Automatic Control oot Locus MethodThe root locus can drawn in two different ways: 1, Hand sketch 2. Computer programs e.g. MATLAB (rlocus) Consider the unity feedback system shown in Fig. ¥%(s) The characteristic equation is given by: A(s)=1+ KG(s) =0 Where K is a variable parameter 0 < K < 0 tf Oar apne seerQ The relative stability and transient response (performance) of a feedback system are determined by the location of the roots of the _ characteristic equation (closed loop poles) in the S-plane. Q So it is desired to study the effect of variation of system parameters on the location of the roots of the characteristic equation in the S-plane. Q The root locus is the path of the roots of the characteristic equation traced out in the S-plane as a system parameter varies from zero to infinity. Q The root locus is a graphical method for sketching the locus of the roots of the characteristic equation in the S-plane as a system parameter varies from zero to infinity. Q The root locus is a powerful tool for designing and analyzing feedback control systems. et fcr Eger a etyKG(s) =—1 KG(s) =-1+j0 Since s is a complex cari we can write A(s) in polar form |KG(s)| |K@(s) —-7 + jo 1. Magnitude Condition: |KG(s)|=- 1. 2. Angle condition: [KG(S) = 180 +k360,k =0+1+2,.... Oot of Cmca get set ety ssnThe angle condition is used to determine the shape of root locus in S-plane. To prove that a certain point lies on the RL The magnitude condition is used to determine the value of K at any point on root locus Introductory Example: Second order system: Let G(s) = aH Open loop poles s = 0,s = —2 A(s) =1+KG(s) =s?+2s+K =s? + 2fo,5 + wi =0 S42 =-14+VI=K © 542 = —Foy + on VG? —1 be Cae age sk etyK=0, S$; =0,s2=—2-— _ open loop poles . G21 K =0.25,5; = —0.134,s2 = —1.866 K = 0.5, = —0.292,s2 = —1.707 K =0.75,s; = —0.5,s2 =—1.5 K=K, =1,s, =—1,s2 =-1 (ao Cc Eager se oterey ican0<(<1 \ K=2,s,=-1-j1,s,=-1+/1 K =3,s, = —1—jv2,s2 =-1+ jv2 K = 4,5, = -1—jv3,s, = -1+jv3 K=5,.....3 0 Sy =—1—jx,sz = —-1+ jx/ Det of Oar een pea ey vam 74 _ 1x | Jol 1 system X=poles of the +—J—L_| | | open-loop_| A 4 | | | [ system || [Xai Root locus for a second-order system when 0 < K < ©, The locus is shown as heavy lines, with arrows indicating the direction of increasing K. Oe doa gers Batteryvs Verify angle and Tk magnitude conditions — | + a Is) +217 Sisal N+2 Seep Fa Spay = — a Evaluation of the angle and gain at s; = —1+ j1 Dt of Cae Cage mn erty wane 7The value of the gain K at any point s; on the RL can be found from the magnitude condition: Analytically 2 1 IKG(s)| = 41> 1K|= lial ={s1(s, +2)] = |sill(sy +2)| = V1? +12. (1? +12 =2 Verify angle condition K “ara... = —Z5, — 2(s, +2) 2s; = 180 — tan™1(1/1) = 135° 2(s; + 2) = tan“*(1/1) = 45° K = £51 — £(s; +2) = 135° — 45° = -180° “GD Det of Cac grey sa neeGraphically 1 Wea(sy)}= 1 IKI = |e =Isi(s1 +291 = [sull(si +2)1 = (0A)(BA) =2 Verify angle condition K “Ses ee =—Zs, — 2(s, +2) és, = 135° iz (sy +2) = 45° “SeaD|_, = ~H81— £61 +2) = -135° — 45° = -180°/ easy f eh Gees ee — vamConstruction of Root Locus: Let the open loop transfer function be written as follows: K(s + 21)(s + 22)(s + 23) (s+pi)(s + p2)(S + D3 Where m is the number of open loop zeros and n is the number of open loop poles. Usually m < n KG(s) = The Magnitude Conditi K\(s+ + + 1Ka(s)| = KIS Halls + z2)II(5-+ 25) I+ PII + p2)II(5 + Ps) _ |G + pails + pe) II(s + Ps) Is + z,)II(S + 22)II(S + 23)| Det of Orel agers ae ry IK|The Angle Condition (On +072 + O34. +8 2m) — (Op1 + Op2 + + Opa = 180 + k360,k=0+142+- ae terse fe_ AyA2 A344 IKl=——p 1 #1 — (01 + 82 + 63 + 04) = 180 @ dere Care agen sana neyNote that all angles are measured in a counterclockwise direction from a horizontal line as shown in Fig. Test point _ AiAzA3A4 [l= 1 1 — (81 + 02 + 83 + 84) = 180 ot ere een sat ery awe.Rules for construction of the root locus RL: \ = _ K(s+21)(S + 22)(S +23)... (S+Zm) MS) ENF KOS) =e pS PANS + Pao (SFPn) | (s+ pi)(s + P2)(s + Ps) (8 + Pn) + K(s + 21)(S + Z2)(S + Z3)...