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Wy Culerid, Stele ASeParelT Shee dar lon @®«e vO _ S) Colowkal Iereakalom © bycokin PY. 1 breakatosy plo OAD e Wve ty Hon UX anal cara pa hash Kone ercs on reabsioon patie, OM 6) Cobantalk tue iubvawren we 4 RL ution tatags aniy J Coladahrrn onalina| geal x eats opptiahly 2) Conbsine as) BQ # Saouo Wo fred Spey tte RE 4 Qredac Aud Rhea Lut od Pederronte Ae Gan A Supima oy uervg. tus. cost Wows , ‘Seamed with CamSeanneree: | 9-22 Stablity Analysis using Root ocuy Get the general information about number of open loop poles, zeros, number of branches etc. from G(s)H(). , Draw the pole-zero plot. Identify sections of real axis for the existence the root locus. And predict minimum number of breakaway points by, using general predictions. Step 3: Calculate angles of asymptotes. Determine the centroid. Sketch a separate sketch for step 3 and step 4. Calculate the breakaway and breakin points. If breakaway points complex conjugates, then use angle condition to check them for validity as breakaway points. Step 5: Step 6: Calculate the intersection points of root locus with the imaginary axis. Step 7: Calculate the angles of departures or arrivals if applicable. I | | Step 4: | | Step 8: Combine steps 1 to 7 and draw the final sketch of the root locus. Step 9: Predict the stability and performance of the given system by using the roo k aaa GUSH) = Tae Draw root locus. Determine for damping ratio = 0.6, i) Closed loop dominant poles. ii) Damped natural, frequency iii) Gain K. EI Solution : G(s)H(s) = HOS Step 1:P =3,Z=0,N=P=3, P -Z =3 branches approach to «. Starting points : s = 0, -3,-5 Terminating points : $ = 22, 22, Step 2 : Sections of real axis One breakaway point exists between s=OQands=-3 Step 3 : Angles of asymptotes Real Fig. 9.7.1 (2g + 1) 180° oe tne q=0,1,2 TECHNICAL PUBLICATIONS”. An up thrust for knowledge ‘Scanned with Cacannerot siseme —___—____S:32_ Say Ari ng Fotos 300° 0, 2 7 82 180°, 83 7), RP.of O.L. pol 4 :Controid = 2 BP0F OL poles >! RP.of O.L. zeros _ 0-3 5- step Poe 2025-520. _ 2667 step 5: Breakaway point 14G()H() = 14K __ 9 s(8+3)(s+5) 53+8s2+15s+K = 0 ie, K=~s3—852-155 a ia ds 7 8 = ~ 12137, ~ 4.119 thus s = - 1.213 is valid breakaway point sing equation (1), K = + 10.2837 at breakaway point step 6 : Intersection with imaginary axis 2 —3s?-16s-15=0 ie. 352+16s+15=0 » 1+G()H(s) = s°+8s?+15s+K=0 Routh’s array, e| 2 9 For Kynar, e 6 K 120-K=0 st i 0 . Kynar 7m ? r A(s) = 857 +K=0 2 _ -120__ ia De 3 = +j 3.873 _.. Intersection with imaginary axis 1os hence not required. Fig, 9.7.2. ‘1 & = 53.13", measured with respect fo Step 7 : No complex poles or 2er' Step 8 : Draw the root locus as shown in the For & = 06, draw the line at angle @ = cos” negative real axis. It intersects root locus at point P (-1 +125): i) Closed loop dominant poles for = 08 are 8 12 )135- i) The characteristic equation for & = 06 is . gt 7 (+14 j125)(e+1-j125)=9 be F 2s 2.5625 wo} = 25625 Comparing with s? + 2Eags+ On ‘Seamed with Cameanner a 3i ee - 3 fe + og t Bis 2 ois & lk 3 1h 3 le oa 2 32. oo wee gs «x £ go 1 K [3-14 j125] [5-14 125) Fre K = 16x 2.3585 x 4.1907 = 15.8142 | 2 TECHNICAL PUBLICATIONS™= ‘Scanned with CamScannergaiution: Step 1:P = 4,Z=0,N=4, ‘All branches approaching to o, garting points are s = 0, ~1,~2,—3, I step 2 : Pole-Zero plot and sections of Teal axis are as shown in NRL Fig. 973. Sections between 0 and -1 and - 2 and -3 are the parts of root locus. 