Scribd
Upload
4 views

MODULE 4 CS (2)

The document discusses stability analysis in systems, categorizing them into absolutely stable, conditionally stable, unstable, and critically stable. It explains how to determine stability using closed-loop poles in the s-plane and introduces methods like Routh's criterion and the Hurwitz method for analyzing characteristic equations. The document also provides examples and conditions for stability, emphasizing the importance of pole locations in determining system behavior.

Uploaded by

Niki Nikhil
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
4 views

MODULE 4 CS (2)

The document discusses stability analysis in systems, categorizing them into absolutely stable, conditionally stable, unstable, and critically stable. It explains how to determine stability using closed-loop poles in the s-plane and introduces methods like Routh's criterion and the Hurwitz method for analyzing characteristic equations. The document also provides examples and conditions for stability, emphasizing the importance of pole locations in determining system behavior.

Uploaded by

Niki Nikhil
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
You are on page 1/ 63
rm Sy eo : Module -3 4” sun ELE ee] AA * Stability analysis :- The analysts ay wwheatha the geo system can reach sleacly state passing fo the trans- fects success pully t& Called slobrlg analyst Concept ay slabrléty a) absolutely stable @) Condletionally slable ©) Unstable slable @) Marginal elable (©) Cattically stable @ Absolutely stable poree Constr a hat Constela the cleep coploine with an abject placed instcle UF. If we, apply the force 4 toke gy the object orilsiole as the olepth oy coflaina t& high te wltll oscéllate ancl setielown again H's ortginal position. Such syileme ave called as absolutely stable. © Unstable te @) qn th& case object well fall clown wrthout any ealenol applécaléon y dat: Sot) we dy to keep the ctreular ect we wl pile -d to oo. Such system u celled unslable. Conclittonally stable. i ree F< Feytticol F> Ferticol 04 long as F 88+ 8748+ 4% =0 C84 64 S44 =0 Qo=h , Ay=1, A=1 , Agate A ag as 2 4 0 He -0 a Q, as =J1 1 0 = 0 QO, Ag o 14 br = 1 oO L [; ‘ °| = 1(4-0)- 4 (4-0) +0 = 42 Af | i Sisackvantas of Hurwitz metbool . | For hefgha order system to solve a olefeemine| -nk og “hetghu ovclel tu vay eomplicafid and | dime — consumft j Number of rook Located in xt bol of Spl rane for unstable syalem cannot “be fodigecl fy | thu methool. | Diyleul! to predlect mosgtoal stability oy dhe | system. | Routh's stably —crttetar ( routh's burcite method! or —routh's array method), F(SD >= A840, 5°44 8774 = On. method | of forming an array. i ° $ ® A, Ag - Qn-2 i a aC | SF bs bs bebe bn | st a & t Cy .--- | ; | cs | 1 the Coeyptctercts gor 1 hoo rows are srttten dtree- tly from the charactiristtes eqn. from -thue 400 rows | nex rxows can be Obtainedl as jollows. br = Qa - Aa a bs = GQ -Asa ay be = 196 — ArAe 2 a | ] Ca = by Qg~b, & Cr = bi 05 bs bs bs Routb's criteria (the necesory ancl suytetent Condlition gor the Syilem 4 be cfable & all the tems to the frst Coloume of routh's array must hone same Sign, Aber shoukl not be any Styn change in the pirst | coloumn of touth's array. i 9p tbe ave any sign changes enctuting then | (a) system & unstable (©) the no. oy sign chan equals the no. of rodls lieng in the ight holy of S-plone- + Exomine the slabultt; of -the chasradluttic equation 4 68741164 6=0, by using vouth’s method. SoZ Groen, i+ 68+ 11646 =0 Hew, O=2 ancl Ae=1, A =6,A,=11, Ag=6 So, st i Ss 6 6 st 40 0 Solty} 0-8, Ao=1, G=b, Aral, A3=16 as thee & No change & 