Experiment-8 Gudimallam Preethi

20EEE1010

Stability Analysis of A System Through

Root Locus Method
Aim:
1. To draw the root locus of a system in a systematic manner.
2. To write a code in MATLAB to determine the stability of the two-system usingRoot-
Locus Method.

Apparatus: MATLAB 2018a

Statement of experiment:
Part-1: An RLC circuit is considered as shown in the figure. Two cases are drawn from this
circuit, the first case is when R2 and C2 are 0 and the second case is whenR2 and C2 have
certain values.

Part-2: The individually stimulated DC motor (10 hp, 230 V, 500 rpm, 40 A) is considered
in this section of the equation. The armature's resistance is 0.478 ohmand its inductance is 3
mH. A kilogramme per square metre is 0.462 Kg/m2.
Suppose that a continuous current at rated value is used to excite the pitch. Byvarying
the armature voltage, this motor's speed can be changed.

Theory:
 Experiment-8 Gudimallam Preethi
20EEE1010
The root locus is a graphical representation in the s-domain, symmetric about the real axis. This
is because the open-loop poles and zeros reside in the s domain and the values exist as real or
complex conjugate pairs. This chapter describes how to create (draw) a root locus.

Rules for Construction of Root Locus

Follow these rules for constructing a root locus.
Rule 1 − Locate the open loop poles and zeros in the ‘s’ plane.
Rule 2 − Find the number of root locus branches.
We know that the root locus branches start at the open loop poles and end at open loop
zeros. So, the number of root locus branches N is equal to the number of finite open loop
poles P or the number of finite open loop zeros Z, whichever is greater.
Mathematically, we can write the number of root locus branches N as
N=P if P≥Z
N=Z if P<Z
Rule 3 − Identify and draw the real axis root locus branches.

If the angle of the open loop transfer function at a point is an odd multiple of 180 0, then
that point is on the root locus. If odd number of the open loop poles and zeros exist to the
left side of a point on the real axis, then that point is on the root locus branch. Therefore, the
branch of points which satisfies this condition is the real axis of the root locus branch.
Rule 4 − Find the centroid and the angle of asymptotes.
 If P=Z, then all the root locus branches start at finite open loop poles and
end at finite open loop zeros.
 If P>Z , then Z number of root locus branches start at finite open looppoles
and end at finite open loop zeros and P−Z number of root locusbranches start
at finite open loop poles and end at infinite open loop zeros.
 If P<Z , then P number of root locus branches start at finite open looppoles
and end at finite open loop zeros and Z−P number of root locusbranches start
at infinite open loop poles and end at finite open loop zeros.
So, some of the root locus branches approach infinity, when P≠Z. Asymptotes give the
direction of these root locus branches. The intersection point of asymptotes on the real axis
is known as centroid.
We can calculate the centroid α by using this formula,
∑𝑅𝑒𝑎𝑙 𝑝𝑎𝑟𝑡 𝑜𝑓 𝑓𝑖𝑛𝑖𝑡𝑒 𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑝𝑜𝑙𝑒𝑠 − ∑𝑅𝑒𝑎𝑙 𝑝𝑎𝑟𝑡 𝑜𝑓 𝑓𝑖𝑛𝑖𝑡𝑒 𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑧𝑒𝑟𝑜𝑒𝑠
𝛼=
𝑃−𝑍
The formula for the angle of asymptotes θ is
(2𝑞 + 1)180°
𝜃=
𝑃−𝑍
Where,
Experiment-8 Gudimallam Preethi
20EEE1010

q=0,1,2 ... ,(P−Z)−1

Rule 5 − Find the intersection points of root locus branches with an imaginary axis.
We can calculate the point at which the root locus branch intersects the imaginary axis and
the value of K at that point by using the Routh array method and
special case (ii).
 If all elements of any row of the Routh array are zero, then the root locus
branch intersects the imaginary axis and vice-versa.
 Identify the row in such a way that if we make the first element as zero, then
the elements of the entire row are zero. Find the value of K for this
combination.
 Substitute this K value in the auxiliary equation. You will get the
intersection point of the root locus branch with an imaginary axis.
Rule 6 − Find Break-away and Break-in points.
 If there exists a real axis root locus branch between two open loop poles,
then there will be a break-away point in between these two open loop
poles.
 If there exists a real axis root locus branch between two open loop zeros,
then there will be a break-in point in between these two openloop zeros.
Note − Break-away and break-in points exist only on the real axis root locusbranches.
Follow these steps to find break-away and break-in points.
 Write K in terms of s from the characteristic equation 1+G(s)H(s)=0.
 Differentiate K with respect to s and make it equal to zero. Substitutethese
values of s in the above equation.
 The values of s for which the K value is positive are the break points.Rule 7
− Find the angle of departure and the angle of arrival.
The Angle of departure and the angle of arrival can be calculated at complex conjugate open
loop poles and complex conjugate open loop zeros respectively.
The formula for the angle of departure ϕd is
Φd=180−Φ
The formula for the angle of arrival ϕa is
Φa =180 +Φ
Where,
Φ=∑ΦP−∑ΦZ

