Lecture : 18

Control Systems Engineering

Dr. G. Balamurugan
Assistant Professor
Department of Electronics Engineering
MIT Campus, Anna University.

Dr. G. Balamurugan
1
Department of Electronics Engineering, MIT Campus
UNIT IV CONCEPTS OF STABILITY ANALYSIS
Concept of stability-Bounded - Input Bounded - Output
stability-Routh stability criterion-Relative stability-Root
locus concept-Guidelines for sketching root locus-Nyquist
stability criterion.

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Angle and Magnitude condition
• The closed loop system stability is given by characteristic equation

Magnitude condition of G(s)H(s) at a point which is on the on the root locus

that means the magnitude condition is valid only when the given point is on
root locus. j
Purpose: To find the system gain at any point which is on the root locus

Angle condition : Odd multiples of 180 

Purpose is to check any point existing on RL or not that means all

points on the RL must satisfy angle condition

Dr. G. Balamurugan
3
Department of Electronics Engineering, MIT Campus
 Angle and Magnitude condition
• The closed loop system stability is given by characteristic equation

Problem
Consider a system with . Find system gain (k) at a point s= -2 + j5
j
5.0

-4 -2 0 
Phase angle : +180
Magnitude : K = 28.94

Dr. G. Balamurugan
4
Department of Electronics Engineering, MIT Campus
 Problem 1
Consider a unity feedback system with open loop transfer function as

Sketch the root locus of the closed loop system when K varies from 0 to infinity.
Solution: Step 3: Number of branches : Number of Poles = 4

Step 1: Locate the poles and zeros Number of branches to  : No. of Poles - No. of zeros
:4-0=4
Pole roots : 0 , -3, -1  j
Zero roots : Nil j
Step 2: Determine the root locus on real axis. 1.0
Step 4: Determine the asymptotes of RL

 = -1.25
0.5
NRL Line RL Line

-3.0 -2.5 -2.0 -1.5 -1.0 -0.5 0 

Asymptotes angle: 45, 135, 225, 315
-0.5
Step 5:
-1.0

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Problem 1
Step 6: Determine the Break in point
j

1.0

 = -1.25
0.5
NRL Line RL Line

-3.0 -2.5 -2.0 -1.5 -1.0 -0.5 0 

-0.5
s = -2.28, -0.73  j 0.348
-1.0

Since angle condition is not satisfied, so the point -0.73  j 0.348 does not lie on root locus
Dr. G. Balamurugan
6
Department of Electronics Engineering, MIT Campus
 Problem 1
• s = -2.28 is a valid break in point because it lies on root locus line.
j
Magnitude condition
1.0

 = -1.25
K=4.3 0.5
NRL Line -2.28 RL Line

-3.0 -2.5 -2.0 -1.5 -1.0 -0.5 0 

-0.5

-1.0

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Problem 1
Step 7: Determine the points where RL may cross the jw axis.

j

1.0

 = -1.25
K=4.3 0.5
NRL Line -2.28 RL Line
Construct Routh array Table
-3.0 -2.5 -2.0 -1.5 -1.0 -0.5 0 
-0.5

-1.0

Auxiliary equation, When substituting K=8.16 in s1

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Problem 1
Step 7: Determine angle of departure of the RL from a complex pole

j
P
1.0

 = -1.25
Join all other poles and zeros to a point P (-1  1j ) 0.5
K=4.3
NRL Line -2.28 p3 RL Line
p1

-3.0 -2.5 -2.0 -1.5 -1.0 -0.5 0 

-0.5
p2
-1.0

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Dominant Pole
• The dominant pole is a pair of complex conjugate pole which decides transient
response of the system. In higher systems dominant poles are very close to
origin and all other poles of the system are widely separated and so they have
less effect on transient response of the system.
• How to fix dominant pole on root locus and gain K determination to the
dominant pole:

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Graphical Determination of Gain (K) for
specified Damping Ratio
• Steps to determine value of K by using root locus for designing a system with
certain damping ratio 
• Step 1: Root locus is drawn to the scale on graph using the same scale for X-
axis and Y-axis.
• Step 2: Value of is calculated.
• Step 3: A line of an angle  with negative real axis is drawn where  is
measured in the clockwise direction.
• Step 4: The intersection point of the line with root locus is determined.
• Step 5: The gain K is obtained using magnitude condition of this point.

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Problem 2
• Sketch the root locus for the system having . Determine K for
damping ratio of 0.5 from the root locus. In addition, comment on the stability
of the system.
Solution: Step 3: Number of branches : Number of Poles = 3

Step 1: Locate the poles and zeros Number of branches to  : No. of Poles - No. of zeros
:3-0=3
Pole roots : 0 , -4, -8
Zero roots : Nil j
Step 2: Determine the root locus on real axis. 1.0
Step 4: Determine the asymptotes of RL

 = -4
0.5
RL Line NRL Line RL Line

-8 -7 -6 -5 -4 -3 -2 -1 0 
Asymptotes angle: 60, 180, 300
-0.5
Step 5:
-1.0

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Problem 2
Step 6: Determine the Break in point
j

1.0

K=24.63
 = -4
0.5
RL Line NRL Line RL Line

-8 -7 -6 -5 -4 -3 -2 -1 0 
-0.5

-1.0

Since s= -6.31 lies on NRL line – Not a valid break in point

But s= -1.69 lies on RL line – a valid break in point

Substitute s= -1.69 in the above equation to determine K=24.63

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Problem 2
Step 7: Determine the points where RL may cross the jw axis.

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Problem 2

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
 Advantage of Root locus
• It is possible to predict the absolute stability of the system from the locations of the roots in the s-
plane.
• The limiting range of the values of the system gain K can be obtained for absolute stability of the
system.
• Marginal value of the system gain K and the corresponding value of frequency of oscillation can be
obtained from intersection of root locus with imaginary axis.
• The value of the system gain K at any point on the root locus can be determined with the help of
magnitude condition.
• The gain K can be determined for particular damping ratio of the system, This helps to design
system accurately.
• Gain margin and phase margin of the system can be determined can be determined from the root
locus.
• Relative stability about a particular value of s = - can also be focused.
• The information regarding settling time of the system can also be acquired from the root locus.
Dr. G. Balamurugan
16
Department of Electronics Engineering, MIT Campus
 Yo u
a nk
T h
Dr. G. Balamurugan
17
Department of Electronics Engineering, MIT Campus