1% tg coloumn hence, the syilem “tu Stable. x} Examine the Stab Uiy of the chasocluistic egn, S34 457+ $+ 16=0 “by using routh's method | so, 4 s 4 46 vs 3 0 Ss 46 0 as 4tbue & sign change hence UE U unslable hence stan bare &=2. numba of poles Predecting at RHS=2. * Spectal cases oy roulb crtletan | Case (Cf) ® Cxamine glade lety gor the choractutstfe eguclion. SP 4 ost 43sh4 65742841 =0 Oe Oy a, Qe ay Ags sf 4 3 2 sh o2 64 sto 820 o oe e Jo the above voulh array tts gg tobe foiled because the valut ir “te first Coloumo BS BO. hence, replace 0’ by conttank 'e’, \ | | | S 1e-beS-€7 0 0 6€-3 ° S 4 o 0 4o examine — sign chang apply Limit (> ua Bek i €50 ¢ =6- ¢t (8 &, (2) = 6-0 = - 00 > 9€- wee" €30 Ge-2 ot 15 (se-9 _ Le _6* aod 6e-8 €30 6¢-3 = 1d oF 4 3 2 soa 6 1 so 45 0 ge -%& ot 0 st oo 0 0 soon o (0 hewce, syilem & unstable. sign change & 2 tHme no. of poles ak RHS ave = 2 i } j + colle 2 Using voulh huswitz ertletan clitumine ctabe oboe chasratlutste, eqn. a. 26h4 st 4 6sh4 387 4641 =0 Oo =2 , WAL, 0,76 02=8,Q=1, As HL se 2 6 ot sf 1 3 oa oto €g -1 0 { st $eu 1 0 | Ss (e-1-eDleets) 00 s° 4 0 0 > Le B82 2 s+lt 1 Lo E70 éE Es0 — (op te -8e-d-e8? 2 oe -@eHD E*® 20 e+) E50 2641 SEH se 2 6 4 se 4 3 4 oF 0 -1 0 rn i i a ss? ob 60 0 sol? | as thee & change in Shan, Henee, cE u une po. of pole af PHS. Sicle=2 Examine stabetily for unily fehoak control aye hos 9 ke (s+13) 6 (+3) (+7) 1+ HID. Gls)=0 H(s) 24 i+ K(s+i2) =0 S(S+ 3) (S+7) i 1 6 (8? 4106421) +k (S412) =0 | S34 1067+ 216+ K(S442) =0 S34 10674 (214K) S$ +18K =0 Qo=d, Ay=10 ,A,=21+K , Ag= 13K, | son 2atk | s* 10 18k | ce 2c OE 10 | Ss’ 12k 0 => 210-3K =o 10 kK = 70 auxilary equdltsr. | 10s* 418k =0 } Loc? = -13 x70 10s” = -g10 Sa 4iln. (w= Sa] i | 4x! Spectal cose (0) | | ctabeltly of a syilem for a given charackeeéstc (eqn. “Sir 2sF +a84y Lash4 hc" + 166416 =0. | 5 Qo =1, A,=2,%g=8, Og=12, AZ=20, Ageia é | Soi Give, ae | dé sé 4 @ 20 16 so 2 j2 16 O we 2 t2 16 0 soo ° O 0 ~—roulbh awsay jorleck Auxillary eqn. | A = 96*+4967416 | AO -es+r4s I | i | i Ss oe on 8 20 16 { oF 9 42 16 0 | chop 42 16 0 | si og 22 0 0 6° 6g 16 9 6 | st 2°67 0 oo | st t6 ° 0 oO AO = 28's ins? 416 = 264 ec acts = 28° (5744644 (S44) = 084.4) (6%4) =0 Sa-2 872-4 (Jz S=tar Sol! | centennial tert as voots ave on imaginary lene hence CE t& Mose ~gioolly stable. 5 Ustng PHB. Criteian cdetamine the stabi lely of “the system honing the chasadlulstic eqn. 654 2654 Sot, ORS 4 BE7+ BSt 4 =O | i Given, Qo=d , A4=2,0,=5,02=8, A=, AS =E, % of tf 5 @ ¢ i c§& 2 8 @ 0 i so 1 4 @ 0 | st 0 0 060 0 } A= Ste gee | AA ~ 4894+ es | As | oe 1 F & & { @e@ 28 @ 0 sé 1 4 6 O os 4 € 0 eo 2 | os 09 0 ’ A = 28°44 dP 4s 1 §&§ @ vw 2 8 @ ct 1 G6 | | et 4 @ 0 oe 2 & 0 st 4 0 oe 4 0 ‘ She a s?+ | | ott os*4 2874 b ; = 6? (s?42)+2 (s*4+9) Cs*4+ 2) (8742) =0 ; ata s=t ps i | A= 28%4 | 20 ‘ 672-2 i S ethyr i Bi, Bi, NF i -85 -s,-BF ] hence, the system i unilable i ® | gor system 644 296% 410674 SHR=0, finel Ke | marginal (Kuar) anct ‘wo! at Kua, Soll} GPven, St4+92584 10574 Stk =0 Suu EERE EEEEEEEEEEeeeeeeeeneeemmenenem | | or a 1, Q,=22,A,=10, Ag =1¢kbhpek Quek sh og 10 ok ce oo L S195 Ko st 9°9§-22K 0 Ve d9S st K 0 495 -—22K _oO 4-95 44S = 22K [ Kmar = 445 20° +5] | | | | VIS? + Kk 20 QISS? + 0048 o C7 = OGS { 995 j 67 = 0045 j & = +0213 wT. Cat fw So, [We 0-212) s inGrveo syilem ost las with eauensy 2 vack/[see.} | pod tbe value of ‘Kmar' | Ove to RAS | no poles S34 Ps*4 25411 2+ _k (s+1) =0 S84 Por 42844 Si+Po*4264+14K (S41) =0 S84 Po? 4(24K) S+LtK =0 Qo=1, Q,=P, A= 2+K, Ag= K4L ' si otk } st Pp ka St P(2+kK)— (kz) oO P So Kk +a 0 i | | os p(@+k)-(Kt1) =0 / n,n | Pi+k) = KktL | |? = Kta K+2 2P+kP-K-1 =0 K (P-1) =1-2P kK =41-2P ] P41 | | | | | ee = - (K+1) — (k+2) K+, tj fKt2 wy o Ss pl, I Ps?