4 Pi | Fox Stabillty of sistem B Shoold beso { J. h>O i O65 0115 BS OOS | OS | O6F ss oul 02k <65 >o + | Rook Locus Movernent 0} closed loop poles . with small changes in the potameters Of tne System can be KRown by Root Lows. method. Thi method & fntrodoced by voRs Ewans. fn 1148. this & a Giaphicat metnod Im which movement oh poles In the S-plane fig ekerehtiehén” a: pavamekr anal fe varled trom 0 to © * | toncepr of Root focus 1 cs) | tharocteristtle Eqn 14 qs) nls) = O- where G)= 4a | > 14Rtls) HE) = 0. The stoots of the above equation are now dependent upon K. 2 61S Varied trom -a tote ‘then ori each value Ob | Kywe wt get Seperate seb © | ie hocoutons..0} the. Moole of chetracteviste Equation, Te aul such locations ave ; ia featted Rook MVS - cWhen:. 6 is, wervtedt _ from 0 ko °, the “pot fe caltea tem with “Gis)2% . Obtatn—_— i} | Roles of constructing 2° Root Lows + The Root locus iS Always eymmersiccd Adour | real axis. The Rooks af .enavacteristie Equecion ate either Real 051 complerc conjuaate ost combination! of botp, Thewetone “theig locus “Must be tummetteal about Recth axis ol the $= Plane. a) Hi). = Open loop ts1ansfey function eh the custom whese 'P’ ve no- Of open loop poles and X = fo-of Gpen Aoop wev0Ees. tase ci) 1 PE SEALY Braehes wil) stank from each 0} the location ef open -toop - pole- our of *P no- of branches jes Wh derminate at the xeroes., Lamatning Z nook brane docations. of Open doop ‘peso’ vrareh®s sail approach “Ko: mnpinity 2) D ooo Branenes equal #9 10-0} Open loop 26704 féy NEE H) The fnanehes vl verrmimate ak each of the | Hinlte tocattan of open Loop ze7O.. BUR out ©} *x' no: ob rantnesrs'? novo} branche willA @ point. ob tnrersection 04 _Agump! gravis {2107 207, biting finite Open. Loop Pole while demaining 'c2-P) he: ob branches will oxigimate rom, Infimliyl) and will approach toofinilte evoes. - case tin) see & AAA” D me noo} branches N= Po 7 Seperate Branch will start Yom each of the Open hoop Pole and terminate at Open loop zero NO Brancy) wil Start om termineite ak «© when Pe &. A point on the Real axts lies on the raat locos hte dom of ‘nombes of open wop poles and xeroes on the real axfs» ko the Tlaht hand Side op this poink & oda. : locus branches Khar tend bo co; the het) , moor \inee are called Asqmp to kes’. along the tirvaignt Angle of, such. Asympipies ane given by 6, = ‘# edeatd Wee Rat! m-m) vohere &% = O5tp2)~- -ln-m)=1 mM = Noro HevOes, ‘= Nor.0F poles. Asarnpotes Ove always .summelrical about Real + ONCLS 5 roles with the veal avis { at Se oa» whene, | w= (Sern Of poles — sum of zerou)| att enrol . -_ aS. The polit Ysom whene branhes break into comple “fnorh Teal fe called “Breakaway point. The point “xom where branches break into Real ‘from complexe tS called Breat:in int, The Brearictwoy and Breakin paints of the Root Lotus ave debermined fom Roots of the kquation d6jas-> ° Thx no. of Branches of Root locus meebaba pdink > then they bieah.aroau ab an angle of > + ied a The. angle Of departvse from & complex ° ; 2%, oop pole is glvén bu Pp= + wo'bati +O were Oe Orlotr~--- 9 ¢@ = net angle contribution ab the pole ey all othen. open loop poles and ‘xewes. The angle of arrival ak @ complercopen loop xero is given PY gest we'lagrd +d where Ge Nek angle contyibvtion at the 2670 by all. othey open oop’ poles and 2e7008. the Intersection: ef Root Locus branches with an Imagmary ‘acts “eqn: be dekermined by use oF” been ovlveiibh’ ford” ‘by’ testing 82 fy In the tharasreristie. equation and eopating, Beal pak nol Ehaghnony park: aero, WO solve fO% | Wowk. The vawe of ws ts me Inkevsection.port on Imaginary axis and m it the valve of the Inversection polnk Product of vector