BIOMEDICAL ELECTRONIC ENGINEERING PROGRAM

FACULTY OF ELECTRONIC ENGINEERING TECHNOLOGY

UNIVERSITY MALAYSIA PERLIS (UNIMAP)

Root Locus Analysis

Learning Outcomes
At the end of this laboratory, students should be able to:
ü Plot root locus of a given transfer function using MATLAB
ü Analyze the characteristics of a given system based on root locus of the system
ü Analyze the second and higher order system using root locus

PART A: Analysis of a second order system

R(s) Y(s)
F(s) +
– C(s) G1(s)

H(s)

Figure 1

A feedback system is shown in Figure 1. The forward transfer function, 𝐺(𝑠) = 𝐶(𝑠)𝐺1 (𝑠) is
8𝐾
𝐺(𝑠) = 2
𝑠 + 6𝑠 + 8
where 𝐹(𝑠) = 𝐻(𝑠) = 1.

1. Plot the root locus. Change the limits of imaginary axis to –6.0 and +6.0; and activate the grid.
2. Determine the value of K that will yield ζ=1.
3. Determine the value of ζ, ωn, K, and poles at 5% overshoot.
4. Determine the value of ζ, ωn, K, and poles at 10% overshoot.
5. Determine the range of K within which the system is stable.
6. Determine the closed-loop transfer function, G1(s) of the system at K=1.
7. Determine the closed-loop transfer function, G2(s) of the system at 5% overshoot.
8. Determine the closed-loop transfer function, G2(s) of the system at 10% overshoot.
Report – Part A
Answer all questions and follow the report instruction in google form provided in e-learning portal.
a. Plot and mark related points in the plot to answer question (2) – (5) in a single graph.
b. Show steps to determine the closed-loop transfer function in question (6) – (8).
c. Plot the step response of the systems found in (6), (7), and (8) in a single graph. Then, discuss the
relation between the systems response and the values of ζ, ωn, K, and poles location.

PART B: Analysis of a higher order system

Given a system in Figure 1, the forward transfer function, 𝐺(𝑠) = 𝐶(𝑠)𝐺1 (𝑠) is

K (s + 2 )(s + 3)
G (s ) =
( )
s + 2 s + 2 (s + 4 )(s + 5)(s + 6 )
2

1. Plot the root locus of the system, change the limits of imaginary axis to –8.0 and +8.0; and real axis to
–8.0 and +1.0.
2. Determine the range of K for the system to remain stable
a. from the plot
b. by stability method using Routh Hurwitz criterion
3. Determine the dominant poles. Justify your selection.
4. State the overshoot value found from question (3).
5. Determine the gain, K at 10% overshoot on the root locus plot.
6. Plot the step response of the closed-loop system found in (5). Determine the percentage overshoot,
%OS, settling time, Ts and peak time, Tp of the system. {hint: use sisotool or watch YT Video}
7. Did the percentage overshoot you found in (5) and (6) the same? Why?
8. Based on second order approximation of the dominants poles, estimate the percentage overshoot, %OS,
settling time, Ts and peak time, Tp of the system. Use the gain value found in (5).
9. Compare the parameters of the system found in (7) and (8). Comment on your findings.

Report – Part B
Answer all questions and follow the report instruction in google form provided in e-learning portal.