+ K+l =0 | | | } | i 2 | 2=4 j = | \ So, [? > &e aad q LA syle osetllats with a grequen wo rad /sec; ip U har a poles of S=tjJw and no poles | to dhe right baly op s-plane dlitsamine the valut 1 oy *K’ and ‘a’ So, tak syilem shown below osci- ‘lotta af a drequncy 4 2 rack (sec. 3) The oper LOOP transper purchion of unity peeclback i | enotol syslem te git ny g@=_50 “opply BH cnileee, Show that $G-40-059) +0028) | system & unstable. So 1+ gO =0 | | 4 *eatmcsatrvoao *° | | } * (140-05 Sa +0*25) a wo an i O-Ols 2 Qo=0-01 sk 001 Ss? O12 st 1 s 50 a Sign hon +000056? + S450 » 4420025, a,=i, Ag =50 L 50 0 oO ue & unstable poles af RH.S. Sicle = # dadumine the location oy roots wat. S=-2, Gre dhok the characletsfe eqn. & St+ 106+ 8687 4106475 =0 My =1, & =10, 0, =86, Ag=To, A= gro (8-9)%4 10 (S-2)%4 26 (s-2)°4 10(S'-2) +15 =0 (6%44-48' 24 4-45') t10[ (s)S_ e- 6 (81)? 4425'], ots 4 (62 426 [0607+ 4 -46']+105-140415 =0 4(s) 844 (641 6-468) — a(s)8_ 4 68'4 j 16(s')? 4.4108) 80- golsi'+ 1208'4 36 (oF) +1bb— 1446'4T08'. ~L404+7S =0 (S94 4 5 (018 4.445! 415 =O As=1, Oy 22, Ar=0, Gga1bs %M=I5. L 0 34s 2 th ° 1 15 Ley 0 15 | thae ave 10 sig? chon in the erst colo- (Lume hence there are too root to the i ve. oy the line S=-2 and remaining ‘hoo to the let oy line g=-2. * A closed loop tansy gerdion of a positon Coohel 1 geyser is even oF oe "4 k i i Rls) 694608430874 60S4K ; 1 Q. Déktmine the vange fo whitch k must lie de | dhe system do be ‘etable B. what shoul be the uppu Uimrt 00 K. ip all | close loop poles are requirecl to be to the | i of the line el. Sol Gruen, he 6554 30674 60S+K =0 Qo=4 , 1-60, =80, Ag= 60, Qu=k shoot 80 «K st 6 60 0 | sw 20 K | si 1200-6K sg | 20 | s? K | *) 0 oh4 9684+ 1867+ 445-854 =0 | Oo =1, » Q,=18, Qg=14, Q = -BS+K 4 1 I s a 1¢@ ~ 354k | gs 2 14 oO | sy aa ~8E4k | S* 224-2k oO | at So -354Kk i 224-2K =0 2k =224 K 4112, | | i { i } | geumine the rang of Kk Such that chatact | reste eqn. S84 alk+a)s*+ tk+5)S+(4K41)=0 has | i voou more -ve than Ss-2. | Given, | 684.8 (K+) S41 KES) St (4K4T) = 0 i | Gruen, S=-1. now put o=S-1 i i | | Cs-293 4 a(Kt ays)? + (tHE) ($1) + 4KtT =O | S84-38743¢ +2 (K+D (8741-25) + (TKS) S —TK-5 + 4K4T=O | 68-367 43S-1 48K 8748S + BKFL- EKG ~ 6S 4TKSA SS EKH240 | Coa BKS74+ KSt2642=0 | e284 oe'+ (Kt2)8+2 + A unt i user ot stable. 3 hos Sol Gives, ~1-M5 KS 7 SE 3 a oe ot Ke+o s* 3k 2 St gk (K+2)-2 O gk seo o 3K7+ 6K-2 50 Sk w@ SK*46K-2 70 —6+ [86424 4 Bx -64 G6 >0 6 “Lt Uy iS 3 eolback — CoMro! cyslern hax Gls)= Klsts3) | Routh's eet Cottevan, Coleurlate -the $ (sg (1 k for whteh the syilern u& Ue closecl Loop poles move ~Vve then -1. gta = _k (S+13) s(S+8) (s+7) | i } W.KT, +6 ls): HO 20 1+ KS412) S (S43) (S41) & (sta) (S+1) + k (stag) =0 } (8°48) (47) +SK+18K =0 Si + 10s? + 2164+8K+t 18K =0 Si 410574 (21t+kK)S + 18k =0 Qo=l, Qy=10, Q= 2UtK , Age i1Bk. (@ sod 21+k ? 2 ; so 10 13 i S7 910410612 0 : 10 Sag ° => L0Kr 197 > 0 10 10K +197 >0 K>-LbT. and. 21+k >0 K >-91 | 80, C= 6-4, (s-1)84 10 (8-1) (n2tk) (5-1) task =0 i oF 4 264 88 +10(8"44-96)+4 (ark) (6-44 2ek=9 G8 1- 267+ 864406" 410-206 4246-29 4K SK ETEK St 157+ (44K) 6 4124+12K =0 T, 0,5 4+K, Q,=412+12k * The tu ee i s? 7 ct D8 4T R12 -12k ° s 12412K 16-SK > 16> 5K K > go >o block dfagzam OF Shown below to GK fotaK oO Oo L2+12K >0 dak >-12 K>-L feclback contol spiten Apply RH Crtleran do cletmine -the range “af K yor stabUtty tf a (+4) (645) © | RES) gis) = ye) ge, Rls) 14605) — $s)? ¥(s) Gs) 31-68) 4- (66 Again Gerdback D GCs) 1-608) — G(s)” Gg ts)? 