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MEM 4700 Johnson Root Locus Practice 4. For the following lop transfer function, sketch the root locus with respect to K. Be sure to give the asymptote (location they intersect with real aus and the angle), the breakaway and break- ‘in points imaginary axis crossings, and the arrival and departure angles at any complex zeros of Poles. You can validate your Root Locus using Mata, 2 G8) =aaRaGAD ». GG) = see & G0) = zm 4 GY) = zat mae © 66) = eee ot 2. Forte given characteristic equation, sketch the root locus with respect to K, Be sureto give the _asymptotes (location they intersect with real als and the angles) the breakaway and break-in points, imaginary axis crossings, and the arrival and departure angles at any complexzeros or poles. a, s?425424K(43) =0 3. For the closed loop system shown, sketch the root locus pot with respect to, 20 pus 2 4 we | Provien DM. 10, Jenson US) = _ gaz SEATESYSHD) ay neu (S713 -10 mel 2 B. reat axe. 93-1, -ae-5; —1o-900 ¢) aSymprors: N= y=3 a= Zp-B%_( 015-10) Pez 120+ B06. apie . Seeley R= Pez vor R=a Sa= seve 2=3 Lee A ne angie departure pavviual ft “ NSCOMPLEX DUK Of LEME ©). RL ers IMAG axes winal charegn + \+KUS)=0 SSH GSU) 4K 42920 Sty 1083 4 0582450 + KIS) 42K- 0 Roum Array gto ws ae le BOK 0 GF OF ag oat 2 4asv0 + 940K ~ y2—wizk = So ax ¥-BIZzk=0 = -93,2t, 521.84 K= 52s OF; AWE Pre 9 $2 25645 EE _ » Breawaway * : AL. ade - Vaba Leys wS Ak-0 = BS S AG) (gaaus® +052 4805) (1) > (gx2){4GP +3 LIUIG?+ 05 (298 +80) =O cag — Hos? AwLs —ZWOs~ Os O aeS E128) ) 8A; HON s= preakaw AY ax one (ONY DEVEL COO Goa | nO Brocrawes?y “te wie RL Nor Onveul GSS) ‘oroviem tee Vb Lig)= §? +2549 SF VISNO) = Ata wOOOY 2 -\23) oot a) N= 3, S70; s= ror a Se = 84 fa UU® . “1 ae) a bb) veal AY sz 0 00 ©. N-m=) asymprie: dy = \W+ BUOLE-) => R=\ Fo =100 nom a 2p Zi = O- 143i mlm Lolz) Fae’) Lo l linen A) Grane from So -1+ 8 (compte ode) AVrsee= 2 - EQ, —WoFwole-ry — R=! ge Podage £ (143) —CVa2up) + Lev g- (1 2.459) =k (AF BAOD ~ L143 = (1-339) = 100 40° $90% - (\W- FHF) — a9 - 100° = -190049 = *+\Wlolo®? = So dip, ee! thar = ag 2Y, +1604 2002-1) fal. Sp = compe Fro at -14 2.05 Yoarr= £(-1¥2oloj-0) + LO 14 Aolyj— (1439) + £¢ a2 Wy a) LQ 1 te avy)” lng axis based on gp. wor OT FESS BSYNPIOKS 4 departure Farival ANQue €) tio vremeauny pie wie no ow - poe On veal OAS —y promic\ ‘area 1c. US)= ga 67849) a) n= 3; $=98=0 #5=-O m=0 bb? real awh: S$*-G 200 c). Aympwress p-mes Pp = \60x300 (04) 21 > dyzuv? am Bea peer 9-39 Be A= Spi ~82i - 40 SESE = 040°8-0 neg BoP _ -aeot DD. nO anqu oF dep. or arrived pic NO Comp ROIS OF BACK €) cross imag OS® winal orarean S84+6s?+ K= 0 si o Sree St “Heo = FeO Sym 0 Sk fe estax=o > BS%20 BS- 0,0 wall nor “crass anrceye AIS BUF brann will be atse0 # MeHO. O) preacaway pons a = " us) => = Ade — vdeo as as Sas (248 CO)- (Las # WH=O -3s2 4-1S=0O AS5O leave at Seo (aS expected). al tt | proven St \A g Lig)= G12) ‘SGHOEED at VHD) = -12j a py). 