41 INTRODUCTION Wehave seen earlier that it is possible to adjust the location of the closed-loop poles of the gjsem by varying the loop gain. Since the nature of the transient response is closely related to the location of the closed-loop poles, it is very important to know how they move in the s-plane asthe gain or some other parameter is varied. Furthermore, since for economy in manufacture, itis necessary to allow some tolerance in the values of the parameters, it is desirable to determine the movement of the poles with small changes in parameters. in the plane as a given system parameter (usually the open-loop gain K) is varied from 0 to <=. fhe Toot Iocus technique was introduced by W.R. Evans in 1948. The root locus is a” powerful method of analysis and design for stability and transient eponse of the control systems. It brings into focus the complete dynamic response of the ae and further being a graphical technique, an approximate root locus sketch can be made wk afte gives information about the absolute stability as well as the relative stability of a *9tem to Fail shows the ranges of stability, ranges of instability and the conditions that cause vaheof — into oscillations, It can be used to solve higher-order algebraic equations. The Met locus, Ito Particular root loc ion and the roots for a particular K can be determined using a a be used to describe qualitatively the performance of a system as various 2d peak ti ged, for example the effect of varying gain upon overshoot, settling time, ‘ont can be vividly displayed. fs the ia control system, the root locus method is very useful since it indicates Sateen ich the open-loop poles and zeros should be modified so that the response Performance specifications. ~~350__Contot systems 6.2 ROOT Locus CONCEPTS To understand the concepts underlying the root locus technique, consider the simple secong, order system shown in Figure 6.1. The open-loop transfer function of this system is . = 545) where K and b are constants. RY) oo Figure 6.1 A second-order system. The open-loop transfer function has two poles; one at the origin s = 0, and the other at s =-b. The closed-loop transfer function of this system is Ke, Cs) Gs) s(s +8) K RE) 1+GO)HO) 44 Ky 1s? tbs +K s(s+b) The characteristic equation of the system is st+bs+K=0 This second-order system is always stable for all positive values of b and XK, but its dynamic ‘behaviour is controlled by the TootS-of the~characteristié equation and hence in tum by the magnitudes of b and K, since the roots are given by 3 ob soeazt ( ) K @.l) From Eq. (6.1), we can observe that the roots of the characteristic equation change as any one of the ‘system parameters (b or K) varies. Consider that b is a constant and Kis a variable. As the open-loop gain K is varied from zero to infinity, the two roots (s,, 53) describe’a loci in the splane: The root locations for various values of K are as follows: 2 1. ock<%, the roots are real and distinct. When K = 0, the two roots are s, = 0 and 5, =-b, ie. they coincide with the open-loop poles of the system. “the roots are real and equal in value, ie. s,=s,=-2,yr Be : ae Root Locus Technique 351 eK , the roots are complex conjugate with real part = .€. unvarying real Jocus with varying K is plotted in Figure 6.2. These loci gi i ee sith varying give the following info ‘The root locus plot has two branches starting at the two open-loop poles (s = 0, and s \ 7-8) for K = 0. ‘as K is increased from 0 to 62/4, the roots move towards the point (-b/2, 0) from 2 Spposite directions. Both the roots are real, negative, and unequal. They i negative real axis which corresponds to an overdamped system. For K = 67/4, the two roots meet at s = -b/2. So the roots are real, negative and equal. This corresponds to _a crtically-damped system. As Kis increased further (K > 57/4), the roots break away ffom the real axis. become complex conjugate and since the real part of both the roots remain fixed at -b/2, the roots move along the line o = -b/2 and the system becomes “underdamped. 