locus
m m
taxis In s Eo kami
g Eng
k
RL
RL
x
jw
Rule 4 Angle
of Asymptotes
as n m that is no
of poles greater then zero
are
0 29 1 188 K
for O
where 072 z en m D
q
O
3 x188 for KO
O l Z Ch M l
of
Rules Center
of Asymptotes
Example GG Hcs KG 12 k O
81st 1 is 14
n 3 m I n m 2 M m l L q
o I
No of asymptotes n m 2
0
q o
14
21 188
Iz x 188 900
q I O 29h11m 188 3
2
1800 278
Centirod O l 4 C 2 I 5
2
521 32
Ajw
275
E sEas.Et 5 1 xs.o f
43
asymptotes v
jw
Mattals
I 2 I 5 9 03
y tf
slows y
or
slouisplatly
Example GC HCS K K o
BCS 11
f stitj
n 3 m O n m 3 N M 1 2 O l Z
q
9 0 D 2qn m i8o 13 1800 600
18 30
q68
a 4 K
53 0
6axis 3 taxis
X 1
82 1
j jw is
Matlab Code
polycco Iti I i
fitfcs.gs
slowly
Example 9 It KG 133
fast 2 8 4 5
n 4 m I n m 3 n m 1 2 0 1,2
q
q o 0 2914 1800 13 188 Gd
6 0 2 4 5 C3
1800
g I
D 3 1800
2qmXl8o 3
3
2 667
2 O
2qn.I.mx
8oo
5gX 893000
1800
3
Ajw
3ooo
i x x is
6 6
I
Ljw
RuleG Break Away Break In Points
Iw
Gts H S K
SCs ti 3
greedfaypirt
x x x
to X y
do 6
a
Roothours
v
jw
Prediction 2
there aretwo adjacently placed zeros on The real axis
If
and the axis in between is the
part of the soot locus one
minimum break in point exists in b w the adjacentlyplaced
zeros
Example ACS Hls Kast 2 4
nm
84 15
Ajw
Break
in
point
Fk
6 Es a
a
s so
f
Roothours
jw
Ajw
Breakin
a O
do a 5 6 SE s i
RL
x
jw
break in points
Steps to determine break away
Steps Frame the characteristics equation ofthe system
I Kals Hcs 0
83 582 6 K 0
Step 2 3 2
K 5 Gs
Step 3 dk 315 10 f
DTs
3g 10 6 0
315 110 16 0
Step 4 B 10
IF U 3 6 o 785g 2.55
6
Break in Break at o 785 or s 2.55
away expected
S O 785
procedure is followed
Construct the equation It G His 0
Steps
Away in terms of K
Routh
Steps Develop
Find K critical stable condition
step 3 for
step a Make Acs
auxiliary equation
steps find roots
ofAes to get pointof intersection
GG Hls K
Example
IS 8 12 4
step2 S3 I 8
2
6 K
1 48 o
fo k O
48 12 48
step 3 0
61
Step 4 A 684K
ACD 684K 0 682 48 5 8
Steps
IS Ij 2E
Rule 8 Angle of Departure Arrival
The root trees leaves
from the complex pole and arrives
at the complex The two angles are known as angle
zero
of departure and angle of assinal
Angle of departure Od 188
a G Hes
tag
angle of a Hcs excludingthe pole
where the
anglaisHess is
which angle is to be calculated
for
Angle of arrival 188 anglais Hess
Oa
the
ay Cam Hess is the angle of Gls His excluding
where
Example GG HG Kist 3 k o
G 12 tj is 12J
fu pole is 2
tj the term is 12J should be excluded
t i I IE HIT
K 445
524900
24450
Od 180 t C 45 135
For pole 8 2
j
96 Hcs K s 13 KC 2
j 13 K
2 Cz
s a
j Ds j j iz
j
4450
KII 445 Iq
Ode 180 t 450 2250
Angle of Departures Ods 135 G Od 2250
1350 Ajw
A
x j
y
y
d o
o
225
j
v
jw
to 4108430
9 HCD KC 2g't KC HD
5 2
yc 2tjjf 2
jtztjjf ztjxzjJ
o.ae
kfooh
Odz 188 108 45 71.570
A
A jw
f71.570
X 1g
4 y
o H o
C Zo
i
x Ij
71.570
xjw
I
Root Hocus Plot
Steps for
Determine poles and theirnumbers number of loci
zeros
Rule 1 Ee Rule 2
using
Indicat pole zero location on plane
Find the seal loci using Rule 3 Show the real axis
loci by dark line
Find the number of asymptotes and Their angleis using
Rule 4
Determine the center of asymptotes using Rule 5
sketch results of step 4 Ee 5
Determine the breakaway I break in points using the
Sule 6 Show these points on graph
Determine the Rule 7 The
jw crossovers using if
locus crosses the axis
jar
Calculate angle of departure or the angle of animal
due to complex poles and zeros using Rule 8
Combine all above steps and draw root locus
Predict
stabilityofthe system
Comprehensive Example 1
Gcs Hcs K K O
8C8tItj C tl j
0
ofloei n 3
steps poles n zeros _m
3 no
no
G loci meeting at infinity n m 3
Ge o l l O O 667
3
ajw ajw y
tj 1j
i i
i i
e i s
f g p
6
f i f
x j x I
x x
jw jw
I
Since the loci do not break real axis
Steps away from
calculations
for break away point is not required
Stept It GCs Hcs 0
I t k o 93 282 28 14 0
Sf tltj SH J
S3 I 2
0 12 4
2 2 K 421
1 41
2
o AG 282112 0
282 14 0
80 K O
S
g 2
IF2j
Gls Hfs K k o
Steps
Sitt j C tltj
H k 435
u jgkh j i
jg e czj
j
Od 1801 1350 315 450
By symmetry Ode 145
asymptote
Steph
e.fi
ajwq.i
II
no
a 4 X is
asymptote 6 i i 6
I
ray asymptote
T'w
Comprehensive Example 2
GCD HCS K K O
K 13 15
n 3 m O n m 3 n m 1 2 0,112
steps q
Munhuofloee n 3
number ofbriapproachington n m 3
Step 2 a jw steps a jw
d x x x x 4 X X X x
6 5 5 5 3 5 0 6 6 5 5 5 3 5 0 6
of pg
RL
v
jw v
jw
Step 2o 68 Steps
q o Q m
1800
O
co 3 5
83 2 667
01 1806
02 300 7
Ajw
1800960
a 4 X XD X x
6 5 5 5 3 5 0 6
Step 7 HG HG O
83 882 115 11 0
S3 I 15
120 12 0 AG 882119 0
82 g k 8 882 120 0
k 120
1 120
1
8
O S IfT5j o
S I 3.87J
fo k O
assined
Steps No complex poles or genes no no angle ofdepartun
Step ajw
i
68
d X X Tia X x
6 5 5 5 311 i 5 0 6
4 38738
ni
G i
i
i
jw I