1-266)" Gre, Gld= _K (Stan ls+5) Gls)? = : } i Cs+4)? (6 +5)” = Ke (6744164 86) (84 354108) Ke now Y0s) = 67416485) (574254108) a9 fo~ 2k (S74 16489 (54254108) 2 (87416485)(S%4254108)~ 2k 2 ia K Shs 10554 256 4166 400 +1 6064854 200 + 80S 26% ke " ee S419 gS412167+ 8605 + 400-2k* So, S*+ ses84 191644 3605+400-2K? = 0 Ag=d, Ap=LE, As=121, AZ=3G0O, Ag= 400-24k* s* a t24 go0-2K™ se se 360 ° gs? tos (Go0-2K?) 0 | S$" 6860-18 440-9) 0 0 to 400-2k? 0, 400-2K* >0 400>2K? Ko <14+44 29160 + 26K? >0 249160 >-26K* K> + f29+46 14:16 RKD> +Hf2Q-46 * | The open loop drangyer punction af a anil et bac fem & gfuen Gu)= ean’ an aio K. 10 TET Eg) gor ste pe systern. sol%— 1+ G@) ie 0 4t+__K =o SAtst) Gtsh) (s*n+s)U+sh)+k =0 SSR +(Gth) 64S4+K=0 Oe hth, OL = Gt , P1, gk $8 GT L +} sr Ta +T k i Sto G+h-kKhb 0 TU +t s? K | j T+h- KUT >0 Nh+l, >KEG o< KS rh /tB 5 i { 5 it ' i | f * Use hawirte crifefan and dglamine no. 8 (1) rook in Iyt ba a S-plane. (i) eo. Of roo fn right haly S-plane. (iit) 0. of roots on © ta. nary axis f? the chasaclaistHe e9n, st+ 25°41 =0 Sol ote 26°41 =0 shod 2 2b sag 0 0 Ste 26% 450 ott + Se S (S441) +1 (5741) =0 (S°+1) (8?41)=0 Sart Saf Ste o62+4 =0 Gsi+ 4S =0 st 4 2 4 ot 4 4 0 so aon st 0 0 + Using rowth crfteta clifumtre the stabi Loop trangporm fren hos poles at s=0, g=-4, S2-8 and eta ab g=-& , gain K GQ gorward Poth t 10. 0% g- Hls) = 10(s+5) (S41) (6+2) 14+ G6): HS) =0 6 (844) (642) +108+50=0 S34 8074674 35 4105+ 50-0 S54 487 +1804 5020 Qoet, M=4+,A=12 ,A,=50 st 4 18 oc 4 50 sto 05 0 s° 50 0 absolulety stable af edback conhol syslers bas a chosatlotstic egn S84 as 44ch + 16594 24574895416 =0. how may oles ave GQ) tr the Iyf bal of S-plane @) 00 Fraginasy axis Gi) On right- hay of S-plane, Sale Given, 5542854 45% 16524 266% 4 825416 =0 Boal, A=2, A=F ,Aga1E, U= 24, A5 = 89, Agale of 1 4 98% 16 eX 59 16 82 0 ct oy ae 16 sto 0 0 SS bg 26 16 i oF >» 16 g2 9 | et L 9 16 SF 4 16 0 — 8 4 16 °~«0 | ost 0 0 oO 46°+16 =0 | es =0 sf 1 4 24 16 Se 2 46 g2 0 Soy ge 16 oe 4 46 0 S 4 16 0 st g@ 0 o se 46 0 ° 8 6° + 867416 =0 CHE aS SLE = S*(8744)46 (5744) =0 (674) (344) =0 Satoh, S=tai 48°+16 =0 St Ih 0 S= tor. $0, al the 6- v0dls axe on imaginary axk, RS-25 ECE Pxodup Sid. Koot locus by 3- A raphical methocl of ploting the tres of the vost in the S-plane when the ile paramelss are varient G2 % Complete ee of value t& callecl root ~ locus, OR Root locus & * qrephreat proceclute gf dbaito— Syl delumtoing e Locus OF a closeck loop Lo) gio i, poles 4 zeroes of gornarel f Ss dread. Graphico! dhe locus & a set of paths fo 0 Complex plane traceol by the closeck loop pole as dhe root locus gain & variecl from zeto ingtoi ly. (@ f &) K— 0 to & > Disect locus K> —&© tO — Jnvese lOcus. The characlutstte e9n. of —ve seectback Control syslero yor below d9 & Ge fey. RIS) 3 cls) H (6) L4G I9H(S)=0 1+kG'Cs) H(s)=0 Jn the dy: kK & assumect + be a veiable paramile So, Gisd= k 6's) whee, kK & a veiable parameu So, choseck loops Ke, the roots of +the above equation are okepenclent 09 the value of F andl kK & verte Grom. -0 to +o ger the stpuate valle of K we ge separate wet of Locations oF rool. x, characlerésttes eqn. Pf such locations are jorned dhe reselling locus & called root Locus. Angle anol magni tucle condltitons A closet loop chasacleiste eqn. ue expressed ax 1+ 663) H(s)=0 Gls). His) =-1 as a s-plane & & Complex we Can expras the above eqn. a4) Gly His) =-1 tf0 as 's’ value are exprused fo S=o2I0 So, x any value of s fy t bas to be on +he root locus é& must salixyy -the above eqn. 04 both stcler o above eqns. are tro a veclangulat m we convetE both sicles bo a polor form -then