asymptote

ClearAll["Global`*"]
fn - fp
AsymptotePosition[fn_, fp_, n_, p_] := ;
n-p
180
AsymtoteAngle[k_, p_, n_] := (2 k + 1) ;
p-n
OS
Log 
100
DampRatio[OS_] := ;
2 OS 2
π + Log 
100

-b + b2 - 4 a c -b - b2 - 4 a c
factors[a_, b_, c_] :=  , 
2a 2a

In[ ]:= σo = AsymptotePosition[- 11, 0, 3, 0]

11
Out[ ]= -
3

In[ ]:= N[σo]

Out[ ]= - 3.66667
2 Root Locus.nb

In[ ]:= θo = AsymtoteAngle[{0, 1, 2}, 3, 0]

Out[ ]= {60, 180, 300}

In[ ]:= ξ = DampRatio[5] / - 1.0

Out[ ]= 0.690107

In[ ]:= degrees = ArcCos[ξ ] / Degree

Out[ ]= 46.3614

In[ ]:= a = - 1.5 + 1.5 ;

1
1
Abs 
(a+1) (a+10)

Out[ ]= 13.6473

In[ ]:= convert to exponential - 0.0348993 - 0.0644295 

Out[ ]= 0.0732743  (-2.06722)

 Root Locus.nb 3

ClearAll["Global`*"]
fn - fp
AsymptotePosition[fn_, fp_, n_, p_] := ;
n-p
180
AsymtoteAngle[k_, p_, n_] := (2 k + 1) ;
p-n
OS
Log 
100
DampRatio[OS_] := ;
2 OS 2
π + Log 
100

-b + b2 + 4 a c -b - b2 + 4 a c
factors[a_, b_, c_] :=  , 
2a 2a

In[ ]:= factors[1, 3, 2.5]

Out[ ]= {- 1.5 + 0.5 , - 1.5 - 0.5 }

In[ ]:=

1
Gs = ;
2
s + 3 s + 2.5

G1s = k Gs

k
Out[ ]=
2.5 + 3 s + s2

In[ ]:= σo = AsymptotePosition[- 3, 0, 2, 0]

3
Out[ ]= -
2
4 Root Locus.nb

k = {0, 1, 2};
θ = AsymtoteAngle[{0, 1, 2}, 2, 0]
Out[ ]= {90, 270, 450}

ξ = DampRatio[5]
Out[ ]= 0.690107

1.5
In[ ]:= ωn =
ξ
Out[ ]= 2.17358

4
In[ ]:= Ts =
ωn ξ
Out[ ]= 2.66667

1
In[ ]:= ka[s_] := ;
1
Abs 2

s +3 s+2.5

In[ ]:= ka[- 1.5 - 1.5 ]

Out[ ]= 2.

Sum Ideal Pole Lengths

k= Sum Pole Lenghts

2 (1.5 - 0.5)
In[ ]:=
0.5 + 0.5
Out[ ]= 2.
 Root Locus.nb 5

ClearAll["Global`*"]
fn - fp
AsymptotePosition[fn_, fp_, n_, p_] := ;
n-p
180
AsymtoteAngle[k_, p_, n_] := (2 k + 1) ;
p-n
OS
Log 
100
DampRatio[OS_] := ;
2 OS 2
π + Log 
100

-b + b2 + 4 a c -b - b2 + 4 a c
factors[a_, b_, c_] :=  , 
2a 2a

In[ ]:= factors[1, 1, 0.5]

Out[ ]= {- 0.5 + 0.5 , - 0.5 - 0.5 }

s + 15
Gs = ;
s2 + s + 0.5
s + 15
Gs = ;
(s + 0.5 - 0.5 ) (s + 0.5 + 0.5 )

In[ ]:= θ = AsymtoteAngle[{0, 1, 2}, 2, 1]

Out[ ]= {180, 540, 900}

In[ ]:= σo = AsymptotePosition[- 1, - 15, 2, 1]

Out[ ]= 14
6 Root Locus.nb

1
ka[s_] := Abs  ;
s+15
s2 +s+0.5

In[ ]:= k = ka[- 14.5 + 14.5 ]

Out[ ]= 28.

28

In[ ]:= a = - 14.5 + 14.5 ;

1
Abs 
a+15
a2 +a+2.5

Out[ ]= 27.9956

In[ ]:= k = 28;

In[ ]:= Ts = 4;
 Root Locus.nb 7

28 (15 + 0)
((0.5 - 0.5 ) + 0) ((0.5 + 0.5 ) + 0)
Out[ ]= 840. + 0. 

1
1 + 840
Out[ ]= 0.00118906 + 0. 

In[ ]:= Abs[0.00118906 + 0. ]

Out[ ]= 0.00118906

In[ ]:= Tan[45 Degree]

Out[ ]= 1

s + 15
In[ ]:= Gs = ;
s2 + s + 0.5
k = 28;
1
SSEStep[s_, Gs_, k_] := ;
1 + k Gs
SSEStep[0]
Out[ ]= 0.00118906