Je ngtas fy Open loop Poles +0 tne Point Sa I i Product of vector ingthis Soom, open loop zérHes 46 the pelt Sq, i | gain at | Open Loor gain Kr Aboes contol sustem has am open loop bi Avnity fee - serch the 4‘ Ne Gite) Hts) = — [racsiey dgnetion a emer) itoot Incus. i | Bhep-l + i locate the ls plane The Rook Locus branch srarts rom. poles and %esioes of ete). Ht) on the pen loop j |poles to terminates a Qe70es- To locate poles and HeTaeS.g 6 (84 as4 18) = Sy USF aso 6. —h# fie-AU3) a Se Had JRO “B05 6 so fs The. number of sdb locus. sbranches 1% equal tp ne. of poles 0} open ‘loop svanstey funcHon. Ses G2055 Ste p-2» Detetrdine tne Root tacws on te reat axis. z atep-% + 40 ‘Hind ‘angle of acumptots and centrold and. meting point.) @sumptots with real ack +. No: of ASumphis & equal to no-o Rook ensbranches going @- + seoteae) Angle oh Asymptoks = nem ge Orlyhy~ 2 [oem] ne horef poles ~> Yn.= NO» of wevoes = 0- BS Qe h® Aa = Angles = £ wd 2x60 (geo) 2 #1600). ered (9) S 2 21908). + ota y360" /4,=2) oS 2x60 tentroid, = sum of poles ~ sum oj zeroes ee n-m 2 O-2]8—2-j3 ay 3-0 Tog eh Step-4 + Find the brea’ away M4 brea’ fn points. these points elther Ife on eo) ax on enisk as comple, conjugate’ paisis. Tf were ba oot lows on reat avis blu 2 poled »:then phere exists a Break~ away Polk. @imilay, Wo there 1 @ ‘Fook locus on veal ascts bluo 2, Zeroes, then Weve exists a Break potnt and if were & a Took '8cks on read ascts lve po and xev04 , then tneve may beer mau nok L¢ BitaK away w Brie im points.ste) wald=0 & eharactentsHe Favaton | | ; o Ke ~2e then 4 should be weal ” positive ACS then only we can Any Brearowad i ByecLKin point exists a tg ASH SHID T+ Gls) HES) “yee ‘ nr stseus+id) | ws | ve quent) . ” Feinge +H sceeuse Dh = © wee aternuet Be 8 ae 8 characterbie EAN > | 2 > ow 3h = ae 95> dé db = —(384es41Z) #0 IS. Be4 eS 413 =O 32-8 £ Jeanine) als) $= H+ Vig-34 { 3 $2 “Aa NB ae > ~w a e 6 2 Wh8s +pre => B= 6? 4972135 : B= = Chase pep acess tO Bore aoK ie Neither peste” thor weal) hence Breaking b Breakaway pints does. not exis Skepig ate . TH there f x eatiiee “pole, khen determme dhe angle of depatwre from whe complesc pole Ty, Mev fo @ COraplexe xero, then: dékermine the angle of anvival’ trom the Compiler ze70. Anale of Aepartyte = 126 -(or of angles ab” vecnr ko the eomplerple & From other poles) + (sem of angles ob vector ko tne complet pokes ® ko z2e10 25) = iso $ > pe Ibe- The a = \go- tais'(2) = )23. 4°) 2 90 $d = 1@8— lo, +02) Cangie. = 180"- (123.4%496) hdepartin . jac 213-4° ot A) 38.92 Angle of derontvre SE mee, ¥ = e ORY 2 aa? hk: skep-6 + Find the points wheme the Rook Lodif mau csi0ss the Imaginary ‘ass “By RH criterfon. Chanacteristte tpn P+ 48+ I35H= © .B86 op a Avuiliary Eqn 48+ a0 Ret paso _ Besa) aud) etsy ase woe skep-l + oe kowte the poles and xesioes ab aid on the j g- plane« The Root Loews bxanch stows Fam open 3 Se | wop poles and kerminaies ak S106 ststy 454i) =° ge Tip-rtnd) a $205 | | $e —-ax fa i S- -Q4jvF° i poles : S205 Se sob fae. ; zeroes + St%r0, 2+-4. | the no» of soot locus paanches. is equal to no of pols | Of open t00Pp poles. Step-a + . Determine the soot Lows on the real arf. Angle Ob Asym = digg (aq b prores Ox Ooisay ~.-(Cn-m)-1] Os Ol. } |Angles = + GO + Hak aso centeotd = om of poles - sumab 100 eS eee = | ~ Or gefae -a—jao +9 a Bohs = TAU 2 588. a B Skep-4 + 4 HEE. als) = state ageti) \+ Gisynls) pe BED ser ats'y4et) = wls+9) se s4sri+ KETD) Chanactenie He “tqm + ate easel) + —steaasely G+ net =O. Ss = ¥- =o 457 NS =) Tee 8+4 oe ee eee) ae > wen Eee=es-)- Ee de * EAE >, -(serestiseo) + Saas us 20 4 -36°- gag ase sani — agt: opag ry fls 20 = Ec ~ a8 gis* 496 —99 =O> wer ysis eae +99 = $2 -IB0a > Go bat Mf Ber bRebsy B= —eletsasHid or = -B02[H 2 53 % ip emok positive » BIaK-awag y Brean pts dow nor ent Srep- 5 + Angle of Bepayiore Gg = ed -(0j)4 02) +0 = 1ed- xa [ee] sire Se ad os 3 2 fasta ( Ake . + = W488 80° be - : bd = 180 (2714 49d) +1SASS 20-06 = nieua’ gd= =1ue at Ay AT 2 gue”: step-6 % . ‘ . ob as? y11S4 B94 9B =O oP aes BENE AB= O. BPA ote sy ALW= 9B s0- ~ a ely an ‘ Bt har dn-anr? s Ana © y|) A ' 4h 5B PO 5 5K 444 KS Bs.