Root Locus – Module III

Evan’s Conditions
Evan’s Conditions
Point on Root Locus
Point on Root Locus(Contd.)
Point on Root Locus(Contd.)
Point on Root Locus(Contd.)
Construction Rule 1
Construction Rule 2
Construction Rule 2(Contd.)
Construction Rule 2(Contd.)
Construction Rule 2(Contd.)
Construction Rule 3
Construction Rule 3(Contd.)
Construction Rule 3(Contd.)
Example
Example(Contd.)
Construction Rule 4
Construction Rule 5
Construction Rule 5 (Contd.)
Construction Rule 5 (Contd.)
Construction Rule 5 (Contd.)
Example
Example (Contd.)
Construction Rule 6:Break Away
Points
Construction Rule 6:Break Away
Points (Contd.)
 BAP/BIP
• These are points at which the two branches of RL
meet / from which they separate out.
• At BAP the RL breaks from real axis to enter in to the
complex plane.
• At BIP the RL enters the real axis from complex plane.
• BAP/BIP may be real or complex conjugate pairs.
• If there is a root locus on real axis between 2 zeros
then there is a BIP.
• If there is a root locus on real axis between 2 poles
zeros then there is a BAP.
• If there is a root locus on real axis between pole &
zeros then there may be or may not be BIP/ BAP.
 BAP/BIP
Steps
1.To fine CE
2.Find the value of K
𝑑𝐾
3.Find the value
𝑑𝑆
𝑑𝐾
4. =0
𝑑𝑆
5.Find the value of S
6.Check for K( + ve and Real)
Example
Example (Contd.)
Example (Contd.)
Construction Rule 7:Angle of
Departure
Construction Rule 7:Angle of
Departure
 AD/AA
• If presence of complex pole indicates angle of
departure.
• If presence of complex zero indicates angle of
arrival.
• AA/AD from a complex pole or complex zero
helps in sketching the RL with great accuracy.
Example
Example
Example(Contd.)
Example(Contd.)
Construction Rule 8,9
 Point of Intersection of RL with
Imaginary Axis
• By R-H method
• By Trial and Error method.
• Put S=jw separate real & imaginary parts and
equate to zero.Solve two equations for W
and K.
Example
Example(Contd.)
Example(Contd.)
Example(Contd.)
Example(Contd.)
Root Locus –PBM 1
Step 2:RL on Real Axis
AD/AA(Given Pbm having complex
poles hence AD exists)
 PBM-1
• Draw the RL for UFBCS having OLTF of
𝐾
G(S)= and also find
𝑆(𝑆+1)(𝑆+2)(𝑆+4)
(i) Poles and Zeros
(ii) Angle of asymptote
(iii) Centroid
(iv) CE
(v) BAP/BIP
(vi) K and W