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Lab_10_root_locus[1]

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hassan ullah khan
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© © All Rights Reserved
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New York City College of Technology

Department of Computer Engineering Technology


CET 4864L: Feedback Control Systems Laboratory
Lab 10: Root Locus

Root Locus is a graphic representation of the paths of the closed-loop poles as the gain (𝐾 > 0) is varied.

Basic Rules for Sketching the Root Locus:

 Number of branches: # branches = # closed-loop poles.

 Symmetry: The root locus is symmetrical about the real axis.

 Real-axis segments: 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.

 Starting and ending points: The root locus begins at the finite and infinite poles of 𝐺(𝑠)𝐻(𝑠) and
ends at the finite and infinite zeros of 𝐺(𝑠)𝐻(𝑠)
lim F ( s )   We say that the function F(s) has a pole at ∞  infinite pole
s 

lim F ( s )  0  We say that the function F(s) has a zero at ∞  infinite zero
s 

Every function has an equal number of poles and zeros if we also include the infinite poles and zeros.

 Behavior at infinity: The root locus approaches straight lines as asymptotes as the locus approaches
infinity. The equations of the asymptotes are given by the real-axis intercept & angle in radians:

a  
finite poles   finite zeros (2k  1) 
a  k  0,  1,  2, ...
# finite poles  # finite zeros # finite poles  # finite zeros

Additional Rules for Refining the Sketch

 Real-axis breakaway and break-in points

Let 𝑚 denote # of finite zeros of 𝐺(𝑠)𝐻(𝑠)


Let 𝑛 denote # of finite poles of 𝐺(𝑠)𝐻(𝑠)
Let 𝑧𝑖 denote the 𝑖 𝑡ℎ zero of 𝐺(𝑠)𝐻(𝑠) for 𝑖 = 1,2, … 𝑚
Let 𝑝𝑖 denote the 𝑖 𝑡ℎ pole of 𝐺(𝑠)𝐻(𝑠) for 𝑖 = 1,2, … 𝑛

The real-axis break-away/break-in point, denoted by 𝑠 below, can be computed as:


𝑛 𝑚
1 1
∑ =∑
𝑠 − 𝑝𝑖 𝑠 − 𝑧𝑖
𝑖=1 𝑖=1

If 𝐺(𝑠)𝐻(𝑠) has no finite zero (i.e., 𝑚 = 0), the right-hand-side of the equation is zero.

 Calculation of 𝒋𝝎-axis crossings

Routh-Hurwitz stability criteria helps to find the 𝑗𝜔-axis crossings.


Exercise 1: Getting familiar with the terminologies.

B A

Describe the names of these 𝒔-points on the 𝒔-plane


The five points denoted by “x” “x” represent the Poles
The two points denoted by “o” “o” represent the Zeros
Point A Point A Represent the Break In point
Point B Point B also represent the Break In point
Points C and D Root locus Cross over of imaginary Axis.
Exercise 2: Sketch the root locus for the closed-loop system shown below and find the following:

Plot the root locus of the closed-loop


(1)
system
Find the real-axis break-in/break-
away point. Specify clearly it is
(2) It has the Break away point starte at the S = -1.45
either a break-in or a break-away
point.
(3) Find the 𝑗𝜔-axis crossings Jw crossing = jw = sqrt(14)
Find the poles of the closed-loop
(4) Poles are => P1 = -0.64, P2 = -3.18 and P3 = -3.18
system when 𝐾 = 0.5

Stable Stable: All poles in the


left half-plane

This is valid when K<90


before jω-axis crossing).
Find the ranges of 𝐾 such that the
Marginally Stable Marginally Stable:
(5) system is stable, marginally stable, Poles on the jw-axis.
and unstable. This occurs at K=90
Unstable Unstable: At least one
pole in the right half-
plane. This happens for
K>90 (after jω-axis
crossing).

Root locus:
Exercise 3: Determine the value of 𝐾 > 0 so that the closed-loop system exhibits a 16% percentage overshoot
for a step input. Use MATLAB commands to confirm this.
Confirmation with matlab :

Results:

Exercise 4: Consider the system shown below.

Plot the root locus of the closed-loop


(1)
system
Find the real-axis break-in/break-
(2) away point. Specify clearly it is either It has the break in point at S = +2.018
a break-in or a break-away point.
(3) Find the 𝑗𝜔-axis crossings Jw = sqrt(4.58)
Find the poles of the closed-loop
(4) Poles = P1, P2 = 1.375+-j1.535
system when 𝐾 = 3

Stable the system is stable for K


Find the ranges of 𝐾 such that the values up to, but not
(5) system is stable, marginally stable, including, 0.8
Marginally Stable the system is marginally
and unstable
stable at:K=0.8
Unstable the system is unstable
for:K>0.8

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