2 Breakaway Points possible Fig. 9.7.3 According to general predictions minimum: 2 breakaway points exists. One between s = 0 and -1 and second between s =~ 2 and = 3. Step 3: Angles of asymptotes 4 branches approaching to © hence 4 asymptotes are required. 9 = 2a+1)180" P-Z q=0, 0, =45°, q=1, 02 = 135° q=2, 63 =225°, q=3, 04= 315° Step 4: Centroid ¥R.P. of poles - DR-P.ofzeros _ o = PEO P q=0/1,2,3. ° 8 CEO | yy Y. |e . Frama mmncanin Meunseat eee — ‘Scanned with CamscannerControl Systems 9-26 Stabilty Analyse using Pein ‘is : K =0 1+G@H@) = 0 ke 1+ SEH E+HC+S) Step 5: Breakaway point so characteristic equation 2 sfe6so411s2+6s+K=0 ie, K= -s*-6s°-Is'-68 eh Be SK = ~459 185? -228-6=0 ie. 45° +188? + 2254625 s Note : If a section of the real axis is identified for the existence of root locus and breakaway point is predicted between that section. Try the midpoint of such section for a root of the equation SX = 0, ft s In this problem poles s = 0, - 1 2, -3 are symmetrically located about a point s = -1.5. So s = 1.5 must be one of the roots of dK/ds = 0 Solving 4° + 18 s? + 22s+6 = 0 we get s = - 1.5, - 0.381, - 2.619 -lands=-2. But as there is no root locus between s 1.5 cannot be valid breakaway point. For s=-0.381, K=1 ; Substituting i ; For 22619, Kel } substituting in equation (1) <. Both are valid breakaway points, occurring simultaneously at K = 1. Step 6 : Intersection with imaginary axis Characteristic equation s*+6s°+11s?+6s+K = 0 Routh’s array, é 1 u k 5 6-6K=0 + Kyu 2tl & 6 : o Auxiliary equation: 10s? + K=0 st 10 K 0 AE K = 10 a 60-6K 0 10s? +10 = 0 4, Ae Step 7: No complex poles, no angles of departures required. ‘TECHNICAL PUBLICATIONS” An up trust for knowledge ‘Scanned with CamScanneroni 08 9-27 Stability Analysis using Root Locus = Complete root locus. step 8 Come — T 0,2 __| ° {| | 4; 02 138) js Kinar = 10 Breakaway Breakawa [eee Y point =-2.619 [> point = ~0.381 7 oe | NI “i Koge = 10 ‘Centroid S215 63= 225° 5 2318 _t L <1 Step 9: For 0 10, system is unstable. CERREREAS 4 feedtack control sytem has an open loop transfer function © Gol) = Draw the root locus as K varies from 0 to - 2. aT =. wat +2s+2) Snaon Step 1:P=4,Z=0,N=P =4,P-Z=4 branches to © Starting points : s = 0, - 3,-1+j Terminating points : 5 = <>, , 2, © Step 2: Sections of real axis ~3 Step 3: Angles of asymptotes breakaway 2, yoint Os B18 ae 4133 Sop? Fig. 9.7.4 (a) * Gh = 45°, @, = 135°, 0, = 225%, 0 = 315° RP.of _¥' RP.of 1-1 Step 4: Centoid x 2e Ste pots D Ohezeoe _ On3-1n1-0 . a5 ~ P-Z : TECHNICAL PUBLICATIONS" An up thrust for owledy@ ‘Seamed with Camscanneres Control Systems 9-28 Stabilty Analysis using Reto ee Step 5 : Breakaway point K 1+ G()H() = 1+ = eet ‘9(8-+3) (5? +2s+2) ssh 459 4 B24 654K 20 ie, K=-st~5s?- 85" 6s fl ’ SK = ~ 463-158? 