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Lecture18 PDF
Lecture18 PDF
Wednesday
• Rule 1: # branches = # poles
• Rule 2: symmetrical about the real axis
• Rule 3: real-axis segments are to the left of an odd number of real-
axis finite poles/zeros
• Rule 4: RL begins at poles, ends at zeros
Today
• Rule 5: Asymptotes: angles, real-axis intercept
• Rule 6: Real-axis break-in and breakaway points
• Rule 7: Imaginary axis crossings (transition to instability)
Next week
• Using the root locus: analysis and design examples
Example
K
KG(s)H(s) = .
s(s + 1)(s + 2)
Clearly, this open—loop transfer function has three poles, 0, −1, −2. It has no
finite zeros.
For large s, we can see that
K
KG(s)H(s) ≈ 3 .
s
So this open—loop transfer function has three zeros at infinity.
Asymptote θa
X X X X σ
-4 -3 -2 -1 0 1 2
-j1
dK(σ)
= 0,
dσ
-j2
-j3
where K(σ) is given by (1) above.
Alternatively, we can solve
K(s − 3)(s − 5)
KG(s)H(s) =
(s + 1)(s + 2)
jω
so on the real—axis segments we have
j4 (σ + 1)(σ + 2) σ 2 + 3σ + 2
K(σ) = − =− 2
maxK for (σ − 3)(σ − 5) σ − 8σ + 15
j3 minK for
this real—axis this real—axis Taking the derivative,
segment j2 segment
dK 11σ 2 − 26σ − 61
=− 2
j1
dσ (σ 2 − 8σ + 15)
-σ1 σ2 and setting dK/dσ = 0 we find
X X σ
-2 -1 0 1 2 3 4 5
σ1 = −1.45 σ2 = 3.82
-j1
jω jKω + 3K
KG(jω)H(jω) = .
ω − j7ω 3 − 14ω 2 + j8ω
4