3, For K > 07/4, the real parts of the roots are fixed. Therefore, the settling time is nearly constant. jo Figure 6.2 Root locus of s*+ bs + K = 0 as a function of K. The root locus shown in Figure 6.2 has been drawn by the direct solution of the Evans de tic equation. This procedure becomes tedious for third- and higher-order systems. for thee @°Ped @ graphical technique by using which the root locus can be constructed easily ~ and higher-order systems. ms the open-loop transfer function hhas (nm — m) zeros at infinity and (n ~ my ranches of the root locus terminate on these Zeros. Rule 3. Segments of the real axis having an odd number of real ax zeros to their right-are parts of the root locus. Each pole and zero on the real axis tothe right of any point onthe real axis contribute an angle of 180° with respect to that point and each pole and zero on the real axis to the left of any point on the real axis contribute an angle of O° with respect to that point. The net angle contibuton _of a complex conugate pole ora zero is always zo, Figure 65 shows ihe anslecontiBuon for a point on the real axis. For the root locus to exist at any point in the s-plane_ the phase_angle condition, je, atisf ition can be satisfied at any point on the the right of that point is odd. is open-loop poles ang ZG(s)\H{s) = +(2q + 1)x must be satisfied. This condi real axis only tthe otal number oF open"Toop poles and zer0s fo L+220 Le+p,-0 | Figure 6.5 Angle contributions fora point on the real axs. Example 6.1 Consider the system with the following open-loop transfer function: K(s+3y(st+4) G)HO)= To Ns + s+ 6) Draw a root locus plot for it. Solution: Using the above three rules, the root locus plot can be drawn as shown in Figure 6.6. 1. All the open-loop poles and zeros are on symmetrical with respect to the real axis. 2. There are three branches of the ro the number of open-loop poles). 5, and s =—6 where the real axis. So the root locus will be These root locus branches start at the open-loop poles s = -1, s K=0. ‘As K increases, the root locus branches leave the open-loop poles and go to the oper loop zeros. Two branches terminate on the two open-loop zeros (s = -3, s = 4) and the third one terminates on infinity. 3. The real axis segments between s = 1 and 5 = -3, s=—4 and 5 =-5, and s = -6 and = 2 lie on the root locus (shown by thick lines in Figure 6.6).pule 4. The (n—m) branches of the root locus whi ‘asymptotes whose angles are given ie ich go to infinity travel along straight line 0, =2 Gate mM 349=0,1,2,...,.(n—m=1) Consider any point on a branch of the root locus which is far awa t yy from the open-loop poles and zeros. The phasors drawn from such a point to all the open poles and zeros make acne angle @ to each open-loop pole and zero. ‘Therefore, at the point considered £G(S)H(s) = Yn — myo For the root locus to exist at this point —(n = m)0 = (2g + 1) Since the (n — m) branches of the root locus go to the zeros at infinity, the angles of the asymptotes are Senaea gaan nee e icaaya Oe 39=0,1,2,...,(n—m—1) Rule 5. The asymptotes cross the real axis at a point known as centroid determined by the relationship. m f real {Centroid » sum of real parts of poles — sum of real parts of zeros number of poles — number of zeros ™e) The breakaway points and break-in points (points at which multiple roots of the characteristic equation exist)of the root locus are the solutions of ae 9 ds The breakaway point and break-in point may be real or complex. Break angles: The root locus branches must approach or leave the breakaway point on the real axis at an angle of 2 180, where r is the number of branches approaching, r or leaving the break point.358 control Systems Example 6.2 Draw a root locus plot for K GOHO= See INs +3) Solution: There are three open-loop poles at s = 0, s = -1, and s=~3. So there are three