165-6 =0 ie. ds +155? +163+6=0 7 is Solving, s = - 2.288 is breakaway point. The other two roots are complex conjugates with real part - 0.7307 and cannot be breakaway points. From equation (1), at s 2.288, K = + 4.3315 Step 6 : Intersection with imaginary axis The characteristic equation is : s + 5s° + 8s” + 6s + K =0 A() is 68 s7+K =0 From s!, 40.8 - 5K = 0 ie. Kar = a = 816 4| \ Jl ‘ | © n a a 2| 68 K 0 7 +. A(s) is 68 s* + 8.16 =0 40.8 -K S| a e a8 12 wx ; ‘9545 1.095 These are intersection points with imaginary axis. Step 7: Angle of departure -1(1 py = 180° - tan’ ‘(ewe tra = 90", Opa = tan * 5 = 26.56° Lop = 251.56, Yoz = 0° o = Ler-Loz = 25156 Fig. 9.7.4 (b) oq = 180°-9 . bq = 180° - 251.56" = - 71.56° At-14j and oq = + 71.56° At-1-j TECHNICAL PUBLICATIONS”. An up thrust for knowledge ‘Seamed with CamScannerEr ood per yep 8: THE complete root locus is shown in the Fig, 9.7.4 (c). aeeeee | cH 9-29 Stability Analysis using Root Locus Sections of real axis “TECHNICAL PUBLICATIONS”. An uP thrust for knowledge ‘Scanned with CaScanner9-30 Stabilly Aneiyis using Root, Control Systems (2q +1) 180° =0,1,2,3 oe pz “4 0; = 45,02 = 135%, 05 = 225°, 04 = 315° -2]-10) _ 4 Stop 4: Centroid foraraai-[o] =-15 x breal away . Fig. 9.7.5 Step 5: Breakaway point , K y+—__K * s($+2) (s? +48+13) 1+ GHG) = ie. + t+ 6s? 4219? 4 2684+K=0 ie K=-s* SB 0 gives - 45° — 186? — 425-26 = 0 65° - 21s” - 26s ofl) Solving, s - 0.8929, -184)2 Thus =~ 0.8929 is a valid breakaway point for which K = + 10:08 from equation (1). Step 6: Intersection with imaginary axis st + 65° + 21s? + 265 + K = 0 .-- Characteristic equation oa | 1 2 xk Froms! row, 2 | ‘ 2s 9 $33338-6K = 0 2] Kynar = + 72.222 . | 16667 . AG) = 16.6675? +K =0 7 433.33- 6K 0 . 2 72.222 : | Neer * Som ~~ 4308 2) K s = +] 2081 Step 7 : Angle of departure on = var — tar? (5 = 23.6 $p2 = Op3 = 90° Lor = 303.6%, Yo, =0 o = Lor - Doz = 303.69 $a = 180-6 =~ 123.69 at -2 + j2 “ $q = + 123,69" at - 2 ~j2 TECHNICAL PUBLICATIONS". An up thrust for knowledge ‘Scanned with CaSeanner‘Stability Analysis using Root Locus 9-91 Step 8: The root locus is shown in the Fig. 9.77. Control point Breakaway| es unit Scale both ax its = 1 On 2ui ni ‘Seamed with Cacanner9-92 Stabilty Anelysis using Root Lous Control Systems Solution : The open loop poles are located at = 0,-A and s = A#VE" =p aja Step 1: Initial data: P= 4,Z=0, a N =P = 4 branches, point exists a P-Z=4 approaching to «. a Starting points = 0,-4,-2+j4,-2-j4 7 Terminating points= «, <, 22, o. Step 2: Section of real axis as shown in the Fig. 9.7.8 (a). . Fig, 9.7.8 (a) Step 3: Angles of asymptotes _ Qat 1180? Oe Sa 12,3 = 180° _ yoo _ 3x180° ae, y= a ae = AE = 135 5x180° ° 03 = “=e 04 = PIO = aise Step 4: Centroid _yR P. of poles—JR.P.of zeros _ (0-4- 2=3)- © __, Step 5: Breakaway points ——— (s+ 4) (s? + 4s+ 20) 1+ G(s)H(s) = 0 ie 1+ 4 — 853 — 365? - 80s » (l) 8448534365? +80s+K=0 ie. K= SK = 459-245? ~725-80 ie. s?+6s? + 185+20=0 Solving, s = -2and -2 +j245 All are valid breakaway points. The validity of -2+j 2.45 as a breakaway point can be confirmed by using angle condition. (Refer example 9.5.9) Ats=-2, K = 64, from equation (1), hence s = - 2 is valid. TECHNICAL PUBLICATIONS™- An up thrust for knowiedge ‘Scanned with CamScannercontd SOs 9-39 laaay Arty sing od ach siop 6 Intersection with imaginary axis The characteristic equation is already obtained as, s4 +859 +36s?