Professional Documents
Culture Documents
Exercises
E7.1 (a) For the characteristic equation
s(s + 4)
1+K =0,
s2+ 2s + 2
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
the root locus is shown in Figure E7.1.
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
D
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
e rt ss fo U
4
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
3
st f a s d s ec
de o rse de ot
ill le u vi pr
w r sa co pro is
2
o eir is rk
th nd wo
a his
1 x
T
Imag Axis
0 o o
-1 x
-2
-3
-4
-4 -3 -2 -1 0 1 2 3 4
Real Axis
FIGURE E7.1
s(s+4)
Root locus for 1 + K s2 +2s+2 = 0.
280
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Exercises 281
(1 + K)s2 + (2 + 4K)s + 2 = 0 .
(2 + 4K)2 − 8(1 + K) = 0 ,
)
eb
−(1 + 0.62)
er or in ing
ed id n
W
no the iss tea s
itt W tio
s1,2 = w
= −1.24 .
t p W em ch
e
d on g. in t la
m ld a
(1.31)
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
E7.2 (a) The root locus is shown in Figure E7.2. When K = 6.5, the roots of
o eir is rk
th nd wo
The real part of the dominant root is 8 times smaller than the other
two roots.
(b) The dominant roots are
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
282 CHAPTER 7 The Root Locus Method
* K=6.5
2
*
1 x
*
Imag Axis
0 x x
*
-1 x
*
-2
-3
-4
-4 -3 -2 -1 0 1 2 3 4
)
eb
Real Axis
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
FIGURE E7.2
.
r
or ud a uc y
D
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
E7.3 The root locus is shown in Figure E7.3. The roots are s1 = −8.7, s2,3 =
e rt ss fo U
gr hi in e
k
in o e r
y y p d le d
ro n an o te
st f a s d s ec
de o rse de ot
ill le u vi pr
w r sa co pro is
o eir is rk
4
th nd wo
a his
zeta=0.5
T
* <----- K=7.35
2 o
1
Imag Axis
0 * x x
-1
-2 o
*
-3
-4
-10 -8 -6 -4 -2 0 2 4
Real Axis
FIGURE E7.3 2
Root locus for 1 + K ss2+4s+8
(s+4)
= 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Exercises 283
1.5
1 x
0.5
Imag Axis
0 o
-0.5
-1 x
-1.5
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
-2
e
d on g. in t la
m ld a
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1
an ing rnin tors igh
.
r
or ud a uc y
Real Axis
w cl le tr p
e in nt ns co
D
th k ( de f i es
of or stu e o tat
FIGURE E7.4
ity s w g us d S
s+1
Root locus for 1 + K s2 +4s+5 = 0.
is
te f t ss th nite
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
st f a s d s ec
θd = 225o , −225o
o eir is rk
th nd wo
a his
T
and
σb = −2.4 .
E7.5 (a) The root locus is in Figure E7.5. The breakaway point is
σb = −6.13 .
σcent = −16.7 ,
and
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
284 CHAPTER 7 The Root Locus Method
Root Locus
100
80
60
20
−40
−60
−80
)
eb
er or in ing
ed id n
W
−100
no the iss tea s
itt W tio
w
t p W em ch
−140 −120 −100 −80 −60 −40 −20 0 20 40
e
d on g. in t la
m ld a
Real Axis (seconds−1)
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
D
th k ( de f i es
FIGURE E7.5
of or stu e o tat
1
ity s w g us d S
k
in o e r
y y p d le d
ro n an o te
10
a his
T
8 System: sys
Gain: 75
Pole: −0.000981 + 8.66i
6 Damping: 0.000113
Overshoot (%): 100
Frequency (rad/sec): 8.66
4
Imaginary Axis
−2
−4
−6
−8
−10
−10 −8 −6 −4 −2 0 2
Real Axis
FIGURE E7.6
15K
Root locus for 1 + K s(s2 +15s+75) = 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Exercises 285
E7.7 The root locus is shown in Figure E7.7. The characteristic equation has
20
15
10 asymptote −−−>
5
Imaginary Axis
0 System: sys
Gain: 27.3
Pole: −1.44 + 1.11i
Damping: 0.792
−5
Overshoot (%): 1.7
Frequency (rad/sec): 1.81
−10
−15
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
−20
an ing rnin tors igh
.
r
or ud a uc y
Real Axis
w cl le tr p
e in nt ns co
D
th k ( de f i es
of or stu e o tat
FIGURE E7.7
ity s w g us d S
s+8
Root locus for 1 + K s(s+4)(s+6)(s+9) = 0.
is
te f t ss th nite
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
4 poles and 1 zero. The asymptote angles are φ = +60o , −60o , −180o
st f a s d s ec
de o rse de ot
ill le u vi pr
centered at σcent = −3.7. When K = 27.35 then ζ = 0.8 for the complex
w r sa co pro is
o eir is rk
roots.
th nd wo
a his
T
s3 + 9s2 + Ks + K = 0 .
(s + r)3 = s3 + 3rs2 + 3r 2 s + r 3 = 0 .
Equating terms and solving for K yields K = 27. All three roots are equal
at s = −3, when K = 27. The root locus is shown in Figure E7.8.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
286 CHAPTER 7 The Root Locus Method
2
Imag Axis
3 roots at s=-3
0 x o x
-2
-4
-6
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
-8
e
d on g. in t la
m ld a
-15 -10 -5 0 5
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
Real Axis
e in nt ns co
D
th k ( de f i es
of or stu e o tat
ity s w g us d S
FIGURE E7.8
is
te f t ss th nite
k
in o e r
y y p d le d
ro n an o te
st f a s d s ec
de o rse de ot
1
1+K =0
a his
s(s2 + 2s + 5)
T
or
s3 + 2s2 + 5s + K = 0 .
(a) The system has three poles at s = 0 and −1 ± j2. The number of
asymptotes is np − nz = 3 centered at σcent = −2/3, and the angles
are φasymp at ±60o , 180o .
(b) The angle of departure, θd , is 90o +θd +116.6o = 180o , so θd = −26.6o .
(c) The Routh array is
s3 1 5
s2 2 K
s1 b
so K
where b = 5 − K/2. So, when K = 10 the roots lie on the imaginary
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Exercises 287
2 x
1
asymptote --->
Imag Axis
0 x
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
-1
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
-2 x
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
-3
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
-4
st f a s d s ec
-4 -3 -2 -1 0 1 2 3 4
de o rse de ot
ill le u vi pr
w sa co ro is
Real Axis
or eir is p rk
th nd wo
a is
Th
FIGURE E7.9
1
Root locus for 1 + K s(s2 +2s+5) = 0.
K(s + 2)
1+ =0.
s(s + 1)
Therefore,
(s2 + s)
K=− ,
(s + 2)
and
dK s2 + 4s + 2
=− =0.
ds (s + 2)2
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
288 CHAPTER 7 The Root Locus Method
(s + 2 + aj)(s + 2 − aj) = s2 + 4s + 4 + a2 = 0 ,
s2 + (1 + K)s + 2K = 0 .