we Can equals and magnitiole conolztton 4 | both the sides ae ae ’ angle conditton GO) H® =-12S.0. GH = +(2441)180° —, 9=0/4,2,-- ~1tf-0 =1 [t190° , buf -1tf0 & a potnk on -ve veol axts “with a magoilacle 4+ af 0m angle +180; 2560" | o [| £400° 2. + (2042) 180° » Consider unity feekback syitem wrth @& root locus. sol as ub & unity feedback syilem H(s)= 1. anck = Gls) = rg chosacleistic eqn 1+ G(5)- His) =0 So, hy 1+ K 29 s StK Lo Ss S =-k fp K —> 0 fo & kK 0 0 4 4 complete negetve veal axiu Gls)= kl obtain * Considers a syslem with G@ Hi)= _K giod wheatba 6=-0-15 %& on +the root 6 (8+2) (cr4) Locus OF not Usi angle condition als G68). His) aa | GS (842 )(S44) when, 6=-0-75 we ge Gis). Ho | = kK ~ots 0-75) Cort F-0-7644) = K ~ 80668 21 30468 Leo* = 0-328 [-180" Re, [GG0-48) =-180° gt G=-0-15 which sal- - ayy Abe ani cond”? and we can collate dhak the Point e=-0-1S & on the root Locus oF the system. " 4 Repeat the above problem using Sa-itly GOH) = KR (aria) Can sera) Ct Se+4) = K (Grae WOE) Gera (6) (65 (58°) 2 1 Lo” es [288° = 0-017 6 [-238" je, [GOH =-288° at s=-14+54 whtch cloes not) sling the angle Condlition ane we can conclude Abo the potnk S=-a+l4 & not on the root locu of the system, | * Graphical methocle of oleleemining k Prockut of phasor lense Arvawn rom K = open loop poles up point on the woot loc Procluct of phasor lens Arawn dron> open loop 240% up to K point on the root lo curs NOTES J¢ open loop 2etoex ave absent, then the cenominator #> above expruston must be’ Aredhedt unt, Ex 66). H(s) = K gird kK for Seis | S (S44) #) Consider a syiler with Gls) Hs) = K Alst2)ls+4). and S=-O15 t& a Congirmect 40 be % the root locus, \ Now we are inteestecl *n knowing that at what | Nalue of Kk, &=-0TS UB one the rosts Of 146(s) Hs) =0, Use the magnitude condlitton solt— Gls) H(s) = K , S(S+2) (644) 1G0s).40)| = 4 K = 4. Cl-0-151) Cots+2) C15 +4) K =80468 * Ftod whelha S=-%15 & on root using mM "di nrtucle Lond ttion om Sol%— ove exampe we got e Ikl = Pae d —_K = OH Ge (0675) (0-715 +2} Co.1544) = 1. * yor GG). H&)= kK obtain the (S42) sol 14605). Hls) = 0 i+ _k =0 Ss) S(S4) +k =0 S'+ 26+ K =0 Ss -1+Ji-K kK Sr =-1t+fi-k 9 ° i 1 o ttt 30468 locus or not by ndlute of root loc. by = branch 1 , PO. OF poles = 00. OF branches, bs = branch 2 * Rules de conshuction of Root locas Rule Ls voot locus &’ alw symmehicol about, ib veal ax, The roots of +he chotaclutste equettion ave either veal or Complex conjugake or both o, Ahem. thagore thee locus must be symmedical about veal ants of the S-plane. Rule 2 t- The no. 0f branches Of the woot locus: equals poles (P) or zeroes (2) Whichewa u grecte. if Gls) Hs) = Open loop trans con syitenn| P= no, of Open ta Goes t ; B= 0. of open loop zeroes. P>z 3 no. Of branchu= No. of poles. fe, N=P, whue N= fo. of branche. > tf z>P 5 00 of branches = no. of BNO te, N=z caseO e P>z, branches will staat grom each of the location of open loop pole and out g P. no. Of branches, 2 70. OF braneheys will teminate at Locolton of zeroes. the remaining (P-@) bro-| -ncbu voll uproache: to | (er If Pee, Ba1, then 0. oy root Wous bra -Ochu are equal 4to us and the po, o branch damindlin: ward fe, P-2=2) ie, & wit stark m dhe Location @ open) lop pole ard one wtll teeminate af the open loop Ze and three branches approache: fo &,' case iD) + Jo Case 2>P, 00. OF branches equolsthe po. of open loop 240ek fe, N=2 branches will | jecrotpate af each of foe localion of open woop zuo. but ouk Of 2. 