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Root Locus Analysis in Z Plane: Dr. Sadeq Al-Majidi

The document discusses root locus analysis in the z-plane. It provides an overview of how the root locus method can be used to check stability of digital control systems based on the system's gain. Construction rules for drawing the root locus are presented, including starting points, termination points, number of loci, symmetry, and unit circle crossover. Two examples are provided to demonstrate applying the rules to draw the root locus and check stability for different systems using their characteristic equations. The key steps of determining open loop poles and zeros, finding breakaway points, and checking unit circle crossover are illustrated.

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130 views

Root Locus Analysis in Z Plane: Dr. Sadeq Al-Majidi

The document discusses root locus analysis in the z-plane. It provides an overview of how the root locus method can be used to check stability of digital control systems based on the system's gain. Construction rules for drawing the root locus are presented, including starting points, termination points, number of loci, symmetry, and unit circle crossover. Two examples are provided to demonstrate applying the rules to draw the root locus and check stability for different systems using their characteristic equations. The key steps of determining open loop poles and zeros, finding breakaway points, and checking unit circle crossover are illustrated.

Uploaded by

jin kazama
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Lecture 9

Root Locus Analysis in Z


plane
Dr. Sadeq Al-Majidi

Dept. Of Electrical Engineering/ College


of Engineering/ Misan University
Control Engineering
Fourth Year
OUTLINE

• Overview
• Construction Rules for Root Locus
• Examples

2
Overview

• The effect of gain on digital control system is important


section for stability state.
• The root locus methods is considered the most important
method to check the stability of the system based on the
gain controller.
• Root locus construction rules for digital systems are same
as that of continuous time systems.
• we can calculate and draw the root of stability by using
characteristic equation.
• The system is considered stable when its root is locus
with in unite circle

3
Construction Rules for Root Locus
1. Starting points (K=0): The root loci start at the
open-loop poles
2. Termination points (K = ∞): The root loci
terminate at the open-loop zeros when they
exist, otherwise at ∞.

where a represents zero and b represents pole


3. Number of distinct root loci: This is equal to the order of the characteristic
equation.
4. Symmetry of root loci: The root loci are symmetrical about the real axis.
5. Unit circle crossover: This can be obtained by determining the value of K
for marginal stability using the Jury test and then substituting it in the
characteristic equation.
4
6. Breakaway (Break in) points is a location on the real axis where the root
locus branches either arrive or depart from the real axis. It is calculated by
the following equation:

5
Example 1 : Draw the root locus for the
characteristic equation:

Solution:
The general equation of G(z) based on zeros and
poles is

GH(z)= 0.368K(z+0.717)/(z-1)(z-0.368)
NOW, the open loop poles:
(z-1)(z-0.368) z= 1 and 0.398.
Then , the open loop zero :

(z+0.717) z= - 0.717. and ∞


6
Example 2: check the stability of the system shown in figure below by using
root locus method when the T=0.5 second and the gain controller is
integral?

Solution :
The G(z)

7
The controller is an integral controller: K/s =k(z/z-1)
Now, G(z) =

The characteristic equation :

Now T=0.5 second:

Now, the open loop poles: ( by comparing )


(z-1)(z-0.6.65) z= 1 and 0.6065.
Then , the open loop zero : z=0

8
Now, 1+KGH(z)=0 KGH(z) = -1
K = -1/G(z)

9
Unit
Zero circle

Break Pole
point Break
point

10

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