+80s+K = 0 ‘The Routh’s array is, ofa 3 36 K 2 8 80 0 | 26 K = 26s24+Ke 2 2080- 8K 0 A() = 26s7+K=0 oo 2 26s?4+260 = 0 0 K , “ s? = -10 s = +jV10 = +j3.162 These are the intersection points with imaginary axis. Step 7: Angle of departure . 2. a(4 6p) = 180°—x = 180°— tan (3 = 180°- 63.43° = + 116.56° _ acne 4 Fig. 9.7.8 (b) op, =+90° and op3 = 2 = 463.43° Lor = 116.56" + 90° + 6343°= 270°, 02-0 ¢ = Der Lez / co bq = 180°-¢ 2 1gp- 2700-90" at + | i ii = + 90° While 6 4 at -2-j4is, 9a 9780 ; in Fi Step 8: ‘The entire root locus as is shown 6 ‘Scanned with CamSeannerStabilty Analysis using Roe Lociy 9-34 Control Systems HEH 4 ry 0.5 unit X-axis tom 1. cm = 0.5 unit Y-axis +~ Scale Fig. 9.7.8 (c) ‘Scanned with CamSeannerel ; DRTC solution : Step 1 : Initial data p24, Z=0, N= 4 branches, P—Z= 4-500 starting points : 0,—2,-34j4 Terminating points : c, c, co, co Step 2 : Sections of real axis One breakaway point exists between 0 and - 2. Step 3 : Angles of asymptotes (2q+1) 180° P-Z 8 = 4 =0,1,2,3 0,245, 0) = 135%, 65 = 225, 0, = 315° Step 4: Centroid _ RP ofpoles—SRPofzeros’ _ 9-2-3-3-0__y P-Z 4 Step 5 : Breakaway point K 0: _ Kk 14+G6) = 0 ie 1+ yeaa Pe wd 1s (2 4 B62 4 376 4 50) +#K=0 ie, K=-st- 88-378 ~50s mn 2 K__ 499427495020 ie, s+ 6s? +1858 + 125=0 int, Solving, 8 = — 0.898 i The roots of this cubic equation gives us breskavay pant Solving, 8 Py Td breakaway point for which K = 4202 from enva Bip ren at arene ‘Seamed with Caeanner9-36 Stability Analysis us Seamotsysems EO Rey ‘Step 6: Intersection with imaginary axis st + 859 + 375° +508 +K = 0 vv» Characteristic equation sta 37K | For Kap, 1537.5 - 8K =0 & | 8 50 (0 & Kynar = 192.1875 s* | 3075 K A(s) = 30.75 7 +K =0 1537.5-8K geek 30.75 1 30.75 ! | ‘ ° | = 192.1875 __ og | "075 7 ° K | s=tj25 | | Step 7 : Angle of departure Consider the complex pole ~ 3 + j4. on = 180° - tan? F = 126.86° op = 180° ~ tan”! £ = 104.03° and py = 90° Ep = 320.8% Boz =0° ¢ Ep — Loz = 320.89" ES bq = 180°- =-140.89° at-3+j4 and oq = +140.89° at-3 jd. Step 8 : The complete root locus is shown below in Fig. 9.7.9. (See Fig. 9.7.9 on next page.) _ TECHNICAL PUBLICATIONS" ‘An up thrust for knowledge ‘Seamed with CamScanner9-37 ‘Scanned with CamSeannerStal Aa wh Rein : Fig. 9.7.10 es ) There are 4 asymptotes hence thei angles are 45°, 135°, 225°, 315°, Draw the root locus to the scale on graph paper. Draw the line making angle @ = cos“1& = cos“! 0,707 = 45° with respect to negative real axis. Obtain its intersection point with root locus say P as shown in Fig, 9.7.11. low there are 4 open loop poles at s = - 2. K ; G@)H(s) = wa with no zeros. To find K at P =~ 1 + j, use magnitude condition, . K * H( =1 ie — ze Iola e 1 ke Eas K . = = 1 ie K=4 fort <0; iar for & = 0.707 ii) For § = 0.707, the dominant poles are at ~ 143, Thus the characteristic polynomial is (5 + 1+) (5 +1—j) = 2 42s +2 n OR = ie. a, = V2 and 2E@_ = 2ie. bo, =1 4. Fon = 4 808 -. Settling TECHNICAL PUBLICATIONS". An up thust for knowledge ‘Scanned with CamScannercowntsytore 9-39 Stability Analysis using Root Locus 4) The closed loop system becomes unstable at Kn ie. K at s = + j2. Using itude condition, IG@HG)atseg2 = 1 Kar = Lie, —Kmar ({2+j2))4 (4454 Kua = 64 145° al axis: ‘Seamed with CamSeanner. © 9-40 Stability Analysis, Y Solution : Replace s by o +)8 for any complex point on the root locus, K(2+0. +p)+0 +)B)| GHG) = —GEiHA+E +B) [At complex point af_8 anf : r= ‘Lara 24a 340) tan“! A + tan” B = tant ASB His) = eee BT ASB en oo Eve] na o Tra By B By 6. 