√
Equating coefficients and solving for K yields√K = 3 and a = 2.
Thus, when K = 3, the roots are s1,2 = −2 ± 2j.
(c) The root locus is shown in Figure E7.10.
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
1.5 K=3, s=-2+1.414j
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
1
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
0.5
e rt ss fo U
gr hi in e
Imag Axis
th a a ly by
k
in o e r
s=-3.41 s=-0.58
y y p d le d
ro n an o te
0 o x x
st f a s d s ec
de o rse de ot
ill le u vi pr
w r sa co pro is
-0.5
o eir is rk
th nd wo
a his
T
-1
*
-1.5
-2
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1
Real Axis
FIGURE E7.10
s+2
Root locus for 1 + K s(s+1) = 0.
E7.11 The root locus is shown in Figure E7.11 for the characteristic equation
K(s + 2.5)
1+ =0.
(s2 + 2s + 2)(s2 + 4s + 5)
From the root locus we see that we can only achieve ζ = 0.707 when
K = 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Exercises 289
0 o
-1 x x
-2
-3
-4
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
-5
e
d on g. in t la
m ld a
-5 -4 -3 -2 -1 0 1 2 3 4 5
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
Real Axis
e in nt ns co
D
th k ( de f i es
of or stu e o tat
ity s w g us d S
FIGURE E7.11
is
te f t ss th nite
K(s+2.5)
Root locus for 1 + = 0.
e rt ss fo U
k
in o e r
y y p d le d
ro n an o te
st f a s d s ec
de o rse de ot
E7.12 (a) The root locus is shown in Figure E7.12 for the characteristic equation
ill le u vi pr
w sa co ro is
or eir is p rk
th nd wo
K(s + 1)
a is
1+ =0.
Th
s2 + s + 2)
K 2 3
Ts (sec) 2.45 2.45
P.O. 35.9 29.4
Tr (sec) 0.29 0.25
TABLE E7.12 System performance when K = 2 and K = 3.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
290 CHAPTER 7 The Root Locus Method
Root Locus
1.5
0.5
−0.5
−1
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
−1.5
.
r
−5 −4 −3 −2 −1 0 1
or ud a uc y
w cl le tr p
e in nt ns co
is
te f t ss th nite
FIGURE E7.12
e rt ss fo U
K(s+1)
gr hi in e
s2 +s+2
in o e r
y y p d le d
ro n an o te
st f a s d s ec
de o rse de ot
ill le u vi pr
s(s + 1)(s + 3) + 4s + 4z = 0 .
a is
Th
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Exercises 291
+ * z=0.6
2 o z=2.0
x o
* + z=4.0
1
Imag Axis 0 + o * x
-1
* o
x
-2 +
-3
-4
-4 -3 -2 -1 0 1 2 3 4
)
eb
Real Axis
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
FIGURE E7.13
.
r
or ud a uc y
4
w cl le tr p
D
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
k
in o e r
1.6
1
y(t)
0.8
0.6
0.4
0.2
0
0 2 4 6 8 10 12 14 16
time (sec)
FIGURE E7.13
CONTINUED: (b) Step Responses for z = 0.6, 2.0, and 4.0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
292 CHAPTER 7 The Root Locus Method
E7.14 (a) The root locus is shown in Figure E7.14 for the characteristic equation
K(s + 10)
1+ =0.
s(s + 5)
10
6 K=5, s=-5+5j
*
4
)
eb
Imag Axis
er or in ing
ed id n
W
no the iss tea s
itt W tio
s=-17.1 w s=-2.93
t p W em ch
0
e
o x x
d on g. in t la
m ld a
an ing rnin tors igh
.
r
or ud a uc y
-2
w cl le tr p
e in nt ns co
D
th k ( de f i es
of or stu e o tat
-4
ity s w g us d S
is
te f t ss th nite
-6
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
-8
st f a s d s ec
de o rse de ot
ill le u vi pr
-10
w r sa co pro is
Real Axis
T
FIGURE E7.14
K(s+10)
Root locus for 1 + s(s+5)
= 0.
√
(b) We desire ζ = 1/ 2 = 0.707. So, the desired characteristic polynomial
is
1
s2 + 2 √ ωn s + ωn2 = 0 .
2
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Exercises 293
(s + 10)(s + 2)
1+K =0
s3
has the root locus in Figure E7.15.
Root Locus
15
10
5 K=1.67
Imaginary Axi s
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
?-5
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
?-10
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
?-15
e rt ss fo U
gr hi in e
k
in o e r
y y p d le d
Real Axi s
ro n an so cte
e
de o rse de ot
ill le u vi pr
FIGURE E7.15
d
w r sa co pro is
K(s+10)(s+2)
o eir is rk
st a s
s3
a his
T
K > 1.67 .
1 1 s2
ess = lim sE(s) = lim s · 2 = lim 3 =0.
s→0 s→0 1 + GH(s) s s→0 s + K(s + 1)(s + 3)
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
294 CHAPTER 7 The Root Locus Method
(T s)2
e−T s = 1 − T s + − ...
2!
If (T s) << 1, then
a + bs
e−T s ≈ 1 − T s = ,
c + ds
where a, b, c and d are constants to be determined. Using long division,
40
30
)
K=21
eb
20 *
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
10
.
r
or ud a uc y
w cl le tr p
Imag Axis
e in nt ns co
D
th k ( de f i es
0 x x o
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
-10
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
-20
ro n an o te
st f a s d s ec
de o rse de ot
ill le u vi pr
-30
w r sa co pro is
o ir s rk
th nd wo
-40
a his
Real Axis
FIGURE E7.16
K(20−s)
Root locus for 1 + (s+1)(20+s)
= 0.
20 − s −(s − 20)
e−T s = = .
20 + s (s + 20)
So, the characteristic equation is
−K(s − 20)
1+ ,
(s + 1)(s + 20)
and the root locus is shown in Figure E7.16. Using a Routh-Hurwitz
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Exercises 295
Root Locus
1.5
1
Imaginary Axis (seconds−1)
0.5
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
D
th k ( de f i es
of or stu e o tat
−0.5
ity s w g us d S
is
te f t ss th nite
e rt ss fo U
gr hi in e
th a a ly by
−1
in o e r
y y p d le d
ro n an o te
st f a s d s ec
de o rse de ot
ill le u vi pr
w r sa co pro is
−1.5
o eir is rk
th nd wo
FIGURE E7.17
K
(a) Root locus for 1 + s(s−2)
= 0.
The root locus is always in the right half-plane; the system is unstable
for K > 0.