branches of the root locus. There are no finite open-loop zeros. So all the three zeros are at infinity. Therefore, there are three asymptotes. The three branches of the root locus start at the open-loop poles s = 0, s = —I, and s = -3 where K = 0 and terminate at the open-loop zeros at,infinity where K = 02. The three branches of the root locus go to the zeros at infinity along. straight line asymptotes making angles of Qq+1)n 0,= 3q=0,1,2 *e-0) 4 ie. 65 =e 00,6, =F =110% 0, = aa with the real axis. The point of intersection of the, asymptotes on,the real axis called centroid is given by _g = Sum of real pars of poles — sum of real parts of zeros number of poles — number of zeros =153)-O ipss 3-0 The root locus exists on the real axis between s = 0 to s=-I and from s = -3 to -», ie. = The break points are given by the solution of Ko, 1 + G()H(s) = 0 [G()H(@)| = 1 eeeekeee s(s+ 1s +3) K = s(s+1)(st3) = 8° + 4s? + 35 aoe +45? +3s)=35? +854+3=0 V8? -4x3x3 2x3 ie. 8+ AEN gs or -2.28Root Locus Technique 359 these two break points, s = —0.451 is the actual break point and 5 = 2.28 i out ot ad ‘as no root locus exists there, Pointand s ee role ws ot locus for the open-loop transfer function K G eee eee soe) s(s + I(s+3) ‘own in Figure 6.7. The remaining part of the root loc pd later. Out of the three branches of the root locus, one is the real root locus branch starts at $= —3, travels along the negative real axis along the asymptote with 180° and ends nett’, The other two branches of the root locus Start at s = 0 and s = —1, move in opposite os ions on the negative real axis approaching each other, meet at point s = ~0.451 called the frekaway point, breakaway from the real axis, enter the complex plane and then one branch moves to infinity along the 60° asymptote and the second one moves to infinity along the 300° asymptote. The branches which represent the complex roots are known as complex root us is drawn based on the rules to be eee Jia ‘\ Asymptote Figure 6.7 Example 6.2: Root locus plot.360__ conto systems forge : Comptes breakaway “eile Hie cbolieation of the equation 7°70. Fervevaluation. of complex breakaway points is illustrated in Example 6.3. Example 63 Sketch the root locus of the open-loop transfer function given below, K oo GUSH) = 54 aMs? + 25 +5) Solution: The e-zero configuration is shown in Figure 6.8. From the rules described so far, SE een Concerning the root loeus plot is obtained. 1. ‘There are four open-loop poles. So there are four branches of the root locus originating at the open-loop poles s = 0, s = -2, 5 =—1 +J2 and s = -1— j2, respectively where K=0, Since there are no open-loop zeros in the finite regio’s all the four branches of the root locus terminate at the open-loop zeros at infinity where Kee. The four branches of the root locus travel to the zeros at infinity along asymptotes making angles of R 9, = 24 9 =0,1,2,3 + n-m 3m 5H Ik a cana 4 ie. = 4 with the real axis. 3. The point of intersection of the asymptotes on the real axis called centroid is given by ¢q= Sum of eal parts of poles — sum of real pars of zer0s u number of poles — number of zeros _@-2-1-) | 4 4. The root locus exists on the real axis between s = 0 and s = -2. 5, The break points are given by the solution of the equation s is K G(s) |=|—————— | sh +4? +95? +105 ie. K=s' + 4s? + 9s? + 10s Baas +128 +185 +10)=0 ie. (s + 1)? + 25 + 2.5) =0 (s + IMs + 1 + f1.225s + 1 - 1.225) = 0y re Root Locus Technique _ 361 the break points are s = -1, 5 -j ‘afore, 5 s + § = 1 ~f1.225 and s = -1 + 1.225. are three are valid break points. There is one real breakaway point and two complex ints. The complete root locus is shown in Figure 6.8 ini i way Re Mec ta be discussed bercones igure 6.8. The remaining calculations base’ o ae Figure 6.8 Example 6.3: Root locus plot with complex break points. Rule 7. The angle of departure from an open-loop pole is given by Oy = hg + Ie + $2 g = 8,11, Ba where @ is