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Lecture-3
• Examples of root locus
jω
-∞ σ
-α
Home Work
• Draw the Root Locus of the following systems.
K
1) G( s) H ( s)
s2
K
2) G( s) H ( s)
s 1
K
3) G( s) H ( s)
s
Root Locus of 1st Order System
• 1st order systems with zero are represented by following
transfer function.
K (s )
G( s) H ( s)
s
• Root locus of such systems is a horizontal line starting from -α
and moves towards -β as K reaches infinity.
jω
σ
-β -α
Home Work
• Draw the Root Locus of the following systems.
Ks
1) G( s) H ( s)
s2
2) G( s) H ( s) K ( s 5)
s 1
3) G( s) H ( s) K ( s 3)
s
Root Locus of 2nd Order System
• Second order systems (without zeros) have two poles and the
transfer function is given
K
G( s) H ( s)
( s 1 )( s 2 )
jω
σ
-α2 -α1
Home Work
• Draw the Root Locus of the following systems.
K
1) G( s) H ( s)
K 4) G( s) H ( s) 2
s( s 2) s 3s 10
K
2) G( s) H ( s) 2
s
K
3) G( s) H ( s)
( s 1)(s 3)
Root Locus of 2nd Order System
• Second order systems (with one zero) have two poles and the
transfer function is given
K (s )
G( s) H ( s)
( s 1 )( s 2 )
• Root loci of such systems are either horizontal lines or circular
depending upon pole-zero configuration.
jω jω jω
σ σ σ
-α2 -β -α1 -β -α2 -α1 -α2 -α1 -β
Home Work
• Draw the Root Locus of the following systems.
K ( s 1)
1) G ( s) H ( s)
s( s 2)
2) G( s) H ( s) K ( s 2)
2
s
K ( s 5)
3) G( s) H ( s)
( s 1)(s 3)
Example
• Sketch the root-locus plot of following system
with complex-conjugate open loop poles.
Example
• Step-1: Pole-Zero Mao
• Step-3: Asymptotes
Example
• Step-4: Determine the angle of departure from the
complex-conjugate open-loop poles.
K
G( s) H ( s)
( s 1 )(s 2 )(s 3 )
Root Locus of Higher Order System
• Sketch the Root Loci of following unity feedback system
K ( s 3)
G( s) H ( s)
s( s 1)(s 2)(s 4)
• Let us begin by calculating the asymptotes. The real-axis intercept is
evaluated as;
−2 + 2 −4 − (−1) −10 + 1
σ𝑎 = = = −3
𝑛 −𝑚 4 −1
• The angles of the asymptotes that intersect at - 3, given by Eq. (vi), are;
• A root locus exists on the real axis between points s = –1 and s = –3.6.
• The intersection of the asymptotes and the real axis is determined as,
0 + 0 − 3.6 − (−1) −2.6
σ𝑎 = = = −1.3
𝑛 −𝑚 3 −1
• The angles of the asymptotes that intersect at – 1.3, given by Eq. (vi),
are;
(2𝑘 + 1)π (2𝑘 + 1)π For K = 0, θa = 90o
θ𝑎 = = For K = 1, θa = -90o or 270o
𝑛 −𝑚 3−1
• We have (a)
• The breakaway and break-in points are found from Eq. (a)
as,