| transfer funcrien 16 a> 4 aerterD AS*s a8 =O As ae 8) 29° Agr 22442 g 210-8 a BS £fa-a- Betch the noot tocvs Of the Austen ‘whos a Fibd dhe valve Of Kh € Open Loop So thar +ne damping Yedtio vo} closed loop system 1 0-5. Sysiem % unity jecabacw system. step-l t focare the poles and zeroes oh qiaon the g- plane 36+ Dot) > oO. a 6 509-8o-He poles 2 Os-20r4 Srep-& ees . on the eal aocts- Determine the oor lotus step -B + Angle of scymprots 2 ed-bae) . “ nm neg, m=D 3 qe Orto- - pm 4 = Oly for Geo, anglest Ww5O) 2 4600. - 3 21 5 angie + 8CD . eiat eo FE haa, Wales E ig 68) © 3 G0d. 3 2 FO.a ae somo} joles —sem of xevoes I ent 0hd th-m> = 0-2 -H- Oo | 3 2G ta. | 3 atep-h + G\6) - Sew ts) T+ ls? 1+ be | StsHDUStA) + 2 _% . staat) +6 chance #4 2 it sGr2 let a+b = (6 oe + bs see yeas + 82): Hees Sa & we 4465 +485) | * db - = ze 1as-# — 36. dap as” - an * *. . eeerre =u (24) En aD o = 8228 FP -4. 5 209 a1io 6 - = Bos Sess pee :r0\84,.6 = - 6% getggea 22 OM =315H » = Sfiesiase os + {-0-85)) = [eons 6608+ a(-o 84) a BOF §To find the value of ok comesponding to | =o.= = Complete 210 one branch 3! eve veal ase. 10 me" 04 lots tranches Star break away from or focus nas 3 branches ratts at a pole a S=—H and travel 4 ine exo at @ trough te ab $20 W Sank me omer two *O p ove real acct » gnen extasses fmaginarg eis aratia vo asym pints 4 meet and travel thstorg veal ants ak $= > osuss at #198 and travel P the seroeS at %- te open toop Franses funchon ob vnlty feedback, tonto! system fs given by. ala = blo), serch the SJ soot locuS+ sol grep-] poles = . enoes > dé10€S OD s-plane _ docare poles and sep-& * * m the neal axis | Determine ane.2120t locus o ¥ eétagt0 ey step: & + ‘ of, Asaraptntes = a Angle Ms By MA ' > Qe Oplaeor {p-m>-") jb) 2 Olymy s + geo, angie tor FeO ~ 2 sole 2 > dao’, si 1 nde som of gous som A centroid = peal fe mT, - oO+otl, oS } elansterd +" ° oe 28 4920. mio eomplet awake » nate * e eth vey :x| Effect OF addition of open doop poles and serves ese hadition of poles: 1. Root Ioevs —shigis towards vmaginang asi . a. system stablilby Yelatively decreases- luatrory, Mm nature. a: system becomes more 05 3 of BH Foo Stabiiity a Range ob operating valoe a the system aerreases- Addition ob merots + 1, Root locus snigts +0: left away from Imaginary axis. | a Relanve stablilty of ‘the system bnceases jess esctilotorey %. Sustem belomes lve Of 4 foo System 4s Range operating vi Stanlitty Imcveases- age ae) Wt) = wise __ Ble) LerAs + 16) oles: + P sto-dtsrHs +18) = ° S20, Sal, Stustle=e | * ' Be - 84 WES | oe ak B aes | wenoes « —Stl= 0 seeh Stepa s * | Determine Ahe woot locos on the real ants step-B = Angie Of asympria = + Ied at) { a-™ t n= 4 > mot Ge Oylgr.. [n-m) >) ni (u-D=1- ye Y= O\ya-+t jo eats etedls) . 218d | 3 | foray & wee) = #300". Foe". | tentrold = 9° Ob poles—surn Of zevars ON eT reer Aes mm 2 O41 -a-i¥n-aa Bot! tt arate i 3 = Ab = 0°66. S #1540 step-y | 4is> = S-H(seustle () - - Beales +e 6 (St? Bis-etus +18) > wise? SS-“iDISHUSH IE) HISD . s&-1sasete) + Hist) = ° g Lok srtseustt6) | (e+D 6 = [St us?4168 6-48" 168) [SF 4G HGS ~8 "4S = 1651 se - be — (s"4 384125165) Stl. db « 4B co. tol bedrgrnuewsrror | Ho | -64 boa Ac, i G+) O4ds “:245-16) + eMpaggise p16 =O dg