Syed M.

Afzal, 180401046

Assignment 06
1 Sketch the root locus of the following transfer functions using
MATLAB:

1.1 Part a

g=conv([1 2],[1 6]);

k=1;
G=k*tf(g,[1 8 25]);
figure,
rlocus(G)

Figure 1 root locus of part a

Syed M. Afzal, 180401046

1.2 Part b

k=1;
G=k*tf([1 0 4],[1 0 1]);
figure,
rlocus(G)

Figure 2 root locus of part b

Syed M. Afzal, 180401046

1.3 Part c

k=1;
G=k*tf([1 0 4],[1 0 0]);
figure,
rlocus(G)

Figure 3 root locus of part c

Syed M. Afzal, 180401046

1.4 Part d

g=conv([1 3 3 1],[1 4]);

k=1;
G=k*tf([1],g);
figure,
rlocus(G)

Figure 4 root locus of part d

Syed M. Afzal, 180401046

2 Find the centroid and assymptotes of the above transfer functions

2.1 Part a

Centroid=( ∑ of real poles)– ( ∑ of real zeros)/P−Z

Centroid=(−4−4)−(−2−6)/ 2−2
Centroid=∞
The number of poles and zeros are equal so the centroid is ∞ and there is no asymptote.

2.2 Part b

Centroid=( ∑ of real poles)– ( ∑ of real zeros)/P−Z

Centroid=(0+0)−(0+ 0)/2−2
Centroid=∞
The number of poles and zeros are equal so the centroid is ∞ and there is no asymptote.

2.3 Part c

Centroid=(0+0) – (0+0)/ P−Z

Centroid=(−4−4)−(−2−6)/ 2−2
Centroid=∞
The number of poles and zeros are equal so the centroid is ∞ and there is no asymptote.

2.4 Part d

Centroid=( ∑ of real poles)– ( ∑ of real zeros)/P−Z

Centroid=(−1−1−1−4)−(0)/4−0
Syed M. Afzal, 180401046

−7
Centroid= =−1.75
4

180 ( 2 q+1 )
θ=
P−Z
Q=0,1,2,…..,(P-Z-1)

180 ( 0+1 )
θ= q=0
4−0
θ=45

180 ( 2+1 )
θ= q=1
4−0
θ=135

180 ( 4 +1 )
θ= q=2
4−0
θ=225

180 ( 6+1 )
θ= q=3
4−0
θ=315

3 By looking at the root locus graphs, comment on their stability.

3.1 Part a

As the poles of above system are all lie in left half plane so the system is stable.

3.2 Part b

As the poles of the system are lie on imaginary axis so the system is marginally stable.

3.3 Part c

The poles of the above system are at origin only so the system is unstable.
Syed M. Afzal, 180401046

3.4 Part d

As the poles of above system are all lie in left half plane so the system is stable.