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Root Locus 1
Root Locus 1
General Overview
This section discusses how to plot the
Root Locus method Step by step procedure is used inline with an example Finally, some comments are given as the complement for this section
stability of the system Closed-loop poles location is influenced as the gain is varied Root locus plot gives designer information how the gain variation influences the stability of the system
Plot Example
Ro L c s ot ou 4 3 2
1 Im aginary A xis
-1
-2
-3
-4 -6
-5
-4
-3
-2 RaA is el x
-1
Important Notes:
Poles are drawn as x while zeros are
drawn as o Gain at poles is zero, while gain at zeros is infinity Pole is the starting point and it must finish at zero; therefore, for every pole there should be corresponding zero Root locus is plot on the s plane
Standardization
R(s)
+
G(s)
-
C(s)
H(s)
C ( s) G ( s) = R( s) 1 + G ( s) H ( s)
Find Characteristic Equation!!
1 + G(s)H(s) = 0
Start from the characteristic equation Locate the poles and zeros on the s plane Determine the root loci on the real axis Determine the asymptotes of the root loci Find the breakaway and break-in points Determines the angle of departure (angle of arrival) from complex poles (zeros) Find the points where the root loci may cross the imaginary axis
Example (1)
K G(s) = s ( s + 1)( s + 2)
H (s) = 1
K 1+ =0 s ( s + 1)( s + 2)
Example (2)
1 .5 1
0 .5 Im g a Pa a in ry rt
- .5 0
- .5 1 3
- .5 2
- .5 1
1 - .5 0 Ra P r e l at
0 .5
1 .5
Example (3)
1 .5 1
0 .5 Im g a Pa a in ry rt
- .5 0
- .5 1 3
- .5 2
- .5 1
1 - .5 0 Ra P r e l at
0 .5
1 .5
Example (4a)
180 o (2k + 1) = 30
[0 + (1) + (2)] [0] = = 1 30
Example (4b)
1 .5 1
0 .5 Im g a Pa a in ry rt
- .5 0
- .5 1 3
- .5 2
- .5 1
1 - .5 0 Ra P r e l at
0 .5
1 .5
Example (5)
From the characteristic equation, find
K = ( s 3 + 3s 2 + 2 s )
then calculate
dK = (3s 2 + 6 s + 2) = 0 ds
Example (6)
This example has no complex poles and zeros, therefore, this step can be skipped!!!
pole = 0 sum from pole + sum from zero zero = 0 sum from zero + sum from pole
6. Determine the angle from complex pole/zero
Example (7)
Do this part by substituting j for all s in the characteristic equation
( j )3 + 3( j ) 2 + 2( j ) + K = 0 ( K 3 2 ) + j (2 3 ) = 0
= 2, K = 6 or = 0, K = 0 7. Find the points where the root loci may cross the imaginary axis
Example (8)
Ro L c s ot ou 1 .5 1
-0 .5
-1
-1 .5 -3
-2 .5
-2
-1 .5
-1
-0 .5
0 .5
1 .5
RaA is el x
Comments
K(s m + b1s m 1 + ... + b m ) G(s) H(s) = s n + a 1s n 1 + ... + a n
nth degree algebraic equation in s If n-m2 then a1 is negative sum of the roots of the equation and is independent of K
It means if some roots move on the locus toward the left as K increased then the other roots must move towards the right as K is increased
num 1+ =0 den
Next
Topic for the next meeting is Root Locus in positive feedback