University of Technology ‫الجامعة التكنلوجية‬

Department of Communication ‫قسم هندسة األتصاالت‬

Engineering

Report Title: Design methods and application of analog

filters

Course Name: control system ‫ السيطرة‬:‫اسم المادة‬

Student’s Name: sara ahmed ali ‫ ساره احمد علي‬:‫اسم الطالب‬

‫ صباحي‬:‫نوع الدراسة‬

Stage: third ‫ الثالثة‬:‫المرحلة‬

2020 -2019 : ‫السنة الدراسية‬

Contents

1
1_ Introduction

2_Define of locus root

3_ The advantage of the root locus method

4 _Application of root locus

5_ Rules for the sketcing the root locus

6_ Properties of root locus

7_ some example

8_ References

1_ Introduction:

The designer can know the extent to which the control system conforms to its
specifications by knowing the response time of variables the system. This is
done by solving the differential equations of the control system. But this only
happens in simple kinetic systems where It is known which variable in the
system is to be changed to improve the performance of the system. Therefore,
resort to methods to predict the performance of the system without the need to
solve differential equations the first note that the designer must know is (is the
system stable or not?). By calculating the roots of a system equation control
using a method that relies on the behavior of the control system to be linked to

2
Poles and for the (Function Transfer Loop-Open) equation by knowing the
formula of the decomposing factors of the front feed elements forward Feed)
and Feedback (for the control system) and draw the poles and zeros as known .
(complex Plane - Polar / Zero map - s.plane) the poles are calculated by zeroing
the equation of the denominator, and the poles are denoted by the symbol while
the zeros are calculated by the zeroing of the numerator equation, the zeros are
.denoted by the symbol (o)

2_Definition:
The root locus is a plot of the roots of the characteristic equation of the closed-
loop system as a function of one system parameter varies, such as the gain of
the open-loop transfer function. It is a method that determines how the poles
move around the S-plane as we change one control parameter. This plot was
introduced by Evans in 1948 and has been
.developed and used extensively in control engineering

The difference between the root locus method and the

Routh-Hurwitz method:
The Root Locus Method ----- tells us the position of the poles in the s-plane for
each value of a control parameter.
The Routh-Hurwitz Method ---- could only tell us for which values of the
control parameter the poles would be to the left of a given vertical axis in the s-
plane

3_The advantage of the root locus method:

• The roots of the characteristic equation of the system can be obtained directly.
• The characteristic of the system can be completely and accurately yielded.
Design a system with relative ease. Such as using MATLAB •

Application of root locus_4

The root locus method allows to determine a gain for the transfer function in a open
loop system (usually a SISO system). If all the poles of your system are located in
the left zone of the complex plane, that means the system is now stable. Some tools
to use this method and others are the sisotool function in MATLAB.

3
5_ Properties of root locus

 On the real axis, the root locus branches from two neighboring real
poles must meet somewhere between the two poles (the break-in point)
and then break off into the upper and lower half of the s-plane.

4
  On the real axis, the root locus branches toward two neighboring real
zeros must be from the upper and lower half of the s-plane which meet
somewhere between the two zeros (the break-in point).

Rules for the sketcing the root locus :

a_Number of branches : The number of branches of the root locus

equals the number of closed loop poles.

b_Symmetry : The root locus is symmetrical about the real axis.

c_Real axis segment : On the real axis, for K>0 the root locus exists to
the left of an odd number of real-axis, finite open loop poles and/or finite
open loop zeros.

In this figure, the real axis segments of root

locus are between -1 and -2 and between
-3 and -4

d_Starting and ending points : The root

locus begins at the finite and the infinite poles of G(S)H(S) and ends at
the finite and infinite zeros G(S)H(s).

In this system, the root locus begins at the

poles at -1 and -2 and ends at zeros at -3
and -4.

e_ Behaviour at infinity : The root locus

approaches straight lines as asymptotes as the root locus approaches
infinity. Further, the equations of the asymptotes are given by the real
axis intercept and angle in radians as follows

5
F_ Real Axis Breakaway and Break-in Points : Numerous root loci appear to
break away from the real axis as the system poles move from the real axis to the
complex plane. At other times the loci appear to return to the real axis as a pair
of complex poles becomes real.

6
Figure root locus example showing real axis breakaway ( -) and
break-in points (

g__-Axis Crossings : The j_ axis crossing is a point on the root locus that
separates the stable operation of the system from the unstable operation. The
value of _ at the axis crossing yields the frequency of oscillation. To find j_,axis
crossing, we can use the Routh-Hurwitz criterion as follows : Forcing a row of
zeros in the Routh table will yield the gain; going back one row to the even
polynomial equation and solving for the roots yields the frequency at the
imaginary axis crossing

h_ Angles of Departure and Arrival : In order to sketch the root locus more
accurately,we want to calculate the root locus departure angle from the complex
poles and the arrival angle to the complex zeros. If we assume a point on the
root locus _ close to the point, we assume all angles drawn from all other poles
and zeros are drawn directly to the pole that is near the point. Thus , the only
unknown angle in the sum is the angle drawn from the pole that is _ close. We
can solve for this unknown angle, which is also the angle of departure from this
complex pole

i_Plotting and Calibrating the Root Locus : Once we sketch the root locus,
we may want to accurately locate points on the root locus as well as find their
associated gain. For example, we might want to know the exact coordinates of
the root locus as it crosses the radial line representing %20 overshoot. Further,
we may also want the values of gain at this point.

7
some example _7

8
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10
11
12
13
: References

modern control engineering __ ogata_1

modern control system ___ Richard C. _2
Dorf , Robert H
Schaums outline of theory and _3
problems

14
 References References

15