(b) The characteristic equation is
K(s + 2)
1+ =0,
s(s − 2)(s + 10)
and the root locus is shown in Figure E7.17b. The system is stable
for K > 26.67 and when K = 26.67, the roots are
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
296 CHAPTER 7 The Root Locus Method
Root Locus
30
20
K=26.66
−10
−20
)
eb
er or in ing
ed id n
W
−30
no the iss tea s
itt W tio
w
t p W em ch
−12 −10 −8 −6 −4 −2 0 2 4
e
d on g. in t la
m ld a
Real Axis (seconds−1)
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
D
th k ( de f i es
FIGURE E7.17
of or stu e o tat
K(s+2)
ity s w g us d S
k
in o e r
y y p d le d
ro n an o te
E7.18 The root locus is shown in Figure E7.18. When K = 8.15, the roots are
st f a s d s ec
de o rse de ot
ill le u vi pr
2
x + K=8.15
Imag Axis
0 x x
+
x +
-2
-4
-6
-6 -4 -2 0 2 4 6
Real Axis
FIGURE E7.18
K
Root locus for 1 + s(s+3)(s2 +2s+2)
= 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Exercises 297
15
10
x
)
eb
+
er or in ing
ed id n
W
no the iss tea s
itt W tio
5 w
t p W em ch
+ K=1292.5
e
d on g. in t la
m ld a
an ing rnin tors igh
Imag Axis
.
r
or ud a uc y
w cl le tr p
e in nt ns co
0 x x
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
+
te f t ss th nite
-5
e rt ss fo U
+
gr hi in e
th a a ly by
x
k
in o e r
y y p d le d
ro n an o te
-10
st f a s d s ec
de o rse de ot
ill le u vi pr
w sa o ro s i
or eir is p rk
th nd wo
-15
-15 -10 -5 0 5 10 15
a his
T
Real Axis
FIGURE E7.19
K
Root locus for 1 + s(s+3)(s2 +6s+64)
= 0.
K > 16 .
ζ = 0.25 .
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
298 CHAPTER 7 The Root Locus Method
20
15
10
−5
−10
−15
−20
−7 −6 −5 −4 −3 −2 −1 0 1 2 3
)
eb
Real Axis
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
FIGURE E7.20
an ing rnin tors igh
.
r
K(s+1)
or ud a uc y
s(s−2)(s+6)
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
E7.21 The gain is K = 32.9 when the complex roots have ζ = 0.6.
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
st f a s d s ec
Root Locus
de o rse de ot
ill le u vi pr
w r sa co pro is
10
o eir is rk
th nd wo
8
a his
T
6
K=32.9
Imaginary Axis (seconds−1)
−2
−4
−6
−8
−10
−7 −6 −5 −4 −3 −2 −1 0 1
Real Axis (seconds−1)
FIGURE E7.21
K
Root locus for 1 + s2 +8s+12
= 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Exercises 299
E7.22 The root locus is shown in Figure E7.22. The characteristic equation is
K(s2 + 18)(s + 2)
1+ =0.
(s2 − 2)(s + 12)
Root Locus
2
Imaginary Axis
)
1
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
−1
th k ( de f i es
of or stu e o tat
ity s w g us d S
−2
is
te f t ss th nite
e rt ss fo U
gr hi in e
th a a ly by
−3
in o e r
y y p d le d
ro n an o te
st f a s d s ec
de o rse de ot
ill le u vi pr
−4
w sa co ro is
or eir is p rk
th nd wo
−5
a his
Real Axis
FIGURE E7.22
K(s2 +18)(s+2)
Root locus for 1 + (s2 −2)(s+12)
= 0.
5s2 + as + 4 = 0 ,
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
300 CHAPTER 7 The Root Locus Method
1.5
1
x
0.5
Imag Axis
0 o
-0.5
x
-1
-1.5
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
-1.5 -1 -0.5 0 0.5 1 1.5
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
Real Axis
e in nt ns co
D
th k ( de f i es
of or stu e o tat
ity s w g us d S
FIGURE E7.23
is
te f t ss th nite
as
Root locus for 1 + = 0.
e rt ss fo U
5s2 +4
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
st f a s d s ec
−1
T
s −1 0
= [ 1 0 ]
4 s+k 1
1
= .
s2 + ks + 4
Therefore, the characteristic equation is
s2 + ks + 4 = 0 ,
or
s
1+k =0.
s2 +4
The root locus for 0 < k < ∞ is shown in Figure E7.24. The closed-loop
system is stable for all 0 < k < ∞.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Exercises 301
2.5
1.5
Imaginary Axis
0.5
−0.5
−1
−1.5
−2
−2.5
−4 −3.5 −3 −2.5 −2 −1.5 −1 −0.5 0 0.5
Real Axis
FIGURE E7.24
)
eb
er or in ing
ed id n
Root locus for 1 + k s2s+4 = 0.
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
1
is
te f t ss th nite
1+K =0.
e rt ss fo U
gr hi in e
s(s + 50)
th a a ly by
k
in o e r
y y p d le d
ro n an o te
st f a s d s ec
The root locus shown in Figure E7.25 is stable for all 0 < K < ∞.
de o rse de ot
ill le u vi pr
w r sa co pro is
o eir is rk
th nd wo
Root Locus
a his
T
30
20
Imaginary Axis (seconds−1)
10
−10
−20
−30
−60 −50 −40 −30 −20 −10 0 10
Real Axis (seconds−1)
FIGURE E7.25
1
Root locus for 1 + K s(s+50) = 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
302 CHAPTER 7 The Root Locus Method
Root Locus
0.8
)
0.6
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
0.4
.
r
or ud a uc y
w cl le tr p
e in nt ns co
D
th k ( de f i es
0.2
Imaginary Axis
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
0
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
−0.2
st f a s d s ec
de o rse de ot
ill le u vi pr
w r sa co pro is
−0.4
o eir is rk
th nd wo
a his
T
−0.6
−0.8
−12 −10 −8 −6 −4 −2 0 2
Real Axis
FIGURE E7.26
s+1
Root locus for 1 + K s2 +2s−3 = 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Exercises 303
Root Locus
−1
−2
−3
−4
)
−6 −5 −4 −3 −2 −1 0 1
eb
er or in ing
ed id n
Real Axis (seconds−1)
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
.
r
or ud a uc y
FIGURE E7.27
w cl le tr p
e in nt ns co
s
Root locus for 1 + p s2 +2s+40 = 0.
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
e rt ss fo U
gr hi in e
E7.28
k
in o e r
y y p d le d
ro n an o te
st f a s d s ec
de o rse de ot
s−1
ill le u vi pr
1+K =0.
w r sa co pro is
s(s2 + 2s + 2)
o eir is rk
th nd wo
a his
T
0.5
Imaginary Axis
−0.5
−1
−1.5
−10 −8 −6 −4 −2 0 2 4 6 8
Real Axis
FIGURE E7.28
Root locus for 1 + K s(s2s−1
+2s+2)
= 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
304 CHAPTER 7 The Root Locus Method
Problems
P7.1
Root Locus
50
40
30
Imaginary Axis (seconds−1)
20
10
−10
−20
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
−30
e
d on g. in t la
m ld a
an ing rnin tors igh
−40
.
