ROOT LOCUS A graphical presentation of the closed-loop poles as a system parameter is varied.

A powerful method of analysis and design for stability and transient response.

POLES OF A TRANSFER FUNCTION

-

The values of the Laplace transform variable, s, that causes the transfer function to become infinite.

- Any roots of the denominator of the transfer function that are common to roots of the numerator. ZEROS OF A TRANSFER FUNCTION
-

The values of the Laplace transform variable, s, that causes the transfer function to be zero. Any roots of the numerator of the transfer function that are common to roots of the denominator.

NATURAL RESPONSES 1. Overdamped Poles : Two real at -1, -2 Natural Response: c (t) = K1e2. Underdamped Poles: Two complex at -d j d Natural Response: c ( t ) = Ae t d 1 t

+ K2 e -

2t

cos ( d t - )

3. Undamped Poles: Two Imaginary at j1 Natural Response: c ( t ) = A cos ( 1t - ) 4. Critically Damped Poles : Two real at -d Natural Response: c ( t ) = K1eunderdamp undampe ed d critically damped overdamped
1t

+ K2te-

1t

Ex. R(s)+ K1

K2 s(s+10)

C(s)

R(s)

K s2+10s+K

C(s)

K=K1K2

K 0 5 10 15 20 25 30 35 40 45 50

POLE 1 -10 -9.47 -8.87 -8.16 -7.24 -5 -5+j2.24 -5+j3.16 -5+j3.87 -5+j4.47 -5+j5

POLE 2 0 -0.53 -1.13 -1.84 -2.76 -5 -5-j2.24 -5-j3.16 -5-j3.87 -5-j4.47 -5-j5

LOOKING AT THE TABLE WE CAN CONCLUDE THE FOLLOWING: 1. For gains less than 25, poles are real, thus, the system is overdamped. 2. For gains above 25, the system is underdamped. 3. At a gain of 25, the poles are real and multiple hence critically damped. PROPERTIES OF THE ROOT LOCUS R(s) + H(s) There exists a pole, s, when the characteristic polynomial in the denominator becomes zero, or KG(s)H(s) = -1 = 1 (2K + 1) 180 K = 0, 1, 2, 3, C(s) T(s) = KG(s) 1+KG(s)H(s)

KG(s)

Where: -1 is represented in Polar Form as 1 (2K + 1) 180

Alternately, a value of s is a closed-loop pole if KG(s)H(s) = (2K + 1) 180 Therefore, the equations above imply that if a value of s is substituted into the function KG(s)H(s), a complex number results. 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. K = ex R(s) + K(s+3)(s+4) (s+1)(s+2) C(s) 1 G(s) H(s)

jw

o o x x -4 -3 -2 -1

solution: T( S ) = K(s+3)(s+4) (1 + K)s + (3 + 7K)s + (2 + 12K)

KG(s)H(s) = K(s+3)(s+4) (s + 1)(s + 2) Consider s = -2 + j3 KG(s)H(s) = K (-2 + j3 + 3)(-2 + j3 + 4) = K (1 + j3) (2 + j3) (-2 + j3 + 1) (-2 + j3 + 2) (-1 + j3)(0 + j3) (-2+j3) A 2 : (s + 3) (-2 + j3 + 3) = (1 + j3) A 2 = 3.162 71.56 B 1 : (s + 4) (-2 +j3 + 4) = (2 + j3) B 1 = 3.606 56.31 L1 o -4 L2 L3 L4 o x x -3 -2 -1 j

C 4 : (s + 1) (-2 + j3 + 1) = (-1 + j3) C 4 = 3.162 108.43 D 3 : ( S + 2) (-2 + j3 + 2) = j3 D 3 = 3 90 If point (-2 + j3) is a closed-loop pole then the angles of the zeros minus the angles of the poles must equal an odd multiple of 180. 1 + 2 - 3 - 4 = 71.56 + 56.31 90 108.43 = -70.55 -2 + j3 is not a point on the root locus and is not a closed-loop pole for any gain. Consider s = -2 + j 2 2 A 2 : (s + 3) (-2 + j 2 + 3) = ( 2 + j 2 ) 2 2 A 2 = 1.225 35.26 B 1 = (s + 4) (-2 + j 2 + 4) = ( 2 + j 2 ) 2 2 B 1 = 2.121 19.47 C 4 : (s+1) (-2 + j 2 + 1) = ( -1 + j 2 ) 2 2 C 4 = 1.225 144.74 D 3 : (s+2) (-2 + j 2 + 1) = j 2 2 2 D 3 = 2 90 2 1 + 2 - 3 - 4 = 19.47 + 35.26 144.74 90 = -180o The point -2 + j 2 is a point on the root locus and is a closed-loop pole. 2 EVALUATING THE GAIN: K= 1 = lG(s)H(s)l 1 M = Pole Lengths Zero Lengths = 0.333

K = L3L4 = L1L2

(2/2)(1.225) (2.121)(1.225)

The point -2 + j 2 2

is a point on the root locus for a gain of 0.333.