4 Deo 3+0 | tant] a1 +0 = tan —7B\ BY B B _(8.)(_B_ 1-(28)(see , Be = tan-t{__ BUS +20) ° ~tnot{ 0820) | (2+0.)(3+a)-B? (1 +0) -B? — 86420) ___ BL +20) (2+0)(3+0)-B? a(1+a)-B? v4, BG+2a) | B(+20) | (2+0)(3+a)-B? | |a(+a)-B? = tant But according to angle condition, 2 G(s)H(s) = 180° for a point on the root locus. BG+20) BO +20) (2+0)(3+a)-B? a(1+0)-B? 180° = tan~1{ OOO FONT Pp’ OE FO)“ PT v4 BG+2a) Ba+20) (2+a)(3+a)-B? | [a@+a)-p? Taking tan of both sides, tan 180° = 0 hence equating numerator to zero, BG+2a) _ B(+2a) (2+0)(3+a)-B? a(l+a)-p? cB (G+2c) [oe (1-402) - B7] - B (1420) ((2+a) (B+er) - B2] = 0 Cancelling B as B cannot be zero, (+201) [or?+cr - BJ - (1 + 20) [6 + 5a +0.2-B2] = 0 260° | 3, 08 2 4 50, — 5B? + 2094 2a? — 2oB? - 6 — So. — a1? +B? — 1201 10007- 2a"+ TECHNICAL PUBLICATIONS”. An up thrust for knowledge ‘Scanned with CamSeanner RP.of O.L. poles—Y, RP.of O.L. zeros -2-3-4-(-1) Step 4: Centroid = & Pe oe P-Z =-4 Step 5 : Breakaway point _ K(s+1) 1+GQ)HO) = 1+ GH ETD G+ 2)(8 + 3)(s + 4) + K+ 1) = = (+ 2) (+3) +4) =p ee ~@) "oD ey 9s?- 265-24) (1) _9 ae G41) (352-188 26)~ (8? 9 = 268 ID a (+1)? Ke 362-352-185? - 18 s-268- 26+ 8° +95" +26s+24=0 283 +126? +18s+2=0 Solvin — 2.3472 the 1B 0.12, - 3.532, - for which K = + 01509 from | Only 6 =~ 3.599 is a valid breakaway: point f Station (1, TECHNICAL PUBLICATIONS”. A” wpa roeStaityAnay wigRet Ly ! 9-44 Control Systems Step 6 : Intersection with imaginary axis. The characteristic equation is, ° se s =0 2 + s (26+ K)+ (244 K) 33 +95 26+K 244+K 234+9K-24-K 9 1 0 Kyar =~ 26.25 As Kynar is negative there is no intersection of root locus with the imaginary axis for positive values of K. 1 From row of s 120+8K 9 ‘The entire root locus lies in left half of s plane. Step 7.: No complex poles hence no angle of departure. Step 8 : The root locus is shown in the Fig. 9.7.16. it 1 I oo TT a ae TEGHNICAL PUBLICATIONS" An up thrust for knowiedge ‘Seamed with Cacannereee cont Systems 9-45 Stability Analysis using Root Locus {) Let the test point on complex plane of root locus be P(- 3.532 + j0.1). ~ substitute in G(s) H(6), = pee OME (~ 3532+ j 0.1+2) 3532+) 0.143) (- 35324] 0144) . 0° 17.76 LG6)HO lat = T7735" T6936" Ta0e =~ 180° G()H()|p {s this satisfies the angle condition, the point is on the root locus. ii) For K = 10, the characteristic equation is, s°+9s?