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Topic:-Root Locus: Muhammad Usman L2f08bsee0674 M Tariq Waseem L2f08bsee0715

The document discusses root locus analysis, which graphically represents how a system's closed-loop poles change with variations in a system parameter. It defines root locus and provides rules for sketching it, including: the root locus is symmetrical about the real axis; the number of branches equals the number of closed-loop poles; it exists to the left of an odd number of real-axis poles/zeros; it starts at open-loop poles/zeros and ends at open-loop zeros/poles; and it approaches straight line asymptotes as it goes to infinity. The document also gives an example of applying these rules to sketch a root locus for a given system.

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146 views

Topic:-Root Locus: Muhammad Usman L2f08bsee0674 M Tariq Waseem L2f08bsee0715

The document discusses root locus analysis, which graphically represents how a system's closed-loop poles change with variations in a system parameter. It defines root locus and provides rules for sketching it, including: the root locus is symmetrical about the real axis; the number of branches equals the number of closed-loop poles; it exists to the left of an odd number of real-axis poles/zeros; it starts at open-loop poles/zeros and ends at open-loop zeros/poles; and it approaches straight line asymptotes as it goes to infinity. The document also gives an example of applying these rules to sketch a root locus for a given system.

Uploaded by

xenium9363
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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Topic:- Root Locus

Muhammad Usman

L2f08bsee0674
M Tariq Waseem L2f08bsee0715

Overview
Introduction

Defining the Root Locus


Sketching the Root Locus An Example

Introduction
What is root locus?

Root locus is a graphical representation of the closedloop poles as a system parameter is varied It can be used to describe qualitatively the performance of a system as various parameters are changed It gives graphic representation of a systems transient response and also stability We can see the range of stability, instability, and the conditions that cause a system to break into oscillation
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Sketching the Root Locus


Based on the properties of root locus, some rules are established to

enable us to sketch the Root Locus:


Symmetry

Number of Branches

Real Axis segment

RULES

Starting & Ending Point

Behavior at infinity
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Muhamad Arfauz Bin A Rahman [email protected] Robotic & Automation, FKP UTeM

No. of branches
The no. of branches of the R.L equals the number of closed-loop poles. (Since a branch is the path that one poles traverses.)

1st

2nd
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Symmetry
The root locus is symmetrical about the real-axis. (Since complex poles always exist in complex conjugate form.)
Symmetrical about real axis

Real-axis segment
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. (Due to the angle property of R-L.)

To the left of an odd number


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Starting & Ending Points


The root locus begins at the finite & infinite poles of G(s)H(s) & ends at the finite & infinite zeros of G(s)H(s).

Ending

Starting
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Concept of Infinite pole & zero


Infinite pole: If the function approaches as s

approaches , then the function has an infinite pole. Infinite zero: If the function approaches zero as s approaches , then, the function has an infinite zero Example: KG(s)H(s) = K / s(s + 1)(s + 2) This function has 3 finite poles at 0, -1, -2 & 3 infinite zeros. Every function of s has an equal no. of poles & zeros if we included the infinite poles & zeros as well as the finite poles & zeros.
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Behavior at infinity
The root locus approaches straight lines as

asymptotes as the locus approaches infinity. The equation of the asymptotes is given by the realaxis intercept, a & angle a :
a a
# finite poles # finite zeros finite poles finite zeros

(2k 1) # finite poles # finite zeros

Where k = 0, +1, +2, + 3, and the angle is given in

radians w.r.t. the positive extension of the real-axis.


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Example: Sketch the root locus for the system shown


a
# finite poles # finite zeros (1 2 4) (3) 4 a 4 1 3
Notice that there are 4 finite

finite poles finite zeros

poles & 1 finite zero. Thus there will be 3 infinite zeros. Calculate the asymptotes of the infinite zeros: Intercept on real-axis.

(2k 1) # finite poles # finite zeros for k 0

for k 1 5 for k 2 3
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Root locus and asymptotes for the system of previous example


/3 Real axis intercept

5 /3

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Real-Axis Breakaway & Break-in Points


Breakaway point is the

point where the locus leaves the real-axis. (-1 in the figure)

Break-in point is the

point where the locus returns to the real-axis. (2 in the figure)


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