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 K>O, 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 G(S)H(S) and ends at the finite and infinite zeros of G(S)H(S). 5. Behavior of Infinity The root locus approaches straight lines as asymptotes as the locus approaches infinity. Further, the equation of the asymptotes is given by the real-axis intercept , , and angle, , as follows: 0 = 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 with respect to the positive extension of the real axis. ex. Sketching a Root Locus with Asymptotes R(s) + E(s) K(s+3) s(s+1)(s+2)(s+4) C(s)

Solution: = (- 1 2 4) - (-3) 4 - 1 = (2k + 1) 3 = -4 3

= 3 =

For k = 0 For k = 1

= 5 For k = 2 3

asymptote

j2 j1 o -3 x -j1 -j2 x -4 x -2 x

asymptote
REAL AXIS BREAKAWAY AND BREAK-IN POINTS Breakaway Point The point where the locus leaves the real axis (-1) Break-In Point The point where the locus returns to the real axis (2) 1. Breakaway and Break-in points via differentiation

-2 -1

x 1

2 3

Find the breakaway and break-in points for the root locus shown above. SOLUTION: KG(s)H(s) = K(s 3) (s 5) (s + 1) (s + 2) = K (s - 8s + 15) s + 3s + 2

But for all points along the root locus, KG(s)H(s) = -1, and along the real axis, s = , hence, K ( - 8 +15) + 3 + 2 = -1

K = - ( + 3 +2) - 8 + 15 Differentiating K wrt and setting the derivative equal to zero yields. dk = d 0 = -( - 8 + 15)[2 + 3] + ( + 3 +2)[2 - 8] ( - 8 + 15) 11 - 26 - 61

USING QUADRATIC EQUATION: = -1.45 (Breakaway Point) = 3.82 (Break-In Point) 2. Breakaway and Break-In Points Via Transition Methods m 1 1 ---- + zI n = 1 1 ------- + pi

Where zi & pi are the negative of the zero and pole values, respectively, of G(s)H(s). ex. Repeat previous example. 1 + 1 -3 -5 simplifying: 11 - 26 - 61 = 0 hence = -1.45 & 3.82 = 1 + 1 +1 +2

Note: The gain is maximum along the real-axis at the point where the breakaway occurs.

ANGLES OF DEPARTURE AND ARRIVAL Finding angles from complex poles and zeros Ex. Consider the system with G(s)H(s) product shown below. xO3 G(s)H(s) O1 = 90 O2 = 50 O4 = 140

x -4

O2 -3 -2 -1

O4 1 2

xO1 -1 -2 -3 + 4 = -180 -90 -50 - 3 + 140 = -180 3 = -180 (Angle of Departure) = (2 (k + 1) 180 = (2k + 1) 180 31 2 = 90 (For all values of K) = 90(Angle of Intercept) = -4.5 - 1.5 +j3 - 1.5 - j3 - 2 = -9 = -4.5 3 - 1 2
180 x

x -4 -3 -2 -1 1

o 2

x 180

THE j AXIS CROSSING The j axis crossing is a point on the root locus that separates the stable operation of the system from unstable. Ex. T(s) = K (s + 3) s + 7s + 14s + ( 8 + k)s + 3K

Using Routh-Hurwitz Stability Test s s s s' s 1 14 3K 7 (8+k) b1 b2 c1 d1 b1 = -1 1 14 = -1 8 + K - 98 = 90 - K 7 7 8+K 7 7 b2 = -1 1 14 = 3K 7 7 8+K c1 = -7 7 8+K = -(K + 65K 720) 90-K 90-K 3K 90 K 7 d1 = 90-k 90-K 3K (K + 65k 720) 7 = 3K 90-K 0 14 (8+K) 3K 3K

s s s s1 s

1 7 90-k 7

-K - 65K +720 90-K 3K

A complete row of zeros yields the possibility for imaginary axis roots. For positive values of gain, those for which the root locus is plotted, only the s 1 row can yield a row of zeros. Thus -K -65K +720 = 0 K = 9.65 Forming the even polynomial by using s row of with K = 9.65, (90 k)s + 3K 7 s = j1.59 The root locus crosses the j axis at j 1.59 at a gain of 9.65. The system is stable for 0 K < 9.65. = 80.35s + 202.65 = 0

Ex. Consider the system below. Sketch the root locus. 20 O x 200 o

10

-20

-10 x 90

10

20

135 o = 200 + 135 - 90 + 180 = 425 = 65 (Angle of Departure) 20 O x 200 o

20

10

-20

-10 x 45

10

20

90 o = 20 + 45 - 90 - 180 = 205 = 155 (Angle of Arrival)