-.(S + 2m) =0 Rule 1: The K = 0 points (poles of open loop) and are represented by x The K = points (zeros of open loop) and are represented by 0 The poles and zeros include those at infinity. E.g., if the number of zeros is less than the number of poles, we say that the difference is at infinity The RL start at open loop poles (K = 0) and j terminates at open loop zeros (K = ©) j (et of Cac Eger sa eet sas ”Rules for construction of the root locus RL: \ = + K(s+2Z1)(s + 22)(s +23)... (S+Zm) Ae) =. Kale) SE ee. S+Pn) | (s+ pi)(s + p2)(s + Ps) «--(S + Pn) + K(s + 21)(S + Z2)(S + Z3)...-.(S+2m) =0 Rule 1: The K = 0 points (poles of open loop) and are represented by x The K = © points (zeros of open loop) and are represented by 0 The poles and zeros include those at infinity. E.g., if the number of zeros is less than the number of poles, we say that the difference is at infinity The RL start at open loop poles (K = 0) and j terminates at open loop zeros (K = ©) j et of Cac ger sa ety sas ”Gs) = S(s+2)(s+3) K=0,s=0,s =—2,s=— 3 K=~,5 =—1,s = —,5 = 00 Rule 2: The number of branches of RL eats the greater of mand m (usually n is greater than or equal m) From previous example, number of branches equals = 3 oe doar oe sent ertyRule 3: Symmetry of RL: the RL is symmetrical about the real axis G(s) = ————_> AG ) s(s+1)(s+2) 0,s=0,s=—-1,s=-2 ee; S = 0,5 = 00,5 = 00 K= K= | | OBE ssRule 4: Asymptotes: behavior of RL at s = 00. The RL proceed to the zeros at infinity along asymptotes whose center oq and angles @, are given as follows: \ (i) Center of asymptotes: The | — m| asymptotes intersect on real axi _ (finite poles of open loop TF) — (finite zeros of open lo a A - |n— ml \ Note that o, is always a real number. Number of asymptotes = |n — m| Der Eee ogres(ii) Angles of asymptotes \ _ @k+1)180 a= n#m,k=0,1,2,....\r—m |n — ml] Note that the number of sections of loci ends at zeros at infinity equals n — m. (number of asymptotes equals n — m) Note also that when n = m there will be no RL at © ~ no asymptotes et of Carel Engrg- (s+1) GS) = <4 DPF 2s +2) K=0,s=0,s=—4,s=—-1+/j1,s=—-1—-j1 K =-,5 =—1,5 = 0,5 = 00,5 = 00 3 pe ORG) SG AS. 3 3 (2k +1)180 a = Ta =0,1,2 180 3x180 5x180 al = gq = 60, har = G—{ = 180, as = = Det of Dacre greeny sane ey vase 7Rule 5: Segments of RL on the real axis: The root locus on the real axis always lies ona section of the real axis to the left of an odd number of (poles + zeros) of Open loop TF tf Ce Eager sa nerty wasn »_ (6+2)(6+4) ~ s(s+1)(s+3) G(s) K=0>s=0,s=-1,s=-3 K=0 55 =-2,5=-4,5 =00 segments, | \Sar 2) 6) = GE HGeTaF . K=0,s=-2,s=-4,s=-4 K=—,s=-1s=0,s=0 Root loci sections Double poleRule 6: Intersection with the imaginary axis. It happens if the asymptotes crosses the imaginary axis The points where the RL intersects with imaginary (if any) of S-plane and the corresponding value of K can be evaluated using Routh-Hurwitz criterion. (The system has roots on the jw axis when there is an