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OL8_RL

The document discusses the Root Locus technique, focusing on how the response of a system depends on the gain K through the closed and open loop transfer functions. It outlines key rules for sketching Root Locus, including the number of branches, symmetry, real axis segments, starting and ending points, and behavior at infinity. Examples are provided to illustrate the application of these rules in determining the characteristics of the Root Locus.

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Mir Sadik
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2 views

OL8_RL

The document discusses the Root Locus technique, focusing on how the response of a system depends on the gain K through the closed and open loop transfer functions. It outlines key rules for sketching Root Locus, including the number of branches, symmetry, real axis segments, starting and ending points, and behavior at infinity. Examples are provided to illustrate the application of these rules in determining the characteristics of the Root Locus.

Uploaded by

Mir Sadik
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

Technique
Lecture-8 ( Chapter-8)
By M.K. Masukur Rahman
Background of Root Locus
• How the Response depends on the gain K ?

• Closed Loop Transfer


Function = T(s)

• Open Loop Transfer


Function = G(s)H(s)

Gain >> CL Pole Location >> Response


Understanding Open/Closed
Loop Poles/Zeros

Note:
• The poles of open loop transfer function do not change with the
change in system gain.
• The poles of closed loop transfer function changes with the changes
in system gain.
Root Locus: Pole location as function of gain
Root Locus: Pole location as function of gain
Rules in Sketching Root Locus
• 1. Number of branches
• “The number of branches of root locus equals to the number
of closed-loop poles”.
• Each closed-loop pole moves as the gain varies. The branch is the path that one pole travels.

Note:
• # of closed loop pole = highest of # of open loop zeros/poles
• (in most cases, it is the number of open loop poles)
Rules in Sketching Root Locus
• 2. Symmetry
• “The root locus is symmetrical about the real axis”.
• Complex poles, if exists, remain in symmetry about real axis.
Rules in Sketching Root Locus
• 3. Real axis segments
• For gain > 0, on the real axis the root locus exists on the left of an
odd number of real axis finite open loop poles and / or zeros
Rules in Sketching Root Locus
• 4. Starting and ending point
• The root locus begins at the finite and infinite open loop poles [i.e.
poles of G(s)H(s)] and ends at the finite and infinite open loop zeros
[i.e. zeros of G(s)H(s)]
Rules in Sketching Root Locus
• 5. Behavior at infinity
• The root locus approaches straight lines as asymptotes as the locus approaches infinity.
Further, the equation of the asymptotes is given by the real-axis intercept σa and angle
θa as follows:

 finite.. poles −  finite..zeros


a =
# finite.. poles −# finite..zeors

a =
(2k + 1)
# finite.. poles −# finite..zeros

Note:
• It happens when the number of open loop
poles are not same as that of zeros
Examples using first 5 rules

1) # branches = ?
2) Must be Symmetric
3) Real axis Segment = ?
4) P ->start, end->zero
5) Need asymptote ?

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