r
or ud a uc y
w cl le tr p
e in nt ns co
−50
th k ( de f i es
is
te f t ss th nite
e rt ss fo U
gr hi in e
th a a ly by
Root Locus
k
in o e r
y y p d le d
ro n an o te
5
st f a s d s ec
de o rse de ot
ill ale ou ovi pr
4
s c r is
or eir is p rk
th nd wo
3
a his
2
T
w Axis
1
Imaginary
−1
−2
−3
−4
−5
−7 −6 −5 −4 −3 −2 −1 0 1 2
Real Axis
FIGURE P7.1
K K
(a) Root locus for 1 + s(s+5)(s+20)
= 0, and (b) 1 + (s2 +2s+2)(s+2)
= 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Problems 305
Root Locus
60
40
−20
−40
−60
−25 −20 −15 −10 −5 0 5
Real Axis (seconds−1)
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
Root Locus
.
r
or ud a uc y
w cl le tr p
4
e in nt ns co
D
th k ( de f i es
of or stu e o tat
3
ity s w g us d S
is
te f t ss th nite
e rt ss fo U
2
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
1
de oAxis
st f a s d s tec
de o rseImaginary
ill le u vi pr
w r sa co pro is
0
o eir is rk
th nd wo
a his
−1
T
−2
−3
−4
−4 −3.5 −3 −2.5 −2 −1.5 −1 −0.5 0 0.5
Real Axis
FIGURE P7.1
K(s+10) K(s2 +4s+8)
CONTINUED: (c) Root locus for 1 + s(s+1)(s+20)
= 0, and (d)1 + s2 (s+1)
= 0.
P7.2 The root locus is shown in Figure P7.2 for the characteristic equation
10Kv (s + 10)
1+ =0.
s(s + 1)(s + 100)
The damping ratio is ζ = 0.6 when Kv = 0.8, 135 and 648. The roots of
the characteristic equation are:
(a) Kv = 0.8 : s1 = −99.9, s2,3 = −0.54 ± j0.71
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
306 CHAPTER 7 The Root Locus Method
30
20
10
Imag Axis
0 x o xx
)
eb
-10
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
-20
e in nt ns co
D
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
-30
e rt ss fo U
k
in o e r
y y p d le d
ro n an o te
Real Axis
st f a s d s ec
de o rse de ot
ill le u vi pr
w r sa co pro is
FIGURE P7.2
o eir is rk
10Kv (s+10)
th nd wo
s(s + 2)(s + 5) + K = 0 .
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Problems 307
√
When K = 70, the system has roots on jω-axis at s = ±j 10.
(c) When K = 6, the roots are s1,2 = −0.83 ± j0.66, s3 = −5.34.
(d) The characteristic equation
K
1+ =0
s(s + 2)(s + 5)
10
)
4
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
2
an ing rnin tors igh
.
r
or ud a uc y
Imag Axis
w cl le tr p
e in nt ns co
0
th k ( de f i es
of or stu e o tat
ity s w g us d S
-2
is
te f t ss th nite
e rt ss fo U
gr hi in e
th a a ly by
-4
in o e r
y y p d le d
ro n an o te
st f a s d s ec
de o rse de ot
-6
ill le u vi pr
w r sa co pro is
o ir s rk
th nd wo
-8
a his
i
T
-10
e
-10 -8 -6 -4 -2 0 2 4 6 8 10
Real Axis
FIGURE P7.3
K
Root locus for 1 + s(s+2)(s+5)
= 0.
ωn2 ka
L(s) = 1 + Gc G(s) = 1 + =0,
(τ s + 1)(s2 + 2ζωn s + ωn2 )
√
where ζ = 2/2, ωn = 0.5 rad/s, and τ = 0.15 s. The root locus is shown
in Figure P7.4. The system is stable for
ka < 21.3 .
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
308 CHAPTER 7 The Root Locus Method
Root Locus
10
6
Imaginary Axis (seconds−1)
4
2 <−− K=21.3
−2
−4
−6
)
eb
er or in ing
ed id n
−8
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
−10
.
r
−10 −5 0 5
or ud a uc y
w cl le tr p
e in nt ns co
is
te f t ss th nite
FIGURE P7.4 2
e rt ss fo U
ωn ka √
gr hi in e
τ = 0.15 s.
ro n an o te
st f a s d s ec
de o rse de ot
ill le u vi pr
w sa co ro is
25K2 (s + 0.03)(s + 1)
1+ =0.
(s + 0.4)(s2 − 0.36s + 0.16)(s + 9)
The root locus is shown in Figure P7.5a. The damping ratio is ζ =
0.707 when K2 = 1.6 or K2 = 0.74.
(b) The transfer function from Td (s) to Y (s) is
G2 (s)Td (s)
Y (s) = ,
1 + G2 (s)Gf (s)
where
K2 (s + 1)
Gf (s) = .
s+9
Using the final value theorem, we determine that
G2 (s) 1 11.7
yss = lim s = = 3.8 ,
s→0 1 + G2 (s)Gf (s) s 1 + 11.7 K92
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Problems 309
4 <-- K=1.6
1 <-- K=0.74
Imag Axis
x
0 x o x o
x
-1
-2
-3
-4
-5
-10 -8 -6 -4 -2 0 2 4
)
eb
Real Axis
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
FIGURE P7.5
.
r
or ud a uc y
25K2 (s+0.03)(s+1)
w cl le tr p
(s+9)(s2 −0.36s+0.16)(s+0.4)
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
20
ro n an o te
st f a s d s ec
de o rse de ot
ill le u vi pr
15
w r sa co pro is
o eir is rk
th nd wo
a his
10
T
5
x
Imag Axis
0 x o x xo
x
-5
-10
-15
-20
-20 -15 -10 -5 0 5 10 15 20
Real Axis
FIGURE P7.5
25K1 (s+0.03)(s+9)
CONTINUED: (b) Root locus for 1 + (s+0.045)(s2 +12s+1)(s+1.33)(s2 +7.66s+29.78)
= 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
310 CHAPTER 7 The Root Locus Method
(c) The closed-loop characteristic equation with the pilot loop added is
25K1 (s + 0.03)(s + 9)
1+ =0.
(s + 0.045)(s + 1.33)(s2 + 7.66s + 29.78)(s2 + 12s + 1)
ess = 0.44 .
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
4
th k ( de f i es
zeta=0.5
of or stu e o tat
ity s w g us d S
zeta*wn=-1/3
3
is
te f t ss th nite
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
2
ro n an o te
st f a s d s ec
K=4 -->
de o rse de ot
o
ill le u vi pr
w r sa co pro is
1
o eir is rk
th nd wo
Imag Axis
a his
0 x x o x x
T
-1
o
-2
-3
-4
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis
FIGURE P7.6
K(s+0.2)(s2 +4s+6.25)
Root locus for 1 + (s+0.9)(s−0.6)(s−0.1)(s+4)
= 0.
(b) For Ts < 12 sec, we require ζωn > 1/3. Also, we want ζ > 0.5. So,
we seek roots for a stable system with ζωn > 1/3 and ζ > 0.5. This
occurs when K > 4.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Problems 311
P7.7 (a) The characteristic equation for the speed control system is
K
1+ =0,
(s + 4)2 (s + δ)
where
0.004 0.75
K= and δ= = 0.0001875 .