all zero row in Routh table) Alternative approach is to substitute s = jw in A(s) and solve for K and wRule 7: Breakaway (Break-in) points: oy), Breakaway (Break-in) points corresponds to multiple order roots. They usually occurs between two poles (breakaway) or between two zeros (break-in). They can be evaluated as follows: 1 A(s) = 1+ KG(s) =0 > K =-—~ (s) = 1+ KG(s)=0> a © can be found by solving the following equation aK 4 Com eto Ores eres sane eet,Note that not all solutions of the previous equation are breakaway (Break-in) points. The breakaway (break-in) points must satisfy the characteristic equation: “14+ KG(s) =0 Check which solution satisfy the angle condition (AGS) — 180-4360, = Ot It 2). Breakaway pointAnother Check which solution of is a breakaway or Break-in Ifs =, isa root of ae = 0 and if the corresponding value of K is real and K > 0 thens = So is a breakaway or break-in If s = 5s, isa root of & 4K = O and ifthe corresponding value of K is reall and K < Othens ra is neither a breakaway nor break-in k —— G(s) ete Crea mr sant nee oaAnother method to find: oy, y 1 Optz T cot dearest een ae noeRule 8: Angles of departures of RL from a complex pole 6a and angles of arrivals of RL to a complex zero 04 @q = 180 — (sum of angles of all poles) + (sum of angles of al 0, = 180 — (sum of angles of all zeros) + (sum of angles ofall |From the pz From the p3 841 = 180 — (8p1 + 8p3) + (O21 + 823)From the 2; q1 = 180 — (8,2) + (Op: + Opz + Ops) From the zz Oq2 = —Oa1Example: a= S+1) +2) Rule 1: The K = 0 points s = 0,s = —1,s = —2 The K = ~ points s = -,s 1 S = 00 Rule 2: The number of branches of RL equals n = 3 Rule 3: Symmetry of RL: the RL is symmetrical about the real axis een m= wm 7Rule 4: Asymptotes: behavior of RL at s = co. Number of asymptotes =n —m=3—-0=3 _(@=1-2)-@ | oq=——3- = 1 Angles of asymptotes (2k + 1)180 $2=— 39 k= 0.12 180 3x180 5x Pate 9) 00 Paz —sq=eqe 180, bas = ot Core ey sane ety sasreeRule 5: y ‘Segments of RL on the real axis: The root locus on the real axis always lies’ ina section of the real axis to the left of an odd number of poles and zeros.\ Segments of RL on the real axis are between —1 < s <0 and between —c° < s < —2 Rule 6: Intersection with the imaginary axis is obtained using Routh-Hurwitz criterion A(s)=1+ 0, > s3+3s?+2s+K=0 s(s+1)(s +2) et cre rer sane ety wanast 1 2 0 0 st 3 K 0 o s 6-K 0 0 0 os 3 s° K 0 0 0 The value of K for which the system has roots on the jw axis is U(s) = 3s? +6=0>5=+jv2 OR A(jw) = (jw)? + 3(jw)? +2) + K =0 | \ K — 30? = 0,20 — 03 =0 > w=V2,K = tof crea ore sane ety ven 7| Rule 8: Breakaway (Break-in) points: oy : 1 4G) = 14 KG(S) = 0 > K=—F5=-s(5+ 5 +2) = -(s? + 3s? + 2s) aK = —3s? — 65-2 + s = -0.4226,5 = Oy = -0.4226 Two solutions, the a, = —0.4226 is the correct one. It lies between -1< 5 <0 et Carl oer ete ory vasaAnother method: 1 1 atm Lovtr ee Oo, O,+1 o,t+2 M4: 0 0 = (4 + 1)(04 +2) + on(oy + 2) + o4(05 +1) 0 = (05 +30, +2) +03 +20, +04 +04) 0 = 303 + 60 + 2) > ay = —0.4226, oy = -1.5774 tt beret tery sae eyAngle condition at oy = -0.4226 1 1 s(s+4)(s+2) —0.4226(—0.4226 + 1)(—0.4226 + 2) 1 180+0+0 a8 6, = —0.4226 lie on the RL Angle condition at oy =-1.5774 1 1 S(S+1)($42) —1.5774(-1.5774 + 1)(-1.5774 + 2) 1 360 180 + 180+0 @p = —1.5774 does not lie on the RL et tere ogee se oy vasa °=0.4226 K =—s(s + 1)(s +2) = —(—0.4226)(—0.4226 + 1)(—0.4226| = 0.3849>0 s=-1.5774 =—s(s +1)(s + 2) = —(—1.5774)(—1.5774 + 1)(—1.5774 +\2) =—0.3849<0 rt cre tres a ay