Theoretical calculations:
Part-1: RLC Circuit
Case-1: R2=0, C2=0
Experiment-8 Gudimallam Preethi
20EEE1010
𝑑𝑖(𝑡) 1
𝑉𝑖𝑛(𝑡) = 𝑖(𝑡)𝑅1 + 𝐿 + ∫ 𝑖(𝑡) 𝑑𝑡
𝑑𝑡 𝐶1
1
𝑉𝑜 (𝑡) = ∫ 𝑖(𝑡) 𝑑𝑡
𝐶1

𝑉𝑖𝑛(𝑠) 1 𝑋𝐶1
𝐶1𝑠
𝑇. 𝐹. = = =
1 𝑅1 + 𝑋𝐿 + 𝑋𝐶1
𝑉𝑜(𝑠) 𝑅1 + 𝐿𝑠 +
𝐶1𝑠
-100 and 100 are open-loop poles. There are two branches in the locus. 90° and
270° are the asymptotic angles. The centroid is at -100. Break-point for Locus is at -
100.

Case-2: R2=200Ω, C2=10µF

1 1
∫ 𝑖1(𝑡)𝑑𝑡 = 𝑖2(𝑡)𝑅2 + ∫ 𝑖2(𝑡)𝑑𝑡
𝐶1 𝐶2
1 1 1
𝑖1 = 𝑖2𝑅2 + 𝑖2 = (𝑖−𝑖1)𝑅2 + (𝑖 − 𝑖1)
𝐶1 𝑠 𝐶2 𝑠 𝐶 2𝑠
1
𝐶1𝑠
𝑖 1= 𝑖
1 1
𝑅2 + +
𝐶2𝑠 𝐶1𝑠
1
𝑉𝑖𝑛(𝑡) = 𝑖(𝑡)𝑅1 + 𝑖(𝑡)𝐿 + 𝑖2(𝑡)𝑅2 + 𝑖2(𝑡)
𝐶2
1
𝑉𝑜(𝑡) = 𝑖2(𝑡)
𝐶2
1 1
𝑉𝑖𝑛(𝑠) 𝐶2𝑠 𝑖2 𝐶1𝐶2𝑠2
𝑇. 𝐹. = 𝑉 (𝑠) = =
1 1 1 1
𝑜 𝑖𝑅1 + 𝑖𝑠𝐿 + 𝑖2𝑅2 + 𝐶 𝑠 𝑖2 (𝑅1 + 𝑠𝐿) (𝑅2 + 𝐶 𝑠 + 𝐶 𝑠) + (𝑅2 + 𝐶 𝑠) 𝐿𝑠
2 2 1 2
Experiment-8 Gudimallam Preethi
20EEE1010
𝑋𝐶1 𝑋𝐶2
𝑇. 𝐹. =
(𝑅1 + 𝑋𝐿)(𝑅2 + 𝑋𝐶1 + 𝑋𝐶2 ) + (𝑅2 + 𝑋𝐶2 )𝑋𝐿

Part-2: Motor Circuit

𝜃(𝑠) 𝐾𝑡
𝑇. 𝐹. = =
𝑉𝑎 (𝑠) (𝑅𝑎 + 𝑠𝐿𝑎 )(𝐽𝑠 2 + 𝐵𝑠) + 𝐾𝑏 𝐾𝑡
80.4 ± 73.5745j are the open-loop poles. There are two branches in the locus. 270°
and 90° are the asymptotic angles. The centroid is at -80.4. Break-points do not exist
in this Locus.

MATLAB Code:
Experiment-8 Shanmukh Raj Mondu
20EEE1014

Part-1:

Part-2:

Simulation Results:
Part-1:
Experiment-8 Shanmukh Raj Mondu
20EEE1014

Part-2:

Observations:
Part-1: Case-1: The system is a second order system. The system is stable for all
values of gain, since the entire root locus lies on the LHS of the plane.
Part-1: Case-2: The system is a third order system. the system is stable for a range
of values of gain, since some part of the root locus is present in the RHS side of the
plane. In this case the system is table for the range of 0 ≤ K ≤ 17.5.
Part-2: The system is a second order system. The system is stable for all values of
gain, since the entire root locus lies on the LHS of the plane.

Conclusion:
Root locus stability analysis of the system is done via MATLAB. The corresponding
graphs are found to be consistent with their respective theoretical calculations.