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Root Locus

The document discusses root locus diagrams and methods for their construction. Root locus is a graphical technique used to determine how the roots of the characteristic equation vary with the open loop gain. It discusses how root loci start at open loop poles and end at open loop zeros, are symmetrical about the real axis, and have asymptotes whose angles depend on the number of poles and zeros. It also provides methods to find breakaway points, intersections with the imaginary axis, and departure and arrival angles.

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Kaushik Khaund
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22 views

Root Locus

The document discusses root locus diagrams and methods for their construction. Root locus is a graphical technique used to determine how the roots of the characteristic equation vary with the open loop gain. It discusses how root loci start at open loop poles and end at open loop zeros, are symmetrical about the real axis, and have asymptotes whose angles depend on the number of poles and zeros. It also provides methods to find breakaway points, intersections with the imaginary axis, and departure and arrival angles.

Uploaded by

Kaushik Khaund
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
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ROOT-LOCUS DIAGRAM

→ Root locus is a graphical technique that deals with location of roots of


characteristics as a function of one of the system parameters usually the
open loop gain K varies from 0 to + ∞.
→ Root locus of a +ve feedback system is called complementary root locus.
𝐻(𝑆)
→ If 𝐺(𝑠)𝐻(𝑠) = 𝐾 is the open loo transfer function of a feedback control
𝐷(𝑆)

system, 1+G(s)H(s)=0 or D(s)+ KH(s) is the characteristics equation.

→ Magnitude of G(s)H(s) at any point on the root locus is unity. This is called

magnitude creation.

→ Angle of G(s)H(s) at any point on the root locus is ±1800. This is called

angle creation.

→ Each branch of the root locus starts from an open loop pole and terminates at

open loop zero.

→ P = No. of poles of OLTF

→ Z = No. of zeros of OLTF

i. If P > Z then (P-Z); number of zeros are considered to be located at ∞

ii. If Z > P then (Z-P); Poles are considered to be located at ∞

iii. If P = Z then no poles and zeros are considered to be located at ∞

NIKU BORGOHAIN | DUIET


METHODS FOR CONSTRUCTION OF ROOT LOCUS

1. Root locus starts at open loop (OL) poles and terminate at open loop (OL)
zeros.
2. Root locus is symmetrical about the real axis i.e., 𝜎 − 𝑎𝑥𝑖𝑠
3. Number of Asymptotes: 𝑁 = 𝑃 − 𝑍

4. Angle of Asymptotes:
(2𝐾 + 1) × 180
𝜃𝐴 =
|𝑃 − 𝑍|
Where K =0,1, 2, 3…(P-Z-1)

P-Z 𝜃𝐴
0 --
1 1800
2 900, 2700
3 600, 1800, 3000
4 450, 1350, 2250, 3150

5. Centre of Asymptotes: The points at which all the asymptotes meet on the
real axis is known as centroid.
∑ 𝑅𝑒𝑎𝑙 𝑝𝑎𝑟𝑡𝑠 𝑜𝑓 𝑝𝑜𝑙𝑒𝑠 𝐺(𝑠)𝐻(𝑠) − ∑ 𝑅𝑒𝑎𝑙 𝑝𝑎𝑟𝑡𝑠 𝑜𝑓 𝑧𝑒𝑟𝑜𝑠 𝐺 (𝑠)𝐻(𝑠)
𝜎=
𝑃−𝑍

NIKU BORGOHAIN | DUIET


6. Break-away/ Break-in Point: Break away point is defined as a point at
which the root locus comes out of the real axis and break in point is defined
as a point at which the root locus enters the real axis.

Prediction of break-away point:


a. If there are two adjacently placed poles on the real axis and the real
axis is a part of root locus then there is minm one break away point
between the two adjacently placed poles.

b. If there are two adjacently placed zeros on the real axis and the real
axis is a part of root locus then there is minm one break in point
between the two adjacently placed zeros.

c. If there is a zero on the real axis and to the left of that zero no pole
and zero existing on the real axis and complete zero is a part of root
locus, then there exist minimum one breakaway point to he left of this
zero.

To find Break away / break in point:


i. Form characteristics equation. 1 + 𝐺(𝑠)𝐻(𝑠) = 0
ii. Arrange K = F(S)
𝑑𝐾
iii. Determine =0
𝑑𝑆
𝑑𝐾
iv. Roots of = 0 will give valid and invalid break points.
𝑑𝑆

The value of ‘s’ for which K is positive are valid break away point.

NIKU BORGOHAIN | DUIET


7. Intersection of the root locus with the imaginary (𝒋𝝎) axis
To find the intersection of root locus with the imaginary axis
i. Form characteristics equation. 1 + 𝐺(𝑠)𝐻(𝑠) = 0
ii. Form the RH array
iii. Determine marginal value of K i.e., find a value of K which make any
row excepts S0 rows and a row of 0’s.
iv. Solve the auxiliary eqn 𝐴(𝑠) = 0|𝐾=𝐾𝑚𝑎𝑟
v. Represent the intersection points of RL with imaginary axis.

8. Angle of Departure & Angle of Arrival


𝐴𝑛𝑔𝑙𝑒 𝑜𝑓 𝑑𝑒𝑝𝑟𝑎𝑡𝑢𝑟𝑒 → 𝑅𝑜𝑜𝑡 𝑙𝑜𝑐𝑢𝑠 𝑙𝑒𝑎𝑣𝑠 𝑓𝑟𝑜𝑚 𝑎 𝑐𝑜𝑚𝑝𝑙𝑒𝑥 𝑝𝑜𝑙𝑒
𝐴𝑛𝑔𝑙𝑒 𝑜𝑓 𝐴𝑟𝑟𝑖𝑣𝑎𝑙 → 𝑅𝑜𝑜𝑡 𝑙𝑜𝑐𝑢𝑠 𝑎𝑟𝑟𝑖𝑣𝑒𝑠 𝑎𝑡 𝑐𝑜𝑚𝑝𝑙𝑒𝑥 𝑧𝑒𝑟𝑜

*Angle of departure:
𝜃𝑑 = 1800 − 𝜑

𝜑 = ∑ 𝜑𝑃 − ∑ 𝜑𝑍

*Angle of arrival:
𝜃𝐴 = 1800 − 𝜑

𝜑 = ∑ 𝜑𝑍 − ∑ 𝜑𝑃

NIKU BORGOHAIN | DUIET


NIKU BORGOHAIN | DUIET
NIKU BORGOHAIN | DUIET
NIKU BORGOHAIN | DUIET
NIKU BORGOHAIN | DUIET
Q. Draw the root locus diagram of the system given by
𝐾
i. 𝐺 (𝑠)𝐻 (𝑠) =
𝑠(𝑠+5)(𝑠+10)

𝐾
ii. 𝐺 (𝑠)𝐻 (𝑠) =
𝑠2

𝐾
iii. 𝐺 (𝑠)𝐻 (𝑠) =
𝑠3

𝐾(𝑠+1)(𝑠+2)
iv. 𝐺 (𝑠)𝐻 (𝑠) =
𝑠(𝑠+3)(𝑠+4)

𝐾
v. 𝐺(𝑠)𝐻(𝑠) =
𝑠(𝑠+2)

NIKU BORGOHAIN | DUIET


𝐾
➢ Root locus of 𝐺(𝑠)𝐻(𝑠) =
𝑠(𝑠+2)

NIKU BORGOHAIN | DUIET


NIKU BORGOHAIN | DUIET

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