Root Locus Method

Chapter 7

Dr. Hasan Zidan

Associate Professor

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Chapter Outcomes
• Understand the powerful concept of the root locus and its role in
control system design.
• Know how to obtain a root locus plot by sketching or using computers.
• Be familiar with the PID controller as a key element of many feedback
systems.
• Recognize the role of root locus plots in parameter design and system
sensitivity analysis.
• Be able to design controllers to meet desired specifications using root
locus method.
Introduction
• The root locus method was introduced by Evans in 1948 and has been
developed and utilized extensively in control engineering practice.
• The root locus method provides graphical information, and therefore
an approximate sketch can be used to obtain qualitative information
concerning the stability and performance of the system.
• If the root locations are not satisfactory, the necessary parameter
adjustments often can be readily ascertained from the root locus.
• The root locus is the path of the roots of the characteristic equation
traced out in the s-plane as a system parameter varies from zero to
infinity.
RL Concept

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RL Concept

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Root Locus procedure

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RL Concept
𝑗𝑤

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RL Concept
𝑗𝑤

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RL Concept
𝑗𝑤

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RL Concept
𝑗𝑤

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ROOT LOCUS PROCEDURE
• Example
𝑗𝑤

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𝑗𝑤

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 PARAMETER DESIGN BY ROOT LOCUS METHOD
Automatic control systems for guided vehicles in factories have been installed. One system uses a magnetic
tape applied to the floor to guide the vehicle along the desired lane. Using transponder tags on the floor, the
automatically guided vehicles can be tasked (for example, to speed up or slow down) at key locations. An
example of a guided vehicle in a factory is shown. Ka is the amplifier gain.
Sketch a root locus and determine a suitable gain Ka so that the damping ratio of the complex roots is 0.707.

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PARAMETER DESIGN BY ROOT LOCUS METHOD

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PARAMETER DESIGN BY ROOT LOCUS METHOD

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PID CONTROLLERS

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PID CONTROLLERS

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PID Gain Tuning using Open Loop

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PID Gain Tuning using Closed Loop

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