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Control systems 1
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9 viewsRoot Locus
Control systems 1
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tectwe9 | [DR. MUHAMMAD NAEEM ARBAB}
Lecture #9
Solved Examples of Plotting Root Locus
Dear Student this lecture is based on the technique of sketching the root locus as described in
Lecture 8. Remember that for plotting the root locus, the open-loop transfer function is required.
Here three examples are considered. In Example 1, the open-loop transfer function is given so
everything is crystal clear; open-loop poles and open-loop zeros are found directly, which are
necessary to start drawing the root locus. In Example 2, the closed-loop transfer function is
given, fiom which the open-loop transfer function is obtained, which can be factorized for
obtaining open-loop poles and zeros. So things are not directly. Example 3, deals with the
situation when we encounter complex open-loop poles and zeros. In this case a few conventional
parameters; such as breakaway point and break-in points and sometimes jo-crossing points are
missing. However, two new parameters are introduced; angle of departure from complex open-
loop pole (replacing the breakaway point) and angle of arrival at a complex open-loop zero
(replacing the break-in point).
K(s+1)
s(s+2Ks+3)
Solution: The system’s open-loop poles are 0, -2 and -3 and open-loop zero is: ~1, and there are
two zeros lying at infinity.
Example 1: Plot the root locus for a system whose open-loop transfer function is:
Number of loci: V = number of open-loop poles
Real-axis loci: From the location of open-loop poles and zeros in the s-plane, the real-axis loci
will exist between 0 and —1 and between -2 and -3.
Le- de
poz
Center of asymptotes:
q
9, Gk +180
p-z
Angles of asymptotes:
For k= 0; 0. =90°, for k= 1; 0, =270". The angles are repeated in the same sequence for k =
2,3,
Breakaway point:
From which: 0, +40," +50, +3=0
HEE cosecisen temccine tectwe9 | [DR. MUHAMMAD NAEEM ARBAB]
This gives: 9, = 2.465
Break-in point: There is no break-in point since there is no real axis loci between two open-loop
zeros. However, there are two open-loop zeros lying at infinity, and the root locus will tend to
move to infinity from breakaway point to search for their zeros lying at infinity.
jeo-crossing: There is no jeo-crossing since the root locus will depart from the real-axis at 90° and
270°. The complete root locus is shown in Figure (1).
Jo
B
soplane
BR
Figure 1
Example 2: Draw the root locus of a control system whose closed-loop transfer funtion is:
K
S465? +954 K"
Solution: The given system can be converted to a unity feedback configuration by considering
the given transfer function and manipulating it as:
Kis! +65? +93) _ G(s)
1+ Kis +65? +95) 1+ H(s)G(s)
DEE coset sen tnsncrns tectwe9 | [DR. MUHAMMAD NAEEM ARBAB]
K K
Thus: GOH) s(s? +6849) s(s+3)?
The system poles are: 0, 3 and—3. There are three zeros lying at infinity.
‘Number of loci: N= number of open-loop poles = 3.
Real-axis loci: From the location of open-loop poles, the real-axis loci will exist between 0 and
—3 and from —3 to —.
Center of asymptotes: oe
(2k+D180" _ 2k +180"
Angles of totes:
.ngles of asymptotes: = 30
For k= 0; & = 60°, for k= 1; =180" and for k = 2; 8, =300°. The angles are repeated in
the same sequence for k=3, 4,5, ...
Breakaway point: From the characteristic equation: s° + 6s? +9s-+K we have:
dK 2
— =-3s* -12s-9=0
oo
This yield: 30,’ +126, +9=0
Which give real roots; -1 and -3. The real root: -1 is within the real-axis loci between 0 and -3,
therefore the real root; 7, =—1 is the breakaway point.
Break-in point: There is no break-in point since the root locus will tend to move to infinity from
breakaway point to search for zeros lying at infinity.
jjeo-crossing: The jeo-crossing point can be obtained by considering the characteristic polynomial
of the closed-loop transfer function: s*+6s? +9s+
