Module -3

Root locy technhqus

path tatod
traed by the oot
the
Root lo caet
charatsie equation ohen one d he
the
the gai n consont
SysTem pramelr's us cually
voritd rom
Ahen the Constan K varied Asom
to ejuation iva tha compom tnhry oot
Lous.
ohen the qain Contant vaned 7som
k a vantd
the
the root o charactristie
-0o to bo path rool loCug
cquation tve te complde
Let

unity fudbaak sytern

for zemi(N)
kl2eros) ’ opn loop
(pole ) opn loop poler(0)
lo)

closod
funetoy
lop
for U FB (tf/s)rO
eauatin p+kN o
choratuistc e4uadio
RrS)

Cemstruct oot locut diagam or Dx k<o

; de ta mine te slus:lity
OL TF z $(s) : k open loopKoro tn) N:|
s(st 2) open loop pbla(B)= 2
P,at sroj P t s2

CLTE -
K

2cs) sCS+2)tk

chor
S

- |£V-k
5,: - | tV-k

oth a table zampe the impotan

dou diagram
diay ram 5

S,
-1 -l4j 2 -ltj3
-"704 -| --j2 -I-)3
-

S
 tnvoved or (onstrurffon ) root (ouy
locus
Rulesd'agram
/stps i (omarke)
KCS +1)st2)
S(s t 2)

k
() 5s) 4cs) -
Sst y(s4) /s+6)

al keo)
pornta ol roods loan (ie, at
Pule No. 1: stortin
The root loci alaoay startA at the open
loop pole qrs)- H9)
So S=

eg Staet ng poinb aF so; S:-:s--4;s -6

point at
s tarti g
poina oot out Cie, keoo)
Rule No 2:
enda on the open
The root loei
s)
G
al
He s)
240
toop
pointa
endng poinds at S

cnding
 individual oot loci
kule No. 3: Total No.
4 separat ool Jories equal to Np
The mo

(or equal to Np
Nz

Np- o ) on oop poleg

loop 2os

2
NO 9 oot loi : 2
Nz 2

Npy No

Rule o. y: Hhe hoot ou

The rool oet plot ill ebe

about th real ais S

Pule No- . R roo! loci

Portion 4 4ks on the rea
ayis
Aqiven stion o
+he
ox
poind
root ocus the fotal
fhe
ond zoo: to the right
in 'opp'
+fe setion poin
Aule ao. 6: Asy mptotes 9 rmot loci
For lorg dista nre from the ort in in s plone a set
to t&e boanehey root toa apprmach
line ta ld aymp tote
The Np Nz

eale e i : Irtssdiom Asy mplolu

otoseetion the
the poind Called Centroid (o
-the real ax5

fentroid s: ZP - z
Np-Ne
S: (0 - 2-4- 6) - 0
 Rule No. s
Angh 9Aymglot
mplo and the ral axis
The angl b/w ay

Loha K: 0,1. 2,3.. - .

By
NpNz

Foy

:5T

-315

Rule No.q; Break away oint, Bre ak n point

The point
ai 9 plane
locs
at ohich braches the root

rrive at the eal axIs os known

{rom dfontiti
bre ak cuy pointh, 74 a obhined by
k the chavaetaistie

for e sCS t ) ( Sty) 6+ 6) #k=0

 (s+Js)(s+6s +s 2 4)+k0
(s42:) (9+ 1DS+24) 4 k r o

k=

rt quate to 2eD

k
- [4s' 36s444s tu D
ds
S : -046
S -0S 23
S: - 3

Pale o. lo.
2-H (itori on

s4
S3

au
k

sl l420-12k

K
 ariral
dtrmin
tois
bearriVal onee ange4
patuu d angk
for dtesmind
and
TOL
any Jn
l Angh and partau deAngk 1No. Pule
unslb >180
>
inalstable
ly Mavg ’ Iso
[60 - Ltos
40s160
b 2
L0s+l60
0
16
d k:
T420 |2k
o 12k|420-
l420-|2k oun me
stable
 Deiniliona:
S. stratghl ine to ohich the root le auy
An Asymg tot. parnllaly 'and :na ly mute at s o

P-Z

P-z
40.1, 2....

hieb A. mot
Angl dipartor The ale af
ts called th
Re

lous l oves a complen

complia pile
angle dapal
180
2zeros
ge at kaeh the rool log
Ang arival: The
angh alled
arrire at a compua

z eroS

S: -|
S : -l-jl

: 18d -ton"() 135

 the pole al S --j!
The

0rrival - [rtens z+polu

=(63- 6q°
: 33-69°
 Sketch he toot lo plod
cuntroly rtem havig
Grs) H(s)

solulion
the poly and
stap 1: plols plane
splane
K:o k:0

teal aris' lo
lo uw

2: * =0 Pointa S: 0, -I, -2 (Finie pole

loc atioa)
S bo, bo, 2P40
k:te poinh
lo aeli or)
4 the rool locue
NtbtaA Branch
stef:3 stort Ck: o) and ends
pole (k

breinche t
Numbr
Aohich exer
 46e ral artA lia on the roc
-5: A point
locuu i the mo
on obd nunber
fghtg his poind

(:) rentod the auy mplobe

Ta: stinth polu- zotte pole -3tintlh
P-2

(o-1-2) -0
3-0

made bey the with

(t) Ange d toh the real ats givn
-
(24 +1) 1g6 o, I, 3

P-2

22

Root lous plo! devekeprd uple of

‘jw

120

As3
 The mol locau lot
wtth pret oHAhu toalasi
sip'8: To find he breakaway pofnta
set dk
ds
The sytim charn elorithi equalion is
b K

s3-3s- 25
dk
sta setti ds

36+ 6s 420
s - 0-y 2

The root s=
not
break au
an the calaxi6
point because
ontyt
Toot
ro
locw. 4ence 1n the prczent
we have me bueak 4npoint
S: - 042

The Vo lur 4 k at the breakoway poinl

S3
3s225 -03949
Se -042
The valu k ct the brea k away point
be positive and
nut aluaty
valu A kk b/s the t0 poles ats:o sr -1
 fompulatlora
or
9eo) Hr) nol hare
dos no!
dos hare complex polg

sh tesfion the locy

To tind -A irlas point
jw. artk and the range 4 k for
On the

parts timu lbonehy

real 4Jrnaginany
k z0
w 2
w t 2 rad/se.c
K 3 uw2] : 6

clored loop Cornrol ho he

Jor the
stable o< k<t
 K

AsI

+j4 CK: 6)
As 2
Ke 0

K0
-2

Beakawuy point (S -0-42)

-j4(K:6)

k’
S3

rood ocuu plot 4 for qs)-Hr) k

omg s+){st)

plD:AHernate methad
sep:1o To Fiod k
$-H Crtleria
6-k
S3
2 3
3 k K=6
s'6-K
6-K o
3
To tird :maginany rota
ds
3 2

s -2
stj414