Scribd
Upload
13 views11 pages

Chapter 2 Root Locus

The document discusses the root locus procedure for analyzing how the roots of a closed-loop system's characteristic equation move in the s-plane as the system gain K is varied. The procedure involves determining the starting and ending points of the root loci, their symmetry, asymptotes, breakaway points, and where they cross the imaginary axis.

Uploaded by

Emilia Hermit
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
13 views11 pages

Chapter 2 Root Locus

The document discusses the root locus procedure for analyzing how the roots of a closed-loop system's characteristic equation move in the s-plane as the system gain K is varied. The procedure involves determining the starting and ending points of the root loci, their symmetry, asymptotes, breakaway points, and where they cross the imaginary axis.

Uploaded by

Emilia Hermit
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 11

2.

4 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 is changed.

The root loci for the system are the loci of the closed-loop poles as the gain K is varied
from zero to infinity

 Open-loop system  Characteristic polynomial

 Closed-loop system

48
2.4 Root locus
The root locus procedure

1. The number of root Loci is the order of the equation P(s)=0.

2. K=0: P(s)=A(s)

The root Luci begins at poles of G(s) (The roots of A(s))

3. : P(s) = A(s)+kB(s) =kB(s)

The root Loci ends at the zeros of G(s) (The roots of B(s))

4. The root loci are symmetrical to the real axis of the s-plane.

49
2.4 Root locus
The root locus procedure
5. The angles of the asymptotes

6. The intersection of the asymptotes lies on the real axis of the s-plane, at

The intersection of the asymptotes represents the center of gravity of the root loci, and
is always a real number.

50
2.4 Root locus
The root locus procedure
7. Breakaway points
(a point in the s plane where multiple roots of the characteristic equation occur)
A(s)+KB(s) = 0 =>
Breakaway points are determined by
(RL for K≥ 0 are found in the real axis only if the total number of real poles and zeros of G(s) to the right of the
section is odd).

8. Determine the points where the root loci cross the imaginary axis.
- Use of Routh’s stability criterion, or
- Let s=j in the characteristic equation, equate both the real part and the imaginary
part to zero, and then solve for and K
51
2.4 Root locus
The root locus procedure
9. Determine the angle of departure from the complex-conjugate open-loop poles Pj
(To determine that the locus originating from the complex pole migrates toward the real
axis or extends toward the asymptote).

or

52
2.4 Root locus
Example 1:

The characteristic equation of the closed-loop system P(s): +K

1. 𝐾 = 0, Root locus starts at Poles of G(s): 0, −2, −3


2. 𝐾 = ±∞, Root locus ends at zeros of G(s): ∞
3. Number of root loci branches: 3 (order of P(s) n=3)
4. The angles of the asymptotes:

5. 𝛼 = 180°, l = 0, ∓1, ∓2, …

𝑙 = 0: 𝜃 = 60° , 𝜃 = 180° , 𝜃 = 300°


6. The intersection of the asymptotes:

53
2.4 Root locus
Example 1:

The characteristic equation of the closed-loop system P(s): +K

7. Breakaway points

8. Points where the root loci cross the imaginary axis


Apply Routh criteria => 0<K<30

with K=30 => P(s)=0


54
2.4 Root locus
Example 2:

1. 𝐾 = 0, Poles of G(s): 0, −3, −4 ± 𝑗2


2. 𝐾 = ±∞, zeros of G(s): −1, ∞
3. Number of root loci branches: 4 (order of G(s) n=4)
4. The root loci are symmetrical to the real axis
5. The angles of the asymptotes:

55
2.4 Root locus
Example 2:

6. The intersection of the asymptotes:-10/3


7. Breakaway points

8 Intersection with the imaginary axis

56
2.4 Root locus
Example 2:

9. Departure angle

57
2.4 Root locus
Exercise:
Sketch the root locus for the closed-loop systems with

58

You might also like