0. OF branches , ? no 4 branches voit! slast from apen Loop pole location and z-P no. of branch will oviginete rom -00 and will approach to fioile ze. Exe If Pat ande=4 then the 10. OY branche & equal fo No. Y Zu =4, te, N(z-PI=3. fey g branchu will stat from oo while one branch will start grom open Loop pole anol all branchu well ftominet: at available yénile locettion. Span taop plex “boro Case tit) + Jy P=2, A branch will sa! slat om each of opep loop gatn anck Teminate af oper Wop zeto, Rule 3: Pont on the veal axis lies on the voot locus. if the Sum of the mo. of loop poles anc one loop “zeroes on real axis the right hanol — giole of tbs point i ool. Eri GO) HO) = _K bs+1) (S44) using rule 8. find 6(5+3)(S +5) 00 which section of veal axis the root locus exists - | P= 3 (0-2, -5) | 2=2(1,-4) | | PRE QL pRE RL NOTE :— (1) Ih vale cannot be applied to actual poles and zekot% as thy Ore alioays on oot locus. (ii) Rule cannot be appliecl to complex pols and zetoes as thy ocax in pol as 4h ocean in Paks hence toes not ocan fo cond? fot ee Gi) Hi) = Kk (st2) S? (942842) (648) | P 20,0, 2+ fue , -8 i 2 | = 0,0, 1tS 4-8 | z2-2 hue, P= no. of pola + no. of zeroes = 240 =2 gor U = 240 H2 > hence Complex Con furgate of imaginary are not consicleect here a Role 4 % Generally no. oy pols > zou. in such case P-2 branches will Approach fo o. i Ahese branches which approach to co move along dhe Strat line called Osymtvdlas af root locus. Asymntooles are the guidelines fr dhe branches approaching to 0. an of such asymptocls are ven a ) Ls eauleo 5 shew oe Ves P-# Rule _§ i © a drealpoils of poles 4 Gls) Hi) — Erreal, pals Fase C= Qu Cenpoid & alu real, tf may be Located on dhe -Ve OF 4ye veal ant. Jt m or moynot be the post Of root locus. EF pow GG)-HI = K (S+2) ($+24f29(5+ 2-f 2) | cakeulate the angts of azymptodes and be centroid . ge F Geympee | SolPs— P=3, Z=0 Ne P-z2 32. © = (29+2) 180 | Pz | 61= 180° = 60° 8 6, = §40° = 180° 800 " Og = 400 cormon a real “ants collect centoicl dhol t& gen or a. Sreal pacts poles 6 Gls)-tt(s) — Svea! posts gooee s aU thee agp tools are forrt fo fritusect ata poi of nO. Of Qzymbrder ave equal fo the no. of bran- -chu approaching too. 2-2 00. Y Azymptoctes Angle 3 a2 yep 0 o 2 L 4 61 =180° 2 2 O, = 90", O2=270° 8 3 01 = 60", 0, =180", 2800 4 & Or= 45% 02485" 03=250°, 04 = 405° Rule 6: Break away point Jt t& a port on the root locus whee multiple rool of charachytette e490. OCCUR for pestiealas Nolut of kK. Jor SBI GOD HIS) = K/lsls42)) . Jo this LE te obsewved that the rods $1 and 2 stare grom open loop pole location anck approaches to's’ k od Lt Soe navte Jo thu CE & observed that the voots Sr $ So start rom open loop pole locof? $ both approaches fo common value Of S=-t as A ghven gon Kk | focecasea drom © to t anol then both the roots break away from ¢=-1 as pale of Complex confugats “rool whue K & fneeasecl (from Ate guch point whue 2 Or more rool occu sor a Pecos value of K & collect break awoy otal, | The branche leave break away point af an — ange of +180 whee 'N ie no. of branch | approaching “at a break axcay point. General precliction about existance of break arny Na es if thue are adfeantly Placed poles on veal axis bro, them & a park root locus then thew exist miotmum one break away porrt in blo. adfucestly placed poles. Ete G(s) = K break ayopy S(8+2) P=2, 2B=0 WN = 2-022 branches moving towards break aniay point. exe GS) Hs) = _k (646) Colcutdle how mony S(st2) (5+4) break awoy points. Sos P =e =2 3-41 on ” N ! NOTE :- Branches are approaching towards bree away Point gon Pal d | ke Jy dhae ave two adjucestly pland zu0u or | | | | | meal axis and secion iw. them & a pot 4 root Locus then thee extsl® minimum one break away potrl fr btw. ad jucen thy placed. 