the net angle contribution at this open-loop pole, of all other open-loop poles and zeros. Similarly, the angle of arrival at an open-loop zero is given by 0, = #2q + I-93 9=0, 1,2, where @ is the net angle contribution at this open-loop zero, of all other open-loop poles and 22108, The angle of departure and the angle of arrival need to be calculated only when there are complex poles and zeros. The angle of departure from a real open-loop paleo tie angle “arival at a real open-loop zero is always equal to 0° or 180°. Figure 6.9 illustrates the calculation of angle of departure and Figure 6.10 illustrates the calculation of angle of arrival.362 control systems jo Qe mera = 4,- (6,4 4) = 26,6° — (90° + 135°) =-198.4° 4-#0q+ Eto = 180° 198.4° = -18.4° 9= 8;~ (0, + 8+ 8, + 6) 0, = q+ I+ 6,9=0, 1,2, ove = Pp alo) Figure 6.9 Calculation of angle of departure. jo 1, = 135° ay $= 6,-(+ 8) ae 8, = (2q+ 1)n=$,9=0,1,2,.. 9= 90° — (135° + 26°) =—71° 8 =(2q+ n-$ = 180° -(-71°) = 251° Figure 6.10 Calculation of angle of arrival. Rule 8. The point of intersection of the root locus branches with the imaginary axis and the critical value of K can be determined by use of the Routh criterion. This rule is simply an application of the Routh criterion discussed earlier. For illustration, consider the system in Example 6.2, i.e. K G(s)H(s)=__K_ Ee) exes)Root Locus Technique 363 -merefore, the characteristic equation of the system is piven by S+ 42+ 394+ K=9 ‘Application of the Routh criterion to the above equation gives the followin, fi i 1g Routh array: 2 2 . K 12-K st a 2 K For all the roots of the characteristic equation to lie to the left of ii i allowing conditions should be satisfied: Re Cot kaeagiemey exis, thes K>0 12-K >0 K<12 ie. The critical value of K (which corresponds to location of roots on ja-axis) is given by or 12 The value of K = 12, makes all the coefficients of the s' row of the Routh array zero. For this value of K, the auxiliary equation formed from the coefficients of the s? row is given by 452+ K=0 For K = 12, the roots of the above equation lie on the ja-axis and are given by 4s? +12 ie. so or sot y3=4)1.73 the branches intersect the ja@-axis at Thus, for the root locus plot shown in Figure 6. s=4jy3 and the value of K corresponding to these roots is 12. Alternative way: ‘The point of intersection of the root locus branches with the imaginary axis and the critical value of K can also be obtained by letting s = j@ in the characteristic equation and equating the real part and imaginary part to zero, and solving for @ and K. The value of ‘the intersection point on the imaginary axis and K is the value of gain at the intersection ther the marginal value of K, i.e. Kn).Considering the above example itself, the characteristic equation is pratt 3st K=0 Substituting s'=,j@ in the above equation, We get jay’ + aga? + 390) + K= 0 jo? 4a? + a+ K=0 ie. Equating the imaginary part to zero, we get =@ - 30) = 0 ie, ow -3=0 or o=t 3 Equating the real part to zero, we get K-40 =0 K= 40? =4x3= 12 The values of @ and K are the same as obtained earlier. Rule 9. The value of the open-loop gain K at any point So 0” to all the open-loop poles to all the open-loop zeros the root locus is given by __ Product of lengths of vectors drawn from that point sp product of lengths of vectors drawn from that point 5g ‘The characteristic equation is given’ by 1 + G(s)H(s) = 0 [G()H(3)| = 1 K(s+z(s+2)- Thas+P)) Thi(s+2,) _ Product of phasor lengths from sp to open-loop poles product of phasor lengths from sq to open-loop zeros The rules described above are useful in determining the i locus and are summarized in Table 6.1. Se eeRoot Locus Technique _ 365 {ruction of root loc of 1 + : 6.4 Rules for cons! G(s}H(s) = 0, where the open-loop transfer function G(s)H(s rable © nown in pole-zero form with n = number of open-loop poles and m= rameer of open-loop eee No. Rule ‘i The root locus is symmetrical about the real axