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Lecture Chapter 8 Root Locus
Lecture Chapter 8 Root Locus
Lecture Chapter 8 Root Locus
Muhammad Imran
In the preceding chapters we discussed the
relationship between the performance and
the characteristic roots of feedback system
The root locus is a powerful tool for
designing and analyzing feedback control
system, it is a graphical method by
determining the locus of roots in the s-plane
as one system parameter is changed.
Closed-loop response depends on the
location of closed-loop poles
If system has a variable design parameter
(e.g., a simple gain adjustment or the location
of compensation zero), then the closed-loop
pole locations depend on the value of the
design parameter.
Definition: The root locus is the path of the
roots of the characteristic equation traced
out in the s-plane as a system parameter is
varied.
For the system shown below its transfer
function can be written as
Magnitude Condition
The value of s that will satisfy both angle and
magnitude conditions are roots of the
characteristic equation, or closed loop poles
A locus of point in the complex plane that
satisfies the angle condition alone is root
locus
In many cases, G(S)H(S) involves again
parameter K, and characteristic equation can
be written as
The root loci for the system are the loci of the
closed loop poles as the gain K is varied from
zero to infinity (K >0 meaning –ve feedback)
Following key steps are involved in sketch of
root locus
▪ Locate the poles and zeros of G(s)H(S) on s-plane
▪ Determine root loci on the real axis
▪ Determine the asymptotes of real loci
▪ Find the breakaway and break-in points
▪ Determine the angle of departure (angle of
arrival) of root loci
▪ Find the point where root loci may cross the
imaginary axis
1. Locate poles and zeros of G(s)H(S) on real
plane
▪ From factored form of open loop transfer function
locate the open loop poles and zeros in s-plane
▪ Root locus plot has as many branches as there are
roots of characteristic equation
▪ Root locus branches start from open loop poles
and terminate at zero (finite zero or zeros at
infinity)
2. Determine root locus on real axis
▪ Root loci on real axis are determined by open loop
poles and zeros lying on it
▪ The complex conjugate poles and zeros of open
loop transfer function have no effect on location
of root loci on real axis
▪ Choose a test point on real axis , if total number of
real poles and real zeros to the right of this point
is odd, then this point lies on root locus
3. Determine the asymptotes of root loci
▪ If number of poles and zeros are not same then
some zero lies at infinity and we need to compute
asymptotes
▪ No. of asymptotes = no. of finite poles of G(S)H(S)
n – no. of finite zeros of G(S)H(S) m
▪ Angle of asymptotes =
▪ All asymptotes intersect on real axis. This point is
obtained as
Proof: (in lecture handout)
Once S is obtained the asymptotes can be
drawn in complex plane
4. Find the breakaway and break-in points
▪ Because of conjugate symmetry of root loci the
break-in and breakaway points either lie on real axis
or occur in complex conjugate pair
▪ If root locus lies b/w two adjacent poles on real axis,
then at least one breakaway point exist
▪ If root locus lies b/w two adjacent zeros (one zero
may be located at infinity) on real axis, then at least
one break-in point exist
▪ If root locus lies b/w open loop pole and zero (finite or
infinite) on real axis, then there exist either no break-
in or break away points or there may exists both
break-in & break away points
Suppose characteristic equation is given by
B(s) + K A(s) = 0
Then breakaway and break-in points can be
determined from the roots of
▪ Rule 5 Modification
▪ All angles of open loop poles /zero are subtracted from 00 instead of
1800
Example 1: Consider the given system, sketch
the root locus plot for positive feedback
system?
Root Locus is a graphical method for
determining the locations of all closed loop
poles from knowledge of location of open
loop poles and zeros as parameter (usually
gain K) is varied from 0 to infinity
In practice, root locus plot of a system may
indicate that desired performance cannot be
achieved by adjustment of gain
Sometimes system may not be stable for all
values of gain
So it become necessary to reshape root locus
technique to meet performance
specifications
In designing control system, if other than
gain adjustment is required, we must modify
the original root loci by inserting a suitable
compensator
Compensator will reshape the root locus as
desired by inserting a pair of dominant closed
loop poles at desired location
Two types of effects are encountered by
compensator
▪ Effect s of addition of poles
▪ Effect s of addition of zeros
Addition of poles to the open loop transfer
function has an effect of pulling the root locus
to the right
Consequences
▪ Lowers the system relative stability
▪ Slow down the settling time of response
Figure shows addition of pole to a single pole
system and addition of two poles to a single
pole system
Addition of zeros to the open loop transfer
function has an effect of pulling the root locus
to the left
Consequences
▪ Make system more stable
▪ Speed up the settling time of response
Given system is stable for small gain but
become unstable for large gain
When zero is added to the system, then it
become stable for all values of gain as shown
Due Date 19-Jun-2020