20

155 o

x65

10

-20

-10 x 10

10

20

20

Ex. Consider the open loop transfer function G(s)H(s) = 1 s (s+3)(s+6s+64)

1. Locate the open loop poles and zeros and plot them.
8 7 6 5 4 3 2 1 -4 -3 -2 -1 x x x 1 2 3 4 poles: 0 -3 -3+j7.4 -3 - j7.4

2. Locate the real axis portions of the locus: The real axis segment is between s = 0 and s = 3. 3. Determine the angles of the asymptotes and its intercepts. = ( -3 3 + j 7.4 3 j 7.4) = -9 = - 2.25 4 4 = (2k + 1) 180 4

135 225 315 45

For k = 1 For k = 2 For k = 3 For k = 4

4. Find the real axis breakaway point (max. gain). K= 1 | G(s)H(s)| s = s -1 : k = | (-1) (-1+3) (1 6 +64) | = 118 s = -1.5 : k = | (-1.5 (-1.5 + 3) [(-1.5)+ 6(-1.5) + 64] | = 128.81 129 s = -2 : k = | (-2) (-2+3) [4 + 6 (-2) + 64] | = 112

At At At At At

s = -1.25 : k = | (-1.25) (-1.25 + 3) [ (-1.25) + 64] | = 54.43 s = -1.75 : k = | (-1.75) (-1.75 + 3) [(-1.75) + 6 (-1.75) + 64]| = 123.73

@ s = -1.5 will be the real axis breakaway point.

x 8 7 6 5 4 3 2 1 -4 -3 -2 -1 x x x 1 2 3 4

5. jw crossing T(s) = char. polynomial: Using Routh-Hurwitz s4 s s s1 s 1 9 b1 c1 c1 = d1 d1 = 82 192 b2 b2 K b1 = -1 1 82 9 9 192 -1 1 9 9 K 0 = 60.667 K s(s + 3)(s + 6s + 64) + K s4 + 9s + 82s + 192s + K

=K

-1 9 192 60.667 60.667 K

-9K + 11648 60.667

60.667 60.667 K = K 9K - 11648 -9k+11648 0 60.667

Rows of zero is only possible at s1 for K > 0 : -9K + 11648 = 0 60.667 K = 1294.22

Forming the even polynomial by using s column: 60.667 s + 1294.22 = 0 s = j4.62

6. Angle of Departures @ s = -3 + j7.4 : P2 @ 90 P3 @ 90o P1 @ 112 + 90 + 90 + 112 = -112 = 180

8 6 4 2 Imag Axis 0 -2 -4 -6 -8 -4

-3

-2

-1 0 R e a l A x is

Ex. Sketch the root locus for the system shown below.

R(s) + -

K(s2+4s+20) (s+2)(s+4)

C(s)

1. Locate the open loop poles & zeros and plot them . Poles : -2 & -4 Zeros : Using Quadratic Equation ____________ s = 4 16 4 (1) (20) 2 ___ = 4 -64 2 = 2 j4

2. Locate real axis portions of the locus: The real axis segment is between s = -2 & s = -4 3. Determine the angles of asymptotes and its intercepts. = ( -2 4) + (2 + j4 + 2 j4) = 2 2 There is no intercept. 4. Find the real axis breakaway point (max. gain). K = s + 6s + 8 s- 4s + 20 @ s = -2 @ s = -2.5 @s= 3 @s= -3.5 @ s = -3.5 @ s = -2.6 @ s = -2.7 :k=0 : k = -0.02069 : k = -0.02439 : k = -0.01622 : k = -0.02173 : k = -0.0226 : k = -0.0239 @ s = -2.8 : K = -0.0246 @ s = -2.85 : K = -0.0247 @ s = -2.9 : k = -0.0247 @ s = -2.88 : k = -0.024755 * @ s = -2.87: k = -0.024753 @ s = -2.89: k = -0.024752 s = -2.88 will be the real axis breakaway point.

5. jw Crossing T(s) = ______K(s - 4s + 20)_________ (s + 2) (s + 4) + K (s - 4s + 20) Characteristic Polynomial :s + 6s + 8 + Ks - 4Ks + 20K :(1 + K)s2 + (6 4K)s + (8 + 20k) Using Routh-Hurwitz s s s 1+K 6 4K 8 + 20K Rows of zero is only possible @ s1 for K > 0 : 6 - 4K= 0 K = 1.5 Forming the even polynomial by using s column: (1+ K)s + 8 + 20K = 0 2.55 + 8 + 30 = 0 s = 15.2 s = j3.899 8 + 20K 0 b1 = -1 1 + K 6-4K 6-4K 8 + 20K 0 = 8 + 20K

6. Angle of Departures: = 90

5 4 3 2 1 Imag Axis 0 -1 -2 -3 -4 -5 -5 -4 -3 -2 -1 0 R e a l A x is 1 2 3

EE343 LECTURE 4
Root Locus Plotting Root Locus Design