R 4000
The root locus is shown in Figure P7.7. At ζ = 0.6, we have K = 19.1,
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
2
an ing rnin tors igh
<-- K=19.1
.
r
or ud a uc y
w cl le tr p
Imag Axis
e in nt ns co
D
th k ( de f i es
0 x x
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
e rt ss fo U
gr hi in e
th a a ly by
-2
in o e r
y y p d le d
ro n an o te
st f a s d s ec
de o rse de ot
ill le u vi pr
w sa co ro is
-4
or eir is p rk
th nd wo
a is
Th
-6
-6 -5 -4 -3 -2 -1 0 1 2 3 4
Real Axis
FIGURE P7.7
K
Root locus for 1 + (s+4)2 (s+1.875e−04)
= 0.
therefore
R = 0.00021 .
(0.25s + 1)2
lim s∆ω(s) = lim s ∆L(s)
s→0 s→0 (0.25s + 1)2 (Js + b) + 1/R
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
312 CHAPTER 7 The Root Locus Method
1
= ∆L ≈ ∆LR ,
b + 1/R
when R < 0.1.
P7.8 (a) The characteristic equation for the speed control system with the
hydroturbine is
K(−s + 1)
1+ =0,
(s + 4)(s + 2)(s + δ)
where
0.002 0.75
K= and δ= = 0.0001875 .
R 4000
The root locus is shown in Figure P7.8. At ζ = 0.6, we have K = 2.85,
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
D
th k ( de f i es
1.5
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
1
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
K=2.85 -->
st f a s d s ec
0.5
de o rse de ot
ill le u vi pr
Imag Axis
w r sa co pro is
o eir is rk
th nd wo
0 x x x o
a his
T
-0.5
-1
-1.5
-2
-6 -5 -4 -3 -2 -1 0 1 2 3 4
Real Axis
FIGURE P7.8
K(−s+1)
Root locus for 1 + (s+4)(s+2)(s+δ)
= 0.
therefore
R = 0.0007 .
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Problems 313
K = 4000 ,
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
the roots are w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
.
r
or ud a uc y
D
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
50
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
40
st f a s d s ec
de o rse de ot
ill le u vi pr
w r sa co pro is
30
o eir is rk
th nd wo
a his
T
20
10
Imag Axis
-10
-20
-30
-40
-50
-35 -30 -25 -20 -15 -10 -5 0 5
Real Axis
FIGURE P7.9
K(s+0.5)(s+0.1)(s2 +2s+289)
Root locus for 1 + s(s+30)2 (s−0.4)(s+0.8)(s2 +1.45s+361)
= 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
314 CHAPTER 7 The Root Locus Method
s3 = −39.8
s4 = −14.9
s5 = −5.0
s6 = −0.38
s7 = −0.14 .
K1 K2 (s + 2)2
1+ =0.
(s + 10)(s + 100)(s2 + 1.5s + 6.25)
The root locus is shown in Figure P7.10.
10
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
8
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
6
e in nt ns co
D
th k ( de f i es
of or stu e o tat
4
ity s w g us d S
is
te f t ss th nite
x
e rt ss fo U
2
gr hi in e
th a a ly by
k
Imag Axis
in o e r
y y p d le d
ro n an o te
0
st f a s d s ec
x x o
de o rse de ot
ill le u vi pr
w r sa co pro is
-2
o eir is rk
x
th nd wo
a his
-4
T
-6
-8
-10
-120 -100 -80 -60 -40 -20 0
Real Axis
FIGURE P7.10
K1 K2 (s+2)2
Root locus for 1 + (s+10)(s+100)(s2 +1.5s+6.25)
= 0.
K1 K2 = 1620
K2 = 81000 ,
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Problems 315
K1 = 0.2 .
The roots s3,4 become negligible and the roots at s1,2 become highly
oscillatory. Hence, in this case
ζ = 0.41 .
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
20Ka (s2 + s + 0.02)w
t p W em ch
e
d on g. in t la
m ld a
1+ =0,
an ing rnin tors igh
D
th k ( de f i es
where
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
K2 = 10 .
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
3
T
1
Ka=0.035 -->
Imag Axis
0 x xo x ox
-1
-2
-3
-3 -2 -1 0 1 2 3
Real Axis
FIGURE P7.11
20s2 +20s+0.4
(a) Root locus for 1 + Ka s(s+1) 2 (s2 +2s+0.8) = 0, where K2 = 10.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
316 CHAPTER 7 The Root Locus Method
(b) When
Ka < 0.035 ,
Ka = 0.035 .
0.07(s2 + s)
1 + K2 =0.
s5 + 4s4 + 5.8s3 + 3.6s2 + 0.8s + 0.014
The root locus is shown in Figure P7.11b.
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
3
e
d on g. in t la
m ld a
an ing rnin tors igh
.
r
or ud a uc y
Ka=0.035
w cl le tr p
e in nt ns co
2
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
1
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
Imag Axis
y y p d le d
ro n an o te
x
st f a s d s ec
0 x o x xo
de o rse de ot
x
ill le u vi pr
w r sa co pro is
o ir s rk
th nd wo
-1
a his
i
T
-2
-3
-3 -2 -1 0 1 2 3
Real Axis
FIGURE P7.11
0.07s(s+1)
CONTINUED: (b) Root locus for 1+K2 s(s+1)2 (s2 +2s+0.8)+0.014 = 0, where Ka = 0.035.
Ka Km (s + 25)(s + 15)
T (s) = .
1.8s2 (s + 2) + Ka Km (s + 25)(s + 15) + 1.6Km s(s + 2)
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Problems 317
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
Ka (s + 25)(s + 15)
t p W em ch
e
d on g. in t la
m ld a
1+ =0.
an ing rnin tors igh
D
th k ( de f i es
is
te f t ss th nite
(d) When
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
K > 40 ,
st f a s d s ec
de o rse de ot
ill le u vi pr
w r sa co pro is
o eir is rk
th nd wo
a his
40
T
30
20
10
Imag Axis
0 o o xx x
-10
-20
-30
-40
-70 -60 -50 -40 -30 -20 -10 0 10
Real Axis
FIGURE P7.12
(s+25)(s+15)
Root locus for 1 + Ka s(s+2)(s+1.6) = 0, where Km = 1.8.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
318 CHAPTER 7 The Root Locus Method
P.O. = 5%
Tp = 0.67 sec
Ts = 0.25 sec .
)
eb
s = −1.09 at K = 9.72.
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
(b) When K = 13.5, the roots are
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
k
in o e r
y y p d le d
ro n an o te
st f a s d s ec
de o rse de ot
6
ill le u vi pr
w r sa co pro is
o eir is rk
th nd wo
a his
4
T
2 x
+
+
Imag Axis
0 x x
+
-2 x
-4
-6
-6 -4 -2 0 2 4 6
Real Axis
FIGURE P7.13
K
Root locus for 1 + s(s+3)(s2 +4s+7.84)
= 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Problems 319
s = −0.84 ± j0.84
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
s1 = −21.30 s2 = −13.29 w s3 = −1.41 s4,5 = ±j1.80 .