2008. gen t46 Gi). #0) = _K(s+2) (S44). S (67425 +2) Gs). Hl) = _K (sto) (StH). S (sta-S) (s+1 +f) rn GO) HO = _K(st2s (s+ 4) (+6) (+7) break © If thae & ze on the veal axis to the lyl of thot 2&0 thue ave no Pole Ox zZeto aaling on the reol axis anc complete real axk& fo the ly of the zeo & a poth & root locus and ae 7 —___|__ * i Pes Peo & min” one break away pofat, dee Kim GOD). Als) = _K_(s+2) (544) S Cs? 425+ 20) dedtiimination of break away potrt. () Construct the charachetetic eg. 1+ G0). Hs) =0, (it) rom this eqn, seperate the tums involving Kk’ and tems of involving ‘s’ ancl write” the value of ‘k’ in dams "ay 's’ Rey k= ¥(s) Wi) Sty. above eqn. wrt. 's' and equate it to Zuo te, Ak =0 BS (GY) roots of eqn. dK =o ge that break auday points. ds Cw) Sf the value Of K & sve then break audoy poi & valid gor root locus § ty value of Ku we then the break aay point & invalid. JOE exs— for GCs). Hl) =_k Jetumine the ¢o-ordinafy of Sls+a) (S44) yatil break aw potals. | Solr 44 GO)-HW) =o t+_* (S41) (5446) C+ S74 St K=O k= [8845574 45) 1 dK = 3s7+105+4 =0. | ds | SO, | Se -0046G ye 20-079 5 Malic. G2 2+868 jk =-6-064 ; Invalid. go, -0-464 & a valid break away point Ruke Tie Intersection of root locus with an —_ Imaginary ants. a. Constcla the “ chotadiaistic eqn. 1+ Gls)- Hls) = 0. Conthuct routh array fo tums 4 kK, c. detumine Kmar, value of K whch makis one Of the qouth's array 03 A OW OF zuok erupt A Yow of S ° A. Construcd auxiliary eqn, A (5)=0. o €- Roots of Auxilliay eqn, Al(s)=o for K~ Kmor are fnlasecfon points of . root locus with imaginary axe, for 8 GU). HDF | Sls+a) G44) i Sol? t+ skp (7) t+ Gls). His) =0 K =0 aad S(s+1) (+4) S(s+1) (stu) +K =0 S8+ 557+ 4S+ K =0 a, Q=5, A=4* ,Qg=K skep (i) s tL 4 s 5 kK 6 20-K =O s . s k 0 Seto S=*2f are porrts Of trter secfton with tmagena axts are the porn 4 7Blersecton Of “root locus with imaging Ants. Ft Kmay value & +V@ root loc frlerech with tm- -9 -aging axis ancl ty Kmer S-w root locus hoesnot folesect Pmaginary axis and. es tolally to lyf holy of © s-plane. Rule & s- flogle of chepastine at Complex pole (0) Te te ak which branches [ears a complex od. pol t& called angt 4 Sepa Conjugal sp7dsg Benblect by by. te, ¢g-tso-$ whee, => Lop- Doz whee 2 bp= anges made remaining | oper poles ak the pole at which da & collated. Doz = anglu Made remainin oped Loop zuou ot the zZU0- of vahtch dh & coteulatedt. enim Yor 66). Hls) = K (842) [s(sruylers2s+2). Colculatie tbe an’ 0 otluie at complex Conf i oy oF ib plex conpaget coi | GO) HO = _K (042) & (544) (5742542) no. oF poles S20, S=-4, Ss-14f 00. of zeoe =-2. op, = 180 - At (72) =185° dp, = 45° bp, = 18° 4a° bp, = 90° b= Lop-Xbz : =135° 90+ 18+48-45° = 198°4E bh = 180-198-483 = —18-43 Jp we conafela a seconal complex Conjugate poa| dhe stan of b4 well be gue oppost as root, to ces é aluroys syomekicol Rule Fs an of arrival af Complex zee. | 4 ange o. aratuol af Complex zU0 & ba can! be” coltuloted as ga= 180+. | b= Ste -Ebe steps +o solve Problems 00 root locus Step Get the genuol ingormdlion about po. i Open loop pole, Zeoes, no. oy bronches ce from G(9- Mls) i Braw dhe pole- 20 plot. tcleotray the sec: ~Hons of veal ants for the extstance ot the root locus anol predict min no. Y break an orks si eral predictors Step (it) + “Cotcitate 4 x Ornate slp (tv) - daemine the cenfrorcl ~ sketch the spade Sktp WW :- Coleukate the break away 4 break t point Jp break away potils are Complex Confugale dhen use an, condition +o check then pr thee valéct as break awoy potch Step WO: cofeulate “the Infasection pont af root locus with tm pEnary axis, Slp UID ~~ Coleuel the ange of depaitu or arrtioh tf appledoble