+36s+34 = 0 Solving, the roots are at ~ 1.312, - 3.843 + j 3.3372. Sketch the root locus and hence determine : i The damping ratio and the corresponding value of K for maximum damped oscil response. ; The closed loop transfer function corresponding to (i) for a.unity feedback system having G(s) = K(s+3) s ° 3(s+2)" Ceo Ce Solution : G(s)H(s) = <=? Step 1:P=2, Z=1,N =P =2,P-Z=2-1 =1 branch approach to Starting Points : §=0,-2 Terminating Points : s=-3,° Step 2 : Sections of real axis. Two breakaway points exist. One breakaway point exists between s = 0 iiis=~2 while the other exists to the left of =-3, Fig. 9.7.17 180° Gard 1 (= 0,4) Step 3: Angle of asymptote 0 = 180° ie. branch approaches to» along Only ne asymptote required with 6 = "Bative real axis, Step 4: Centroid not required as only one branch approaches {9 *- 8 reakaway point ust fc knowiedg® TECHNICAL PUBLICATIONS" An up ti be 2 ee ‘Seamed with CamScannerpine 9-46 ‘Stabilty Analysis using Root Loy K(s+3) _ 7 seth 14+G(@)H() = 1+ seo Characteristic equation -s?-2s P425+KG+3)=0 ie Ke A) aK _ (+3) (-2s-2)-(-s? -28) (1) _ g ds (+3)? 3 6s-2s-6+s'+25=0 ie s?+68+6=0 8 = 1.2679, - 4.732 ..Breakaway points From (1), Fors =~ 12679, K= + 0.5359 For s = -4.732, K=+7.4641 Step 6: Intersection with imaginary axis s* + 5(2+K)+3K =0 «Characteristic equation Routh's array, 8 | 24K 0 | 3K From row of s,2+K=0 ieKyy,=-2 As marginal value of K is negative, there is no intersection with imaginary axis. The entire root locus lies in the left half of a s-plane. Step 7: Angle of departure not required. Step 8,: The root locus is shown in the Fig. 9.7.18. For damped’ oscillatory response to be maximum, the damping ratio must b minimum which can be obtained by drawing a line tangent to the root locus at P. Th angle made by this line with negative real axis is @ = 36° which is cos" 'E. cos E = 36° ie. & = 0,809 ‘The co-ordinates of ponit P are ~ 2 + j 1.3763, To find the corresponding K, use the magnitude condition. _, ° [K@+3) = 1 ie =1 |G@)H@) laer era wa ies Kx170123 7BX1.3763 IKI [2+ .3763+3| 1 TECHNICAL PUBLICATIONS” An up thrust for knowledge ‘Seamed with CaScannerGontro Sys 9-47 Stability Analysis using Root Locus Example 9.7.18 Reel) ESE H un & (3-1) (52 +53+20) the complete root locus with approximate ability. ee Solution : Step 1:.P = 4,Z=1, N=P=4 asP>Z,P-Z=3 branches approach to 2, Starting points are, s = 0, +1, - 2.5 +j 3.708 Terminating points are, s = - 1 and , =, ° Step 2 : Pole-zero plot The dark portion of real axis is the part of the root locus. Two breakaway ‘points existing between $~" ds = 41 and to the left of s = -1 on the real axis Step 3 : Angles of asymptotes _ (2q+1) 180°, = 0,1,2 o= “pz 4 0 x00 = 300° 3x10" _ 180, 93 = 3 ‘up trust or Krone ee ae ‘Samed with CamSeanner TECHNICAL PUBLICATIONS = anesa a eee ee ET Rr Creme aT Control Systems 9-48 Sebi Anat hg Ret Ln, Step 4 : Centroid > RP.of poles ¥, RP.of zeros _ (0+1-25-2.5)-(-1) o = LRPofples 2 ee P-Z 3 Step 5 : Breakaway points K(+1) 14+G()H(@) = 0 ie 1+———S*?_. ened 36-1) (6? +55420) 4 _ 453 1552 sf 4459 4155? —20s+K(e+1) = 0 ie. K = —2 48" =155? +205 of +1) aK _ vu-w’ _4 ds v2 (s+1)(-4s3 -12s? -30s+ 20)-(-s4 -4s3 -15s? +20s)(1) = 0 s* +45? +9s?.+10s—6.667 = 0 By trial and error method, the approximate breakaway points satisfying above equation are, $= +0447 and s=-245 Other two roots are complex conjugates and are not the valid breakaway points. It can be confirmed from angle condition. The values of K for valid breakaway points can be obtained from the equation of K and these values must be positive. 