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
.
r
or ud a uc y
D
th k ( de f i es
of or stu e o tat
is
te f t ss th nite
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
st f a s d s ec
Root Locus
de o rse de ot
ill le u vi pr
15
w r sa co pro is
o eir is rk
th nd wo
−−−−− K=5592.5
a his
T
10
Imaginary Axis (seconds−1)
−−−−−− K=214.5
0
−5
−10
−15
−30 −25 −20 −15 −10 −5 0 5 10
Real Axis (seconds−1)
FIGURE P7.14
(s+2)(s+3)
Root locus for 1 + K s2 (s+1)(s+15)(s+20) = 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
320 CHAPTER 7 The Root Locus Method
The real root near the origin dominates, and the step response is over-
)
eb
er or in ing
ed id n
damped.
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
.
r
or ud a uc y
w cl le tr p
e in nt ns co
D
th k ( de f i es
100
of or stu e o tat
ity s w g us d S
80
is
te f t ss th nite
e rt ss fo U
gr hi in e
60
th a a ly by
k
in o e r
y y p d le d
x
ro n an o te
st f a s d s ec
40
de o rse de ot
ill le u vi pr
w r sa co pro is
20 o
o ir s rk
is Axis
x
th nd wo
0 x x
aImag
Th
x
-20 o
e
-40
x
-60
-80
-100
-100 -80 -60 -40 -20 0 20 40 60 80 100
Real Axis
FIGURE P7.15
s2 +30s+625
Root locus for 1 + K s(s+20)(s2 +20s+200)(s2 +60s+3400) = 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Problems 321
P7.16 (a) Let τ = 0. Then, first reduce the motor and rolls to an equivalent
G(s) as follows:
0.25
s(s+1) 0.25 0.25
G(s) = 0.25 = = .
1 + s(s+1) s(s + 1) + 0.25 (s + 0.5)2
)
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
.
r
or ud a uc y
2
w cl le tr p
e in nt ns co
D
th k ( de f i es
of or stu e o tat
ity s w g us d S
1.5
is
te f t ss th nite
e rt ss fo U
gr hi in e
th a a ly by
1
in o e r
y y p d le d
ro n an o te
st f a s d s ec
de o rse de ot
ill le u vi pr
0.5
w r sa co pro is
+
o eir is rk
Imag Axis
th nd wo
+
0 x x x
a his
T
+
+
-0.5
-1
-1.5
-2
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
Real Axis
FIGURE P7.16
0.5Ka
Root locus for 1 + s(s+1)2 (s+0.5)
= 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
322 CHAPTER 7 The Root Locus Method
)
eb
M2
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
The root locus is shown in Figure P7.17. All the roots lie on the jω axis.
.
r
or ud a uc y
w cl le tr p
If we select
e in nt ns co
D
th k ( de f i es
of or stu e o tat
ity s w g us d S
s
k12
is
te f t ss th nite
= ωo ,
e rt ss fo U
M2
gr hi in e
th a a ly by
k
in o e r
y y p d le d
ro n an o te
st f a s d s ec
3
T
0 x
-1
-2
-3
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1
Real Axis
FIGURE P7.17
k
Root locus for 1 + s2 = 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Problems 323
When β = 0 we have
4αs
1+ =0.
s2 + 2s + 4
The root locus for β = 0 is shown in Figure P7.18.
3
<-- zeta=0.6 beta=0
2
x
)
eb
er or in ing
ed id n
*
W
no the iss tea s
itt W tio
1 w
t p W em ch
e
d on g. in t la
m ld a
an ing rnin tors igh
Imag Axis
.
r
or ud a uc y
w cl le tr p
e in nt ns co
0 o
th k ( de f i es
of or stu e o tat
ity s w g us d S
is
te f t ss th nite
-1
*
e rt ss fo U
gr hi in e
th a a ly by
k
in o e r
x
y y p d le d
ro n an o te
-2
st f a s d s ec
de o rse de ot
ill le u vi pr
w sa o ro s i
or eir is p rk
-3
th nd wo
-3 -2 -1 0 1 2 3
a his
T
Real Axis
FIGURE P7.18
4s
Root locus for 1 + α s2 +2s+4 = 0, where β = 0.
s = −1.6 ± j1.2 .
Then, we have
β(s + 2)s2
1+ =0.
s2 + (2 + 4α)s + 4
When β = 0.121
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
324 CHAPTER 7 The Root Locus Method
Thus,
Ka (s2 + 4s + 100)
1+ =0.
s(s + 2)(s + 6)
The root locus is shown in Figure P7.19.
)
10
eb
er or in ing
ed id n
W
no the iss tea s
itt W tio
w
t p W em ch
e
d on g. in t la
m ld a
8
an ing rnin tors igh
.
r
or ud a uc y
6
w cl le tr p
e in nt ns co
D
th k ( de f i es
4
of or stu e o tat
ity s w g us d S
Imaginary Axis
is
te f t ss th nite
2
e rt ss fo U
gr hi in e
th a a ly by
0
in o e r
y y p d le d
ro n an o te
st f a s d s ec
−2
de o rse de ot
ill le u vi pr
w r sa co pro is
−4
o eir is rk
th nd wo
a his
−6
T
−8
−10
−10 −8 −6 −4 −2 0 2
Real Axis
FIGURE P7.19
s2 +4s+100
Root locus for 1 + Ka s(s+2)(s+6) = 0.
© 2017 Pearson Education, Inc., Hoboken, NJ. All rights reserved. This material is protected under all copyright laws as they currently
exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.
Another random document with
no related content on Scribd:
„Wat wenscht gij?” vroeg hij met heesche stem op hoogmoedigen toon.
Raffles was naast de schrijftafel komen slaan, terwijl Charly bij de deur
was gebleven.
„Ik kom naar aanleiding van een droevige zaak,” sprak de groote
onbekende met veranderde stem. „Mijn naam is Edward Stanhope,
professor in de Anthropologie. Dus een collega van u, dr. Braddon.”
Hij legde voor den dokter een visitekaartje neer, dat den naam professor
Edward Stanhope droeg.
„Sta mij toe,” hij maakte een handbeweging in de richting van Charly
Brand, „u mijn assistent, dr. Harry Smith, voor te stellen.”
„Ik veronderstel, dat het om een zieke te doen is”, sprak dr. Braddon.
„Juist,” antwoordde Raffles, „om mijn broer. Ik heb hem een jaar lang bij
mij aan huis laten verplegen en zou hem ook niet laten heengaan, maar
een reis naar Borneo dwingt mij, hem eenigen tijd aan andere handen
toe te vertrouwen. Een wetenschappelijk doel, een belangrijke
ontdekking betreffende, noodzaakt mij, deze reis te ondernemen.
„Misschien hebt gij, dr. Braddon, reeds gehoord, dat op Borneo, evenals
in Frankrijk, een schedelopgraving heeft plaats gehad, die waarschijnlijk
van oudere tijden spreekt dan alles wat tot dusverre op dat gebied is
ontdekt.
