_ketch the root loeus plot lor gatv fedback

Control ay tom hovio

5s)H C) k for all valum qk
sCs+2st)

Solution;siapl: plot the polu and zans G9- Hr9 on

the s-plane
Sio, 1+j),f1-i)
step 2: k-o poinds
are

end potnta
kzo are

loous alsayt s tat gna

slep3: Abranch 4the root
pole (k-o)and enda (K=o
Por 2
No branchu Athe Aoot lous
sthp 4:
the
296 eal ars N?ll Le on
shp Apoi
root lo tuus singulartieg tothe
odd
jw
K:0
S-plane

Boo

Asmilole-3
Step: 6

i) Ne :P- Z 3-0 -2

(i) Tthe centrod the aymplolir

Ta= ZFintte pol- }Fiotte z ros
P-z

o-Itjl-1-) :-066
3-0
(i) the angl made by thr arympiot

4:0.1, , 3
p-Z
308
PA =60, Isö,
a sktched a! in th
Hene, tfre asy nplo
root low plot
irong
me t cal
The root locs iu aloay aym
o h s pe et to real oaria ay -the complr
root
conjgate pai
step 8: To Find the breakau ay point
The uom charotor3dic equaio

dh
ds

3s4s +2

the moots chos astertdic Lauatian art

S o-66+ o-441

The valus k at S: -0-66tj o-41|

afolltos
- 0-S261t ±04l2
lsz -0-66t o4il
For a lineor K shoutd aloays bo real.
at s -ob6
In tie prt 4ont case, sin
Kis romplbx tjo4t1
away poinls.
dportur thr porag's
stop To Find tf ongle 9
polu
 the
compn polt at

S: -1+jl dron vectork eon ofhu pole

this ohose
dipoilau 1s batag raluatd
ange q

-jw

From Fi9
tar(:I35°
18o -

- (80'-90+ 135 - o] -y6

the ang drailuu -tku pole ets s(-i-i)

stap:10 To Find-tf intessedion potnt ol the root Joauy

potnt of
on the jw-^is Klorclozd toop
 s 2 s 425 +K

(K-20+) tj(2y-w³):0
and w(2 -w):
w: t 2 K=4

closd loop stab:ty: 0akey

For
Sioce there t6 a,t(on dttionk tor stobihty , the
s table
con di tionally

AsI

(K)

K=o
-|

-lj

2y
she tch tfhe root louu plot oro<k<
find

(st 2) s +4) (i:)The nod fhe point h

locues
votio
Salution (i) The point hea 4hr
S -2, -4 lou oOA the o4s
K:0 poinia ralio

s 2+14)(2 j4) damping n

pointa are

No 4 asgmptota
point
Break a wa =o
|+e rs) HCS)

+6s t9)

dk S - 88
ds
Qrrival
ton =3389°
45
tan)
 tit 2+j4

2-j4
- jw

farrival isd - [ z ,- Zpdu]

I68- 69

angk arrival Cormplex zero at ss2.-j4

the complrx
the
- 163*6 q
arriral

Intersedion poini and thr ange

The chare etustit ea uation

( stt6s +)

S (K+) + s(6-4k) +{g+ 20 k ]=0

w(kt) + j wr6-4k)+8 + 2ok
-
20K-o
- wz (K+) +8 +
We
w:t t 2 0 X1-S : t3-7rod/tee

b. Cos -I

Praw a line ohing an angk

real'axis
with res peet ngativ
Thia ine uta the root loce at the points,
veetor o fhe var'o uw polu dnd
Praw the 5,
Keroto point s, and theo TNeagure he
boglh
o thee tors,

duet 9 longths bhs the poind s.topoly

K: Pro
produet 9 lengti the poinB s, to 2ero
k: axb 3 x 4 -0-4143
3-64x 44

C. S3.4 180 - 63-3°

U6-70
3-4

il6 6°
:3.4 cos 6-7 +ý34 sin
= -|-52 +j3-031
 -0.45 j

(K- 1.5) 168.69°

4
J 3.9
h3,8 K= 00
C3.6
3 d= 7.5
34

K=0 63.3°
0

-]4
Breakaway
S=2.88
point
-2

-3

J3.9 K= 0
(K= 1.5)
-168.69

4
-2 2 3 4

shelch the roo (ous

louu ol o-l oo closd loop yoan
an opan loop Bona er unction
havig k(s+) (s+)
SG-1)
4om 0 to o
For all valus ging cloned - lo op
Find the valun
stabs lthy
Solution:

zeros GC94s) en the

Srgl: plot the poleu 4
plane
 pointa St0,!

k: 00 poinla
No branthu :Por z
2

2- 2 =)
NO ympfotu
thee
ItGs) H)
|+ k(s t 2) (s+)
SCs -)

k -(s*-s)
(s²+ 3s +2)
dk 0
ds

S:+0366 S - | 366 6

k st3S 2
S0-3666.

k Ba pak ?n
(s-s) = |34 28
st+35 + 2
SP-|·366
che
ythm hor ac tutstic equation
on i

Lt kCs+)s t 2) -
SCS-)

srk+) 4S(3K -) +2k 0

S w

+w(3 k -1) + 2ko

-wcK+1)
2k-w(K+)]+iw(sk-1) o
l
wtcK+1) =0

3K-I 0
w3k- |) =0
(wfo)
rad fee 3

b/. 0 and Y, the rootdocrs

the valuu 4 K tene
-sidr the s-plan.
the atabslity 3 k
clotud
 1.5+

1.0 splane

0.5

KO
0.0

-0.5 Break-in point Breakaway point

(s-1.366) (s=40.366)

-1.0

-1.5
-2,5 -2,0 -1.5 -1.0 0.5 0 0.5 1.0 15

sketch the roo1 locuy plot forall yals 4 1e

a nigali udbalt
ranging tom
Contral yem chanlrigo by
Gs) Hes) ke+6

s CH)s +2)
hood docui.
shos the galient gointn
Solution
k: o S

braochu : Por z
3
: P-2

9
 Centroid

polu

(0- - 2) - (-6)

= 246°

To Find breakao porn+

1+ k Cs +4)

+3s2 + 2s )

Break oy pormta dk
ds

3s4 6s +) - E t3s+9)
(3+) |
(s+)2
s3+21s+
+ 36
36s t 12 -0
 - 8.4sS

aae n ot the
S: - 8.455 and
Locus henre not
poina
break aw
The valu#k at -8-q45S S - |"60 2

k:-s+ 3s+2s
= -|673
St 6
S-By4s

k: -s+ 3s+25
S+ 6 S-|·60

Sin re ngedive at S - 8-4sS s -l-602

: urthr Conrm +hat S : - 8-4$5 and

heak away poina
te
S -|·602

k: -s>435 t2s 0.069

S=-0-4Y 29

I+G0s) -HCS)0

3ug2 +
 (6-32)
(Kr)w
k: 2

For stabtlig
8

s-plane

2K-2)

|K=0 90°|
K0 2700,

Brcakaway point
(s=-0.4429)

J2(K-2)
AS,

6 - -3 -2 1 2