4 Step 6 : Intersection with imaginary axis Consider the characteristic equation 1 + G(s)H(6) = 0 as, 644459 +15s? +s(K-20)+K = 0 Routh's array, i sla 15K __ For marginal value of K, make row of 8 ® ; K-20 9 TOW.of zeros but at the same time st] 4 of s? should not be negative. = K 0 ~ st | B0-K So a-K>0 80>K ie K<80 at ao) 0 Hence Kyarginat Must be less than 8 if Kmmarginat 18 less than 80 itis valid. ‘Scanned with CamSeannerBer systems oe8 Stabilty Analysis using Root Locus -K rom 51 70W (**) (K-20)-4k = 0 2-#100K-1600-16K = 0 Both are less than 80 and are valid. So this root locus intersects twice with the imaginary axis ic. at Kar = 29.19 and again at Kar = 548. ‘The intersection points can be obtained from auxiliary equation. AG) = Ge << +K=0 ie. s? Step gles of departure at complex poles Consider a pole - 2.5 + j 3.708 and calculate Yop and Yoz as shown. From the geometry of the pole-zero plot, = 180°-tan-1 3.208 = ° 6p = 180°tan“! === = 130.79 mm = 180°- tan“! 378 = 123.98" p53 = + 90° 621 = 180%-tan“! 378 = 112.02° Lor = opr topo tors = + 34477% Loz =112.02° $= Yop-Yoz = 232.75" bq = 180% = 180°-232.75° = 52.75° While 9 4 = 452.75" at 2.5 ~ j 3708 pole Step 8 : Complete root locus is ‘shown below aucATIONS” An up ome ‘Scanned with CamScannerContolsyatome 80S Ar a Roti TT |_4 |. 6, F 6 are [ rn pape fondant} wa +} 1.515(K=29.19).. [tb o4a7 aaa Trt ~ |1.518(K=29.19)~| pat —Stable region | ‘For 2 eK ote, oe a ef pine em region shown in the root locus. : 4 This is the rare canis where unstable open-loop system range of values of K, when operated as closed loop. ‘Scanned with Camscanner1S contol System 9-61 ‘Stability Analysis using Root Locus nee sr acone Spann ket transfer function of negative feedback system is given CHO) = a1) (6? 445416) sketch the root locus for 0 < K < e indicating all the releoant points, What do such systems ? solution t Refer example 9.7.16, steps 1,2 and 3 are as it is with complex poles located at - 2 +j 2V3. ‘The centroid is ~ 0.667. preakaway points are s = + 0.46, ~ 2.22. Two imaginary values of K are, Kyyary = 23.3, Kynar = 357. For Kmat = 233, s= +) 156 For Karo = 35-7, s = +) 256 bq = — 545° at - 2 + j2V3 and + 54.5° at -2-j2.3. The nature of root locus is as shown in the step 8 of example 9.7.16. Such systems are called conditionally stable systems. ERTERZDD Fottowing all the steps, draw the raot locus diagram for the Toop transfer function. | G(S)H(s) = Coe s(s? +85 +17) From the diagram, evaluate the value of K for a system damping ratio of 0.5. é g eee en Solution : Step 1: P = 3,Z=0,N=PZ=8 branches to c - Starting points ; 0, -4+j and Terminating Points: 2,0, 0 : _Step 2: Section of real axis as shown in the Fg9719@), Step 3: Angle of asymptotes Fig. 9.7-19 (a) casnser with q = 0, 1? » 6 = 6 300° "8 = 180° and 93 ere TECHNICAL PUBLICATIONS ‘Scanned with CaSeanner‘Stability Ane se ae ty Anal Using Feet Loa Step 4: Centroid 7 DRP. ofpoles-} RP of zeros _ Or4-4-0 _ 67 oF P-Z Step 5: Breakaway point 14+G@)H) = 14K —-0 ie. s* +857 +1754+K = 0 _ ss? +88+17) dk = K = -s9-8?