„Neem mij niet kwalijk, dr. Braddon, de belangstelling in mijn vak leidt mij
geheel van de reden mijner komst af.
„Om dus weer op mijn broer terug te komen, ik ben van plan, u den
zieke gedurende mijn afwezigheid toe te vertrouwen.”
„Zeer aangenaam,” sprak dr. Braddon verheugd met een buiging. „Het
zal uw broer bij mij aan niets ontbreken, professor. Mag ik vragen, welke
ziekteverschijnselen, zich bij uw broer voordoen?”
„Een bijzonder geval. Het is merkwaardig, welke ideeën zich in een ziek
brein kunnen nestelen.
„Mijn broer is jurist. Zijn vermogen staat hem toe, zonder een beroep uit
te oefenen, verder te studeeren. Ik heb reeds in de jeugd van mijn broer
vreemde gedachten bij hem opgemerkt, maar heb toch nooit vermoed,
dat het zoover met hem zou komen. Zijn ideaal is altijd geweest om zich
bezig te houden met het ontdekken van zware misdaden.
„Een jaar geleden deelde hij mij mede, dat zijn theorieën hem niet meer
bevredigden en dat hij zich in de practijk wilde bezighouden met het
opsporen van misdaden.
„Maandenlang was hij uit mijn huis verdwenen en ik weet op het
oogenblik nog niet, waar hij zich heeft opgehouden. In het kort, op
zekeren avond verscheen hij in mijn studeerkamer in de kleeren van een
beambte van politie, die hij bij den een of anderen uitdrager had gekocht
en sprak tot mij:
„„Ik verklaar u in naam der wet als mijn gevangene. Ik ben inspecteur
van politie Baxter uit Londen.”
„Maar helaas, ik zag weldra in, dat zijn optreden treurige werkelijkheid
was, dat mijn broeder krankzinnig was geworden.”
„Een dergelijk geval komt hier dikwijls voor. Een idee fixe.
Vervolgingswaanzin! Is uw broer kwaadaardig?”
„Ik bedoel, als men hem tegenspreekt, dat hij de Londensche inspecteur
van politie is, dan begint hij te razen en te tieren, nietwaar?”
„Ja,” antwoordde Raffles, „af en toe heeft hij zich zelfs voorzien van
revolvers en andere wapenen en mijn assistent en ik moesten veel
moeite aanwenden om hem te kalmeeren.”
„Ik heb op het oogenblik een zeer mooie kamer disponibel,” vertelde dr.
Braddon, in een boek bladerend, dat op zijn schrijftafel lag. „Het is no.
310; die kamer kost met verpleging eerste klasse en een bijzonderen
bewaker driehonderd pond sterling per maand.
„Ik neem geen patiënten aan, zonder dat de prijs van een jaar is
vooruitbetaald. Ik verzoek u dus, professor, om aan mijn kassier het
bedrag van drieduizend zeshonderd pond sterling te betalen.
„Waarde Heer!
Hoogachtend, enz.”
„Ik zal het bedrag van duizend pond sterling dadelijk bij u deponeeren en
de rest morgen door mijn bediende u toezenden.”
Raffles zag, hoe dr. Braddon met begeerige oogen het biljet van duizend
pond, dat de groote onbekende uit zijn portefeuille nam, opstreek.
[Inhoud]
DERDE HOOFDSTUK.
TWEE HEEREN DIENEN.
Den volgenden voormiddag verliet Raffles zijn woning, vermomd als een
bediende van deftigen huize.
Daarop nam hij een rijtuig en reed met het pakket naar de inrichting van
dr. Braddon.
Hij werd in een kantoor gebracht, waar men hem het goed afnam.
Daarop ging hij naar de kas, om het nog ontbrekende bedrag te betalen.
Toen hij de quitantie had ontvangen, kwam de bediende van dr. Braddon
uit de wachtkamer en meldde:
„Het zal maar eenige minuten duren,” meende de bediende van den
dokter. [9]
„Ja,” antwoordde Raffles, „maar het spijt mij u te moeten zeggen, dat ik
mij niet gaarne over mijn meester laat uithooren.”
„Groet mijnheer den professor en zeg hem, dat ik zijn broer op den
afgesproken tijd, vanmiddag tusschen 4 en 5, verwacht. Zeg eens,
bedient gij den broer, den patiënt?”
„Ja,” antwoordde Raffles, „en ik zal mijnheer vanmiddag zelf brengen. Hij
volgt mij in alles. Ik kan heel goed met hem opschieten.”
Het was tegen half vier in den namiddag, toen Raffles, nog steeds als
bediende verkleed, met hetzelfde verwaande uiterlijk als des morgens,
zich tot den dienstdoenden beambte in Scotland Yard wendde en dezen
meedeelde, dat hij een brief persoonlijk aan inspecteur Baxter moest
overhandigen. Argeloos bracht de beambte hem naar den chef der
Londensche politie.
Raffles bleef beleefd voor den inspecteur staan, maakte een buiging en
sprak:
Inspecteur Baxter nam den brief, die den vorigen dag door dr. Braddon
was geschreven en las hem.
Deze riep een auto aan, opende het portier en bleef met zijn hoed in de
hand staan, totdat de inspecteur in den wagen had plaats genomen.
Daarop sloot Raffles de deur en nam naast den chauffeur plaats, als een
goed geschoold bediende, met gekruiste armen.
Na een rit van een half uur hield de auto stil voor de inrichting van dr.
Braddon.
Weer opende Raffles het portier der auto, opnieuw nam hij zijn hoed af
voor den uitstappenden inspecteur van politie en daarna ging hij hem
voor het gebouw binnen.
Op dit oogenblik drukte dr. Braddon op een electrisch knopje, dat zich
onder zijn bureau bevond en gaf daardoor een teeken aan de in het
souterrain gelegen verplegerskamer.
Al naarmate hij de lichaamskracht van den patiënt taxeerde, liet hij een
of meer verplegers komen. Dr. Braddon stond uit zijn stoel op en ging
den inspecteur tegemoet.
Met een vriendelijk glimlachje reikte hij hem een hand en sprak:
„Ik ben zeer verheugd, heer inspecteur van politie, dat gij gevolg hebt
gegeven aan mijn brief en ik verzoek u, plaats te nemen.”
„De zaak zal spoedig opgeknapt zijn, inspecteur, en ik hoop, dat gij
tevreden over mij zult zijn.”
De stoel, waarop de bezoeker zat, was een uitvinding van dr. Braddon
en zoo ingericht, dat men weerspannige patiënten er gemakkelijk op
vast kon binden.
Nu hief dr. Braddon zijn arm op, ten teeken, dat de inspecteur moest
worden weggebracht.
Baxter, die zich juist begon te verbazen, dat dr. Braddon geen antwoord
gaf, kreeg dit op onverwachte wijze. Op het teeken van den dokter
sprongen de drie bewakers naar den inspecteur toe, en voordat deze
een kreet kon slaken, was hij op zijn stoel vastgesnoerd, zoodat hij zich
op geen enkele manier kon bewegen.
