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Chapter 8: Root Locus Techniques 1

Root locus pdf

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220 views

Chapter 8: Root Locus Techniques 1

Root locus pdf

Uploaded by

Prabhansh Pandey
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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1 Chapter 8: Root Locus Techniques

Chapter 8

Root Locus Techniques

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
2 Chapter 8: Root Locus Techniques

Figure 8.1
a. Closed-
loop system;
b. equivalent
transfer
function

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
3 Chapter 8: Root Locus Techniques
Figure 8.2
Vector
representation
of complex
numbers:
a. s = σ + jω;
b. (s + a);
c. alternate
representation
of (s + a);
d. (s + 7)|s→5 + j2
©2000, John Wiley & Sons, Inc.
Nise/Control Systems Engineering, 3/e
4 Chapter 8: Root Locus Techniques

Figure 8.3
Vector
representation
of Eq. (8.7)

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
5 Chapter 8: Root Locus Techniques
Courtesy of ParkerVision.

Figure 8.4
a. CameraMan®
Presenter Camera System
automatically follows a
subject who wears infrared
sensors on their front and
back (the front sensor is also
a microphone); tracking
commands and audio are
relayed to CameraMan via a
radio frequency link from a
unit worn by the subject.
b. block diagram.
c. closed-loop transfer
function.

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
6 Chapter 8: Root Locus Techniques

Table 8.1
Pole location as a function of gain for the
system of Figure 8.4

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
7 Chapter 8: Root Locus Techniques

Figure 8.5
a. Pole plot from
Table 8.1;
b. root locus

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
8 Chapter 8: Root Locus Techniques

Figure 8.6
a. Example
system;
b. pole-zero plot
of G (s)

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
9 Chapter 8: Root Locus Techniques

Figure 8.7
Vector
representation
of G(s) from Figure
8.6(a) at -2+ j 3

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
10 Chapter 8: Root Locus Techniques

Figure 8.8
Poles and
zeros of a
general
open-loop
system with
test points,
Pi, on the
real axis

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
11 Chapter 8: Root Locus Techniques

Figure 8.9
Real-axis segments of
the root locus for the
system of Figure 8.6

©2000, John Wiley & Sons, Inc.


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12 Chapter 8: Root Locus Techniques

Figure 8.10
Complete
root locus for
the system of
Figure 8.6

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
13 Chapter 8: Root Locus Techniques

Figure 8.11
System for
Example 8.2

©2000, John Wiley & Sons, Inc.


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14 Chapter 8: Root Locus Techniques

Figure 8.12
Root locus and
asymptotes
for the system
of Figure 8.11

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
15 Chapter 8: Root Locus Techniques

Figure 8.13
Root locus
example
showing
real- axis
breakaway (-σ1)
and
break-in points
(σ2)

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
16 Chapter 8: Root Locus Techniques

Figure 8.14
Variation of gain along the real
axis for the root locus of
Figure 8.13

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
17 Chapter 8: Root Locus Techniques

Table 8.2
Data for breakaway and break-in points
for the root locus of Figure 8.13

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
18 Chapter 8: Root Locus Techniques

Table 8.3
Routh table for
Eq. (8.40)

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
19 Chapter 8: Root Locus Techniques

Figure 8.15
Open-loop
poles
and zeros and
calculation of:
a. angle of
departure;
b. angle of
arrival

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
20 Chapter 8: Root Locus Techniques

Figure 8.16
Unity feedback system
with complex poles

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
21 Chapter 8: Root Locus Techniques

Figure 8.17
Root locus for
system
of Figure 8.16
showing angle of
departure

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
22 Chapter 8: Root Locus Techniques

Figure 8.18
Finding and calibrating exact
points on the root locus of
Figure 8.12

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
23 Chapter 8: Root Locus Techniques

Figure 8.19
a. System for
Example 8.7;
b. root locus
sketch

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
24 Chapter 8: Root Locus Techniques

Figure 8.20
Making second-order
approximations

©2000, John Wiley & Sons, Inc.


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25 Chapter 8: Root Locus Techniques

Figure 8.21
System for
Example 8.8

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
26 Chapter 8: Root Locus Techniques

Figure 8.22
Root locus for
Example 8.8

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
27 Chapter 8: Root Locus Techniques

Table 8.4
Characteristics of the system of Example
8.8

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
28 Chapter 8: Root Locus Techniques

Figure 8.23
Second- and
third-order
responses for
Example 8.8:
a. Case 2;
b. Case 3

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
29 Chapter 8: Root Locus Techniques

Figure 8.24
System requiring a
root locus calibrated
with p1 as a
parameter

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
30 Chapter 8: Root Locus Techniques

Figure 8.25
Root locus for
the system of
Figure 8.24,
with p1 as a
parameter

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
31 Chapter 8: Root Locus Techniques

Figure 8.26
Positive-feedback
system

©2000, John Wiley & Sons, Inc.


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32 Chapter 8: Root Locus Techniques

Figure 8.27
a. Equivalent
positive-
feedback
system for
Example 8.9;
b. root locus

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
33 Chapter 8: Root Locus Techniques

Figure 8.28
Portion of the
root locus for
the antenna
control system

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
34 Chapter 8: Root Locus Techniques

Figure 8.29
Step response
of the
gain-adjusted
antenna
control system

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
35 Chapter 8: Root Locus Techniques

Figure 8.30
Root locus of
pitch control
loop without
rate
feedback,
UFSS vehicle

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
36 Chapter 8: Root Locus Techniques

Figure 8.31
Computer
simulation of step
response of pitch
control loop
without rate
feedback,
UFSS vehicle

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
37 Chapter 8: Root Locus Techniques

Figure 8.32
Root locus of
pitch control
loop with rate
feedback,
UFSS vehicle

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
38 Chapter 8: Root Locus Techniques

Figure 8.33
Computer
simulation of step
response of pitch
control loop with
rate feedback,
UFSS vehicle

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e
63 Chapter 8: Root Locus Techniques

Table 8.1
Pole location as a function of gain for the
system of Figure 8.4

©2000, John Wiley & Sons, Inc.


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64 Chapter 8: Root Locus Techniques

Table 8.2
Data for breakaway and break-in points
for the root locus of Figure 8.13

©2000, John Wiley & Sons, Inc.


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Table 8.3
Routh table for
Eq. (8.40)

©2000, John Wiley & Sons, Inc.


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66 Chapter 8: Root Locus Techniques

Table 8.4
Characteristics of the system of Example
8.8

©2000, John Wiley & Sons, Inc.


Nise/Control Systems Engineering, 3/e

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