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  • 11 Root Locus 1

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    John Karlo Reynante
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    The root locus is a graphical representation of the closed-loop poles as the system gain is varied. It provides a qualitative description of the system's performance without requiring factorization of the characteristic polynomial. To sketch the root locus, you determine the number of branches based on closed-loop poles, check for symmetry about the real axis, identify segments on the real axis based on open-loop poles and zeros, and note the starting and ending points based on open-loop finite and infinite poles and zeros. The locus approaches straight line asymptotes as it goes to infinity.

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    The root locus is a graphical representation of the closed-loop poles as the system gain is varied. It provides a qualitative description of the system's performance without requiring factorization of the characteristic polynomial. To sketch the root locus, you determine the number of branches based on closed-loop poles, check for symmetry about the real axis, identify segments on the real axis based on open-loop poles and zeros, and note the starting and ending points based on open-loop finite and infinite poles and zeros. The locus approaches straight line asymptotes as it goes to infinity.

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    Download as DOCX, PDF, TXT or read online from Scribd
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    49 views5 pages

    11 Root Locus 1

    Uploaded by

    John Karlo Reynante
    The root locus is a graphical representation of the closed-loop poles as the system gain is varied. It provides a qualitative description of the system's performance without requiring factorization of the characteristic polynomial. To sketch the root locus, you determine the number of branches based on closed-loop poles, check for symmetry about the real axis, identify segments on the real axis based on open-loop poles and zeros, and note the starting and ending points based on open-loop finite and infinite poles and zeros. The locus approaches straight line asymptotes as it goes to infinity.

    Copyright:

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    Download as DOCX, PDF, TXT or read online from Scribd
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    of 5

    ROOT LOCUS - a graphical presentation of the closed-loop poles as a system parameter is varied - Gives a qualitative description of a control systems

    performance - Requires that only the location of the poles and zeros of GH be known - Does not require factorization of the characteristic polynomial RECALL: Control Systems: Typical closed loop feedback control system

    Vector Representation of Complex Numbers

    To evaluate a function at any point s ( ) is

    Since each complex factor can be defined as a vector, the magnitude The angle of ( ) at any point is:

    Example: Evaluation of a complex function via vectors 1.

    ( ) ( )

    ( ( ( (

    ) ) )( )(

    ; Find ( ) at the point


    )

    2.

    ; Find ( ) at

    a. Directly substituting the point into ( ) b. Calculating the result using vectors

    ( ) Angle and magnitude criteria

    ( ) ( ) ( )

    a. A pole exists in the equation above if ( ) ( ) ( ) ( ) ( ( ) )

    If the angle of the complex number is an odd multiple of 180, that value of s is a system pole for some particular value of K

    ( ) ( )| ( )

    ( ) ( )

    Example: ( ) ( ) Consider points: and ( ( )( )( ) )

    ( )

    | ( ) ( )|

    Sketching the root locus 1. Number of branches. The number of branches of the root locus equals the number of closed loop poles 2. Symmetry. The root locus is symmetrical about the real axis 3. Real Axis segments. On the real axis, for the root locus exists to the left of an odd number of real-axis, finite open loop poles and/or finite open-loop zeros 4. Starting and ending points. The root locus begins at the finite and infinite poles of GH and ends at the finite and infinite zeros of GH 5. Behavior at inifinity. Consider: ( ) ( )
    ( )( )

    - The root locus approaches straight line asymptotes as the locus approaches infinity. Further, the equation of the asymptotes is given by the real-axis intercept, ( Example: 1. Given a unity feedback system that has the forward transfer function ( ) ( ( ) ) )

    a. Calculate the angle ( ) at the point ( ) by finding the algebraic sum of angles of the vectors drawn from the zeros and poles of ( ) to the given point b. Determine if the point specified is on the root locus c. If the point specified in (a) is on the root locus, find the gain, K, using the lengths of the vectors

    2. Sketch the root locus for the system shown in the figure below:

    3. For each of the root loci shown, tell whether or not the sketch can be a root locus.

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