„Wat wilt gij van mij? Zijt gij gek?” riep Baxter uit, woest om zich heen
slaande.
„Voor den duivel! Laat mij los! Ik ben de inspecteur van Scotland Yard!”
„Zeker, zeker,” lachte Braddon, „gij zijt de inspecteur van politie van
Scotland Yard. Daaraan twijfelen wij geen oogenblik. En daarom moet
gij, om een misdaad aan het licht te brengen, eenigen tijd uw tenten bij
mij opslaan.”
„Vervloekt Sir! daarvoor is het toch niet noodig om mij als een
krankzinnige te boeien.”
„Laat dat maar aan mij over,” sprak dr. Braddon. „Brengt hem weg.”
„Mijn goede heer— —mijn beste, brave heer!—” riep Raffles uit.
„Hij blijft slechts eenige minuten in den stoel,” stelde dr. Braddon den
bediende gerust.
„Zoodra hij gekalmeerd is, wordt hij losgelaten en bevindt zich dan in
een zeer goed ingerichte kamer. Meld nu den professor, dat zijn broer
goed bezorgd is.”
[Inhoud]
VIERDE HOOFDSTUK.
IN HET KRANKZINNIGENGESTICHT.
Toen de bewakers hem van den stoel losbonden om hem naar zijn
kamer te brengen, stortte hij zich op den dichtstbijstaande, sloeg dezen
neer en wilde zich op den tweede werpen, toen een half dozijn mannen
hem beetpakten en hem, ondanks wanhopigen tegenstand, in een cel
voor gevaarlijke krankzinnigen wierpen.
Een met lucht gevulde zak lag in een hoek der cel als slaapgelegenheid.
Hier liet men den nieuwen patiënt twee dagen lang. Daarop kwam dr.
Braddon, vergezeld door den hoofdverpleger, bleef in de deur staan en
sprak:
„Breng den man nu naar zijn kamer. Zoodra hij zich wederom
weerspannig mocht toonen, wordt hij in de keldercel opgesloten.”
„Ik maak er u attent op,” sprak Baxter, „dat gij de gevolgen van uw
handelwijze moet afwachten. Aan mij is een misdaad begaan; ik ben niet
krankzinnig en even verstandig als gij. Ik herhaal u, dat ik de inspecteur
van politie van Scotland Yard ben.”
„Goed, goed, ik weet, dat gij de inspecteur van Scotland Yard zijt en gij
bevindt u bij mij in uitstekend gezelschap. Gij zult bij mij den Koning van
Engeland, den Keizer van Rusland en andere allerhoogste potentaten
aantreffen, zelfs is de lieve God bij mij.
„Ik zou niet weten, waarom gij, als inspecteur van politie, niet evengoed
verblijf bij mij zoudt houden. [12]
„Ik hoop, dat het u hier goed zal bevallen en dat wij de beste vrienden
zullen worden.”
Dr. Braddon verliet de cel en inspecteur Baxter werd naar zijn kamer op
de vierde verdieping gebracht.
Het was een vertrek met verschillende bedden, in het midden stond een
groote tafel, waaraan eenige verplegers zaten te kaartspelen.
„Hier is de nieuwe”, sprak de verpleger tot zijn collega’s, terwijl hij Baxter
naar binnenduwde.
„Wel, inspecteur van politie? Blij, kennis met je te maken, leelijke hond!
Je zult het goed bij mij hebben. Wij leeren elkaar hier beter kennen dan
wanneer ik bij bij jou in Scotland Yard was. Ik sla je al je tanden uit je
bek, als je mij gevangen wilt nemen. En ga nu op de sofa zitten en geef
geen geluid, anders zal je eens wat ondervinden.
Wel een uur lang had hij zoo gezeten, toen een der patiënten met
haperende stem begon te bidden.
Toen een der verplegers hem op de sofa terug wilde duwen, sloeg hij
met zijn hand naar dezen.
Hij sprong op, greep een stoel en sloeg hiermee op de verplegers los.
En het gelukte den vier mannen niet, den woedenden en zich als dol
aanstellenden inspecteur te overweldigen.
Baxter wist, wat nu zou gebeuren. Hij schoof de bedden en tafels voor
de deur en barrikadeerde deze.
Daarop sloeg hij met een stoelpoot de vensterruit stuk en riep door de
opening luide om hulp.
Maar het vertrek lag niet aan den straatkant, maar kwam uit op de
binnenplaats.
Boven de deur bevond zich een klein venster, dat diende om het licht
van een gasvlam, die op de gang brandde, in de kamer te doen
schijnen.
Voordat Baxter nog wist, wat de verpleger hiermee wilde doen, trof hem
een straal warm water dat hem tot op de huid nat maakte. [13]
Baxter trachtte, zich tegen den waterstraal te beschermen, maar dit was
te vergeefsch.
„Brand hem het vleesch van het lijf!” schreeuwde dr. Braddon.
Met een tafelblad als schild trachtte Baxter zich tegen het kokende water
te beschermen.
De patiënten, die zich met hem in de kamer bevonden, brulden van pijn,
want ook zij werden door de heete stralen getroffen.
„Allright!” sprak dr. Braddon, die naast den verpleger op een ladder
stond, „maak de deur open!”
Als een bende jachthonden vlogen zij op hem aan, scheurden hem de
natte kleeren van het lichaam en trokken hem opnieuw een dwangbuis
aan.
„Dit is een moordenaarshol!” riep Baxter tot dr. Braddon, die het tooneel
stond aan te kijken.
„Brengt hem in den kelder en sluit hem aan. Wij zullen hem wel tam
krijgen. De hond brengt anders de geheele inrichting in opstand.”
Door acht verplegers werd Baxter nu naar den kelder gebracht en in een
vertrek geduwd, dat volkomen donker en ijskoud was.
Zij hieven een woest gebrul aan, toen de verplegers met Baxter
binnentraden.
„Beulsknechten!—moordenaars!—galgenhonden!—vervloekte
misdadigers!” riepen de gevangenen tot hun pijnigers.
Hij had daar wel een kwartier gelegen, toen hij de stem van een zijner
lotgenooten in het donker hoorde, die tot hem riep:
„Waart gij ook zoo dwaas? Hebt ge u ook tegen die moordenaars willen
verzetten?”
„Ik ben bankier Gulden”, antwoordde de stem, „en sinds drie dagen in dit
moordenaarshol. Mijn zoon heeft mij hierheen gebracht, om zich mijn
vermogen toe te eigenen en die schurk, dokter Braddon, helpt hem
erbij.”
Baxter dacht erover na, of hij den bankier zijn [14]werkelijken naam zou
meededen; hij zag geen enkele reden, om dien te verbergen en
antwoordde: „Ik ben de inspecteur van politie Baxter van Scotland Yard.”
„Wie zijt gij?” vroeg bankier Gulden met groote verbazing. „Zijt gij de
inspecteur van politie van Scotland Yard? Mijn hemel! Dan zijt gij de