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1 - RootLocusReview_Part1

Uploaded by

Sonofliberty Junior
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Review of the Root Locus Approach

- Part 1
K. Sridharan
Introduction

 Root locus is a plot of the roots of the characteristic


equation of the closed loop system as a function of a
system parameter
 Typically, we plot the roots as a function of gain K
varying from zero to infinity

2
Brute-force approach for root locus ..

 Suppose we have a second order system,


then the characteristic equation will have the
form:
s2 + a s + K = 0

Solving this directly for different choices of K


is cumbersome

3
So what do we do ?

 Look at the root locus construction in terms of finding


points that satisfy two conditions: (i) angle condition
and (ii) magnitude condition
 Given a characteristic equation of the form 1 + G(s)
H(s) = 0,
we can write it as a combination of:
| G(s)H(s) | = 1 (magnitude condition)
Angle(G(s) H(s)) = ± (2n + 1) π, n = 0,1,.. (angle condition)

G(s)H(s) is often written as just GH(s)


4
The angle condition is the key ..

 It is difficult, in general, to find points in the


plane that satisfy two conditions
simultaneously
 However, note that we can simply find points
that satisfy just one condition, namely the
angle condition (and ensure that the
magnitude condition is met always since we
can find a suitable value of K)

5
What is interesting about the
method ?

 Root locus-based analysis is one of several


graphical methods to determine stability of
the closed loop system from the open loop
transfer function

6
Rules for root locus construction

 A method due to Evans is commonly used to


sketch the root locus quickly (of course,
computer tools exist but it is valuable to
practise drawing the locus by hand)
 Evans’ method consists of a set of rules
derived primarily from the angle condition
 We will just illustrate the method via some
examples
7
Root locus for GH(s) = K(s+1)/s

-1 0

8
Exercise ..

 Identify the rules applied to obtain this locus

9
Question: Why can’t the root locus be like this ?

-1 0

10
How about this plot for the root locus ?

-1 0

11
When will the root locus (or parts
of it) be away from the real-axis ?

 This will happen when there are just a pair of


poles in the open-loop transfer function
 This can also happen when there are just three
poles in the open loop transfer and so on
 We will give an example next
 We assume, in general, that the number of poles
is equal/greater than the number of zeros

12
Root locus for GH(s) = K/(s(s+1))

00
-1 -1

13
Exercise ..

 Determine the rules applied to get this plot


 Why are the branches away from the real
axis inclined at 90 degrees ?
 Identify the point (coordinates) at which the
loci break away from the real axis. Also,
determine the value of K at the breakaway
point

14
What about GH(s) = K /(s2 + 2s + 3) ?

15
Questions

 What are the locations of the poles ?


 Why are the root locus branches as shown ?
(Hint: think of the asymptotes and consider
the intersect point on real axis as well as angle)
 Why do they move towards infinity
(and –infinity) ?
 Why is there no section of the root locus on the
real axis ?
16
What about GH(s) = k (s +2)/(s2 + 2s + 3) ?

17
Questions

 How do we justify this locus ?


 How many branches of the root loci are
present on the real axis ?

18
References

 K. Ogata, Modern Control Engineering,


Pearson Education, 2008
 K. Astrom and R. Murray, Feedback
Systems, Overseas Press, 2011

19

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