00 real AXIS from O->-a; “10 400 ©). asymemuies = W-mn=3 Ay= 1902 30-1) $1; Pe= WO" AD. angi. of duparure comply Poe Sor-t4) APoaop ~ Zip, - 8, ~169- 3eL eI) ij FFI Draop = L (v4) - 2-145 ADIL (14) -0) -L 14j-L49) —160-360U-1) = us? = A0* — (1@0-45) — God -190? = ~3OW,3° = 34? £) C0055 \rnog ours? \nenal ona ean: 14KUS)=O St? pk Sy =0 G24 as? 4208 S44 1234206 4205+ KS 4 2K=0. J i * Bit gow? ge at y= (AMEE) (204k) ~ aK nan “Gace shot ° a ° 4e80. a See — eat 4290- Aeon sae tpg + ee (SE) aie = was [AP WEHOD) Kee Em Wwoysts F070 Ks-WM sau S= 4.903%) C1OSS points a 4). reasOUary pons: — none Ke A400; 1228 axl att ai POO Ree \e ‘@ 1 US)s SH2 SOSH) S71 .N=4 | $0; s=-W0; S= M1 se-a 67. veal axis- |A0j “1-2; —lo-9e0 ©). aoymprits: n-m= 3 Py= OrZWO(-\) Lol > Pe = 0? om 222 > Py = 190° A239 Py = -wor 2-221 oot a) _ a-m AD. no ange daposwure Jor ied. €). cross wow avis? Tee 5 A bremaway IWR O>1 . mis wail nor CHOSS vrMen aes ble ASYMAPTIFES axe at -tUO" no croseWns. 1). wreacaway> AL_ ade pda 9 USd=bS> = St = oy a & Bw ADS FHF Ag HHP (EAS 0s ~ 119 = (542X HER 284 208 10) =O 4 88-84 4107-109 — HS 4297 3088 a5 4-5? 4US- HOH? 42020 -3s" aps As” 44s 420-0 = 204; ~3 e137 —vet S= 005A 1s eremcaway pr. Root Locus Practice = MATLAB Problem 10 nus = (2217 den = (1 16 65 50 0 ays = EE (num, den)? Focus ays) Johnson, Root Locus Practice - MATLAB Problem 1b num = [12 8) don = [1 2 10 0}; sys = tftnum, den); Flocus sys} Johnson Root Locus Practice ~ MATLAB Johnson ‘Problem 1c pus = 101 Gen = [1.6 0 01; sys = tf (nom, dents Flocus sys) rena Root Locus Practice = MATLAB, ‘Problem 14 num = (1 217 den = (1 1222 20 0}; sys = te (num, den); locus (sys) Johnson Root Locus Practice MATLAB Problem 10 pam = (2 217 Gen = (1 10/-2 ~10 v1 sys ~ Ef (nun, den) Flocus (sys) Johneon ont Locus Practice = MATLAB Jobrson proviem 2 Car eye GPa 2542+ KStd) 0 Le Kats) =O 4k Gx) ee gest | Seeoes ald © pows: n= a -l4yS Bey me), = 3-8 @® on read axis -3-4 00 @ osymprots: n-m= | lasympmie, J corresponds 1 -3 > 00 on reAl ONS Pa= wos ool “hr Del 3G go iy? D ange departwe LY compVex pure no angle avril 99 see > 24,-20, — [wy- 2092-1) RI, gl So* -\4y Sraep= £(-143 9) =£ (ry) 1) “100 a 1 \ = tan’ (2) — 90-190 = -AUae? from-ie) G Was? © intersect mag axrs \nvhal enor ean: s2e 25% es 24720 gy 4 aa sh ary o Se 3 Cow ArK=0 VERA K>0 18 required 21, RL Goes MOT CIS mag QS? SUSI 15 dps sien 0 ‘oreaeawy J ovcoewn Gre. Sx Oe ae gteaste ade _ da . ds os ® (Pras) - Grnas*D) eh gsx aq aS? -Bs-9= 0 S= -eilo % NOt OM 1EO) ARIS ge - Bal} <— pieakin skudn \ ; Proven 1 Re SH35K5 = \ + bs Peer 5243519 SOS char tan waite (4L@u{S) =O \s Vanco | sta5t5 Gus) @ nea, se HEV MmMe\ $20 ® on real ans 0-00 ® asympwts, lynem=t a= eo" Lune fn 09 ® m) Vea WO ® analede part — complex pore no aNyWwar bie on\ Ae dev? 2% ~ 2b ~ \e0-B00l)-\) Az2=! Sp = Tee Ve) Praee= L (-\etety7 OO) -& (a4 ery \o-\04))) -1eD © Deaep= \AM-AI-VEO= -1200"= aa04* © intersects maa? \ninal charean G2 4+25t9TLS-O gs.os staat o 3° D vreacaway Jbreaecn @byY S = sea 35r5 ade _yda - est ate a ortien v 4 B4L=0 PaGs4S) on on! e L=-3 Need L 70 AMD IMAG AK'S in 0. g (25t2)=9 mash, S= 4204 prea Dt wie eal ans Nore.