-17s ie. Gor -3s? -16s-17 = 0 = () - 164162 -4x3x17 _ -16+7.211 = -3.868, -1.4648 2x3 6 So both are valid breakaway and breakin points. Step 6 : Intersection with negative real axis. _ 89 +85? +178+K = 0 \ s 1 Wo Kar = 136 | 8 Ks, & 4136 = Die. st =-17 s! ‘ek On 8 = + j4.1231 ... Intersection with jo axis s? K Step 7: Angle of departure at complex pole. = tant] = 1403" x tan’ Z 14.03% op, = 180%x = +165.96° op, = 90° 2 Sop = 2598, Sez -0 @ = Lor- Lez = 255.96 dq = 180-6 = -75.96° at-44) and bq = 475.96° at -4-} Step 8 : Sketch the root locus. Fig, 9.7.19 0) TECHNICAL PUBLICATIONS” An up thrust for knowiedge ‘Scanned with CamscannerTo control Systems : 9-53 Stability Analysis using Root Locus As per breakaway points, branches starting from complex poles meet at s = -3.868 at = +393 then separate into real. Thus s = -3,868 is breakin point. The one real and other from origin meet at s = -1.4648 at K = +10.8797 breaking into complex again. Thus s= ~1.4648 is breakaway point. Then both branches approach to « along 01 and @ 3. Other real branch opproaches to c along @2 = 180°.“ S=-44+j s=-4-j ‘Complex = =3.868 | (K=+3.93) Real (K=#10.87) Complex Fig. 9.7.19 (c) The root locus is shown in the Fig. 9.7.19 (4). 105 = tive real axis. Step 9 : For & = 0.5, draw line at @ = cos 195 = 60° measured from negative Obtain its intersection point P with root locus. | Step 10 : Using magnitude condition at P = | GOH) ap = 1 -cadtivad Bene K = 288 4,15 + j2, find K which is K for § =05. ‘Seamed with CamScannerControl Systems ‘Scale ‘on both X and Y axis | 2em = 1 Unit - Cos” E line TECHNICAL PUBLICATIONS" An up thrust for knowledge ‘Seamed with CamScanner9-55 Stability Analysis using Root Locus solution : Use the normal steps and verify the root locus as shown in the Fig. 9.7.20. - ziolees yyy 1. “i c papper TT ‘Seamed with CaeannerControl Systems 9-56 Stabiity Analysis using Root Locus CHRISETREE) ie the vot tus for unity fetback bing Gis) = tees ‘ "Determine the range of K for the system stability. : E Solution : Step 1:P = 4,Z=1,N , P - Z =3 branches to Starting :s = 0,-2,-1+j Terminating : s = -1, e2, =, ©. Step 2 : Sections of real axis as shown in the Fig. 9.7.21 (a). No breakaway point as per Fig, 9.7.21 (a) Step 3:0 = Ga) 190 _ 2q+1) 180° 3 w= 0,1,2 6, = 60, 0) = 180, 63 = 300° Step 4: Fig. 9.7.24 (a) RPof _yRPof Cantroid = —O-Lepoles “O.Laeros on 2-1=1-fet} =z - Step 5 : Breakaway points : Find 1 + G(s)H(s) = 0 K@+1 1+—_KO*) _ ng ie @ 8 (8+ 2) (s* + 25+ 2) aK _, eee Se =O gives 354+ 1259+ 1852+ 12544 = 0 Solving ,s = - 0.46 + j0.54, ~ 1.54 + j0.54 There is no valid breakaway point. Step 6 : Intersection with jo axis 1 + G(s)H(s) = 0 gives s* + 45° + 6s? +5 (4+ K)+K=0 sf 1 6 K From s1, 3 4 4+K 0 4) (44 K)-4K 20 20-K Ce TT K 0 K+ 80=0 st 0 0 ey K TECHNICAL PUBLICATIONS”. An up thrust for knowledge: ‘Scanned with Camcannernosmatnaai cnigems ______9-s7_____sablty Anasis using Root Locus £31.79 siep 7 Angles of departure at complex poles Consider ~1 + j as shown in the Fig. 9.7.21 (6), oz oz ops ° oa Step 8 : The complete root locus is shown in the Fig. 9.7.21 (©). 180 - tant = 135°, Ler-Loz = 135° + 90° + 45° - 90° = 180° 180°—$ = 0° at -1 + j and 0° at -1-j . J ... Intersection with jo axis Fig. 9.7.21 (b) J i T +4 { i 4 I f- LE Fig. 9.7.24 (c) TECHNICAL PUBLICATIONS” An up trast fr i7oWeo? ‘Scanned with Camseanner saa en