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Chapter 8: Root Locus Techniques

1) Root locus techniques enable analysis of transient behaviors and stability of control systems of any order by plotting the paths of the closed-loop poles as the system gain is varied. 2) A root locus plot shows how the poles, and thus the transient response and stability, change with different gain values. Damping and settling time can be inferred from the root locus. 3) The properties and locations of poles on the root locus can be determined by evaluating the characteristic equation of the closed-loop transfer function for different gain values and analyzing the angles and distances on the pole-zero plots.

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Purab Ranjan
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62 views

Chapter 8: Root Locus Techniques

1) Root locus techniques enable analysis of transient behaviors and stability of control systems of any order by plotting the paths of the closed-loop poles as the system gain is varied. 2) A root locus plot shows how the poles, and thus the transient response and stability, change with different gain values. Damping and settling time can be inferred from the root locus. 3) The properties and locations of poles on the root locus can be determined by evaluating the characteristic equation of the closed-loop transfer function for different gain values and analyzing the angles and distances on the pole-zero plots.

Uploaded by

Purab Ranjan
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Chapter 8: Root Locus Techniques

We know how to analyze/compute:


transient behaviors of systems up to 2nd order

stability analysis of any order systems (R-H criterion)

Root locus techniques enable us to analyze:


transient behaviors of any order system
stability analysis of any order systems

RL is a powerful method of analysis and design for stability and transient


response of a control system

A typical control system configuration:

The characteristic equation of the C.L TF:

1 KGs H s 0

So, the pole locations of C.L. TF depend on the value of K.


So, we have no knowledge of the system's poles and hence TR and
stability of the system unless we factor the denominator for specific
values of K.

Plot of the path of the closed-loop poles in the s-plane as gain, K, is varied from
0 to is called root locus.
2

Defining the Root Locus:

Example:

Here,

T s

K
s 10s K
2

Here, characteristic equation:


Value of K

s 10s K 0
2

Pole 1

p1 , p2

Its roots are:

10

9.47

0.53

10

8.87

1.13

2 1

5 j 2.24

5 j 2.24

50

5 j5

5 j5

5 j

30
.

102 4 1 K

Pole 2

25

10

.
5 j
3

(a) Pole plot

(b) Root locus

We know that the representation of the paths of the closed-loop poles as the gain
is varied from 0 to is called root locus (RL).

The RL shows the changes in the TR as the K varies.


K<25 Over-damped
K=25 Critically-damped
K>25 Under-damped
Under-damped case: settling time remains the same but peak time
reduces as K increases.
The system is stable for any value of K.

Properties of RL:

Ques: Predict whether a point s=s1=1+j1 is on the root of the above system.
Ans: For the point, s1, to be on the root locus:
1 KGs1 H s1 0
where k 0, 1, 2,......
KGs1 H s1 1 12k 1180
or,

KGs1 H s1 1

and

KGs1 H s1 2k 1180

So the point s1 is on the root locus, if


KGs1 H s1 2k 1180

and, the value of K for this particular root is


K

1
Gs1 H s1

Evaluation of complex functions via vectors:


Let,

j
s1=1+j1

F1 s s z1
F1 s s s1 1 j1 1 j1 z1

s1

s1+z1
=L

This can be represented as a vector in s-plane

z1

Or, alternatively, as shown below:


j

s1=1+j1
s1+z1

s1

=L
-z1

Now consider a function with multiple factors in numerators and denominators


m

Let,

F s

s z
i

i 1
n

s p
k

k 1

F s1

zi

pk

i 1
n

k 1

Each of these factors can be represented by vectors drawn from the zeros and
poles, as shown in the previous slide.
So, the resulting function can be written as:
m

F s1

zero length
i 1
n

pole length
k 1

i 1

k 1

F s1 zero angle - pole angle

Example 8.1:
s 1
Problem: Given F s ss 2
Find F(s) at point s = -3 + j4
Sol.: The problem is graphically depicted below
j

-3+j4

We get:

4j

L1

3j

L2

L3
L1

-3

-2

1
-1

4
1 tan 1

3 1

2j

20

tan 1 2 116.56

Similarly, we get:
L2 5

3 12 4 02

L3 17

F 3 j 4

2 126.9

3 104.03
L1
L2 L3

F 3 j 4 1 2 3

20
5 17

0.217

116.56 126.9 104.03


114.3

Now let us find if a point is on the RL of a system:

First of all, the pole-zero plot:

A. Test of the point, s = -2 + j3


Vector representation of GH (here, H=1) for point s = -2 + j3

zero angle - pole angle

2 3 4

So, the point, s = -2 + j3, can never be on the RL of the given system.

B. Test of the point, s = -2 + j(2/2)


j
Vector representation of GH for
point s = -2 + j3

-2+j (2/2)
L1

-4

L2

-3

L3
3
-2

L4

-1

We can find the Ls and s as shown earlier:


1 19.47

3 90

2 35.26

zero angle - pole angle

2 3 4

4 144.74

180

So, the point, s = -2 + j(2/2) lie on the RL of the given system.


L1 2.12

L2 1.22

The value of K at that point:

L3

L4 1.22

2
2

1
pole length

GH zero length

L3 L4
L1 L2

0.33
10

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