step Wit) — Combine Steps 7) to (vit) $ sfuatve Lrowa the pool sketch of the root tocus. step bO_ :- Predick — Stabtility and payors OF the yen systen by ustrg voot locus. slep (i diagram Gor » | Seow dhe — approximate root locus | close loop spe whose transyer funckon ts given | by 909. nee d | cae Sore Given, | Gls) His) = kK | 6 (S45) (S440), | step) :- ‘No. of polts » P= 2(0,-5,—20). | No. of zaoes 2 =O. | No. Of bronches N= P-2=3 | | staxting ports 0 —5, ~10 (open loop poles). | Heuminaling points Oo 1, % | step UD :- ie | skp Go angle of azymptodles O= barbaeo | P-z | 4=0, G= 1680/8 = 60° | G-1, 0 = S*!0/g = 180° i q-2, Ge = 5*180/2 = 800° | slep (fu) 2— Cenhoid. i Pz = 0-S-10-0 8 slp W2:- break auoy point 1+ 665). 414) =0 i+ _ KF Lo S(s+5) (sto) $ (8+5) (6410) = —K C4156 +508= -K. Now, dig. wrt. &. 3674 305+ 50 Ge -2+118 So 5 -71: 886 kK 2 torare (-2438+5) Ca-tig+1t0) = 49-1025 (Volid) K = -48-01 (Invalid), hence, S=-2-128 & valid break aunay point. Step VD Intasecton with -ve veal axis S?4 15674 508+ K=0 Go=1, A =15, A, =50 , Og =k. step wid :- Jntersectton vith imagioory axts. no| Complex poles hence Gn. oy “ol u | not ‘requiveck root locus breaks at + 40° of a break away potnk. 1 step Wit) :— Kuar =150- Centrotel. os root locus & completely at let hank stde hence tk & stable. f°" K fobto ~-% do t50 — stable. at K=7150 = Margin olly stable. of K=T50t0% —> Unstable. “| fe the tomplitr rook locus oy the sypilem auyit K a gts) HS cer Gr (S48) SI) No. Y poles P= 4(0,-1, -2,-3), No. of 2008 z= 0. branches =4 Stathing ports ave 0, -4,-2,, 8. ancl laminating points 0, co, 00, Oo. stip ie step Wt) ong 04 asymptoctes. q=0, = Leola) Es 45° q=1, 0, = Sxs60ol& = 135° q22, O32 = S*180/4 = 295° qe 64 = TX180/4 = 825° Step (iv) 2- Centroic. Creal past open loop pole — Yaeal past open loop zero slep (Wi- break aw point 1+ Gls). H(s) t+_K =o S(s+4) ($42) s+) S(sta(s+2(S+D+kK =0 (S84 352425) (s+3)+K =0 S44 8854 2874 2654 9574 6S4K =0 64 65%+ 41874 68+K =0 K=-[S*+ 658+ 1167+ 65] dig w.7.t. S we get 4654 1@974 226 +6 = G1 = -2' 618 5 Ky 0-999 CVoalid) S82 = — 0-38 > Ka = 00994 (Walict) Ss2 -45 » Kg 2-0-5625 (Sovolid), stp wi) :- vouth arr 644 6584 1107+ 6St+ K =0 Oon1, 4 =6, GU, A=6, Q=K shor ou ok cs 6 6 0 2 si 10 ct 60-6K To ’ = 60-6K _ 16 =10 % ckelch the complete root locus jor the System hawing GOS). HO = kK e Le Sol%— Given, GID HO= KK 8 (S42) (574 3644°5) Polu, P= 4(0,-8,-1-5 +F1'5) zuou, 2 =O branchu, N = 4. step Wi) i— step Wit) :- angte of — asymptoctes. =0, Gy = 1860/4 = 45° Lal, O,= 135° q=2, 6, = 225° 1=8, 04 = 815° step (iv) :— — Centrotel. oe Oren a be jresSis q i step Wi t+ G6(8) -Hls) =0 a+_—K = 8 (642)(87 4264+ 45) (S428) (684 364+4-5)+K =0 G4 65541915574 18-55 +K=0 K =~[s*+ 6524 12-5574 1855). key wort co 46541967 +2TS 412-5 =0. $= -1-5 5 k= 5-06 (valecl GS = LS Sa 5-18 — youth array, C4 6SF4 18-567 + 1375S¢K =0 Oo=t, = 6,8 F135, Agate , M=K ot 4 13-5 K st ¢ 135 40 cS? ines ok S° isne-sk oO 1425 s° kK eg => 154°815 -6K =0 K = 25-3125. => 11:9564+K =0 i Sa — 4 sa tlre ba = Mbp-S oz 125°4+45% 90° 2T0° 4180-2T0° vy bg = Ceenhoidl, break away point) Commet on elability if Kk 225-812 — slable K = 25.819 — Plargin ctable K>2+e12 — Unétable- * The open (oop an om don Of a contol — System & gtven by chy oe : (s)=1,. sketch “the voit SG (642) (57+ 65425) root locus. So: Gruen, Gt). HI) = e S (S42) (5746425) step dd ee hab (0-2 824) 2 <0 N=4 stoning point 0, ~2..-g441 2-8 Juminaling potne Cn stp ( angle of asymptocles 6, geet a BP Bo Ou = 345% step) + Canketa os 2788 2-2 slp 9 : — 1+ G1) H(i) =0 t+ ey? S(S42) (57+ 65425) (62425)(S74 6S425)+K =O

You might also like