8.

2 ANALYSIS OF FEEDBACK CONTROL SYSTEM BY ROOT LOCUS

Step 1 : The characteristic equation for this system is

1 + GcGvGpGm = 0
Controller : Gc(s)
Measurement : Gm(s)
Valve : Gv(s)
Process : Gp(s)
Step 2 : OpenLoopTransferFunction(OLTF) = GcGvGpGm
Step 3 : Determined poles(n) & zeros(m) from OLTF
Poles are root of denominator meanwhile zeroes are root for numerators of OLTF. The number of roots
depends on the number of poles & zeroes
Step 4 : Find center of gravity, CG and angle of asymptotes, , and breakaway points, s
Step 5 : Since theres no zero, the locus will move towards infinity
***Each locus starts at poles and end at zero

From root loci diagram:

1. This particular control loop will never go unstable, no matter how high the value of K c is set. As the
value of Kc increases, the loop response becomes more oscillatory, or undamped, but never unstable.
2. As the value of Kc increase, each locus moves toward infinity along the asymptote or zeros.
3. When Kc = 0, the root loci originate from the OLTF poles.
4. The number of root loci, or branches, is equal to the number of OLTF poles.
3rd Order
Example OLTF =

Kc
(s + Pl)( s+ P 2)(s + P3)

Note:
Any loop with a characteristic equation of third or higher order can go unstable.

The value of Kc at which the root locus crosses the imaginary axis, yielding a conditionally stable
system, is called the ultimate gain, Kcu.