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Root Locus Examples #4a and #4b
Root Locus Examples #4a and #4b
A
=
180 (2l + 1)
3
, l = 0, 1, 2
A
= 60
, 180
, 300
= 60
, 180
(4)
Center of asymptotes:
A
=
0 + (2) + (2 +j) + (2 j) (3)
3
= 1 (5)
Break points:
1 +
K(s + 3)
s (s + 2) (s
2
+ 4s + 5)
= 0 at any closed-loop pole (6)
K =
s (s + 2)
s
2
+ 4s + 5
(s + 3)
=
s
4
+ 6s
3
+ 13s
2
+ 10s
s + 3
(7)
dK
ds
=
(s + 3)
4s
3
+ 18s
2
+ 26s + 10
s
4
+ 6s
3
+ 13s
2
+ 10s
(1)
(s + 3)
2
= 0 (8)
dK
ds
= 0 = 3s
4
+ 24s
3
+ 67s
2
+ 78s + 30 (9)
dK
ds
= 0 = (s + 0.7509) (s + 3.5424) (s + 1.8533 j0.5697) (10)
B
= 0.7509, 3.5424 (11)
Angle of departure:
D
= [180
+ 90
+
p3
+
p4
z1
] (12)
=
270
+ tan
1
1 0
2 0
+ tan
1
1 0
2 (2)
tan
1
1 0
2 (3)
(13)
= [270
+ (26.5651
+ 180
) + 90
45
] = [270
+ 153.4349
+ 90
45
] (14)
D
= 468.4349
D
= 108.4349
(15)
2
Closed-loop transfer function:
T
CL
(s) =
G(s)
1 +G(s)
=
K(s + 3)
s
4
+ 6s
3
+ 13s
2
+ (10 +K) s + 3K
(16)
Closed-loop characteristic equation:
CL
(s) = s
4
+ 6s
3
+ 13s
2
+ (10 +K) s + 3K (17)
Routh Array:
s
4
: 1 13 3K
s
3
: 6 (10 +K)
s
2
:
78 (10 +K)
6
3K
s
1
: c
1
s
0
: 3K
c
1
=
78 (10 +K)
6
78 (10 +K)
6
c
1
=
(68 K) (10 +K) 108K
6
(18)
(K + 61.1248) (K 11.1248) (19)
Limits on K for stability:
s
0
: 3K > 0 K > 0 (20)
s
2
: 68 K > 0 K < 68 (21)
s
1
: c
1
> 0 61.1248 < K < 11.1248 (22)
0 < K < 11.1248 (23)
Imaginary axis crossing:
At K = 11.1248, the auxiliary equation
s
2
row in Routh Array
is
68 11.1248
6
s
2
+ 3 11.1248 = 0 = 9.4792s
2
+ 33.3744 (24)
s = j1.8764 (25)
The root locus for Example 4a is shown in Fig. 1. Each line (branch of the root locus) represents the movement of
one closed-loop pole as the gain K varies from 0 to . The dashed lines in the gure are the two asymptotes that have
angles of 60
. They are not part of the root locus, but act as guide lines for the root locus branches for large K. The
third asymptote coincides with the negative real axis. Note that the root locus branches do cross the asymptotes for
this system.
3
-6 -4 -2 0 2 4 6
-6
-4
-2
0
2
4
6
Real Axis
I
m
a
g
A
x
i
s
Root Locus for G(s) = K(s+3)/[s(s+2)(s+2-j)(s+2+j)]
Fig. 1. Root locus plot for Example 4a.
B. Example #4b
G(s) =
K (s + 3)
s (s + 2) (s
2
+ 4s + 13)
=
K (s + 3)
s (s + 2) (s + 2 j3) (s + 2 +j3)
, H(s) = 1 (26)
n = 4, m = 1, n m = 3 (27)
Real axis part of root locus:
2 s 0, s 3 (28)
Angle of asymptotes:
A
=
180 (2l + 1)
3
, l = 0, 1, 2
A
= 60
, 180
, 300
= 60
, 180
(29)
Center of asymptotes:
A
=
0 + (2) + (2 +j3) + (2 j3) (3)
3
= 1 (30)
4
Break points:
1 +
K(s + 3)
s (s + 2) (s
2
+ 4s + 13)
= 0 at any closed-loop pole (31)
K =
s (s + 2)
s
2
+ 4s + 13
(s + 3)
=
s
4
+ 6s
3
+ 21s
2
+ 26s
s + 3
(32)
dK
ds
=
(s + 3)
4s
3
+ 18s
2
+ 42s + 26
s
4
+ 6s
3
+ 21s
2
+ 26s
(1)
(s + 3)
2
= 0 (33)
dK
ds
= 0 = 3s
4
+ 24s
3
+ 75s
2
+ 126s + 78 (34)
dK
ds
= 0 = (s + 1.1845) (s + 3.9293) (s + 1.4431 j1.8718) (35)
B
= 1.1845, 3.9293 (36)
Angle of departure:
D
= [180
+ 90
+
p3
+
p4
z1
] (37)
=
270
+ tan
1
3 0
2 0
+ tan
1
3 0
2 (2)
tan
1
3 0
2 (3)
(38)
= [270
+ (56.3099
+ 180
) + 90
71.5651
] = [270
+ 123.6901
+ 90
71.5651
] (39)
D
= 412.125
D
= 52.125
(40)
Closed-loop transfer function:
T
CL
(s) =
G(s)
1 +G(s)
=
K(s + 3)
s
4
+ 6s
3
+ 21s
2
+ (26 +K) s + 3K
(41)
Closed-loop characteristic equation:
CL
(s) = s
4
+ 6s
3
+ 21s
2
+ (26 +K) s + 3K (42)
Routh Array:
s
4
: 1 21 3K
s
3
: 6 (26 +K)
s
2
:
126 (26 +K)
6
3K
s
1
: c
1
s
0
: 3K
c
1
=
is
100 36.7494
6
s
2
+ 3 36.7494 = 0 = 10.5418s
2
+ 110.2483 (49)
s = j3.2339 (50)
The root locus for Example 4b is shown in Fig. 2. Note the similarities and dierences between Fig. 1 and Fig. 2.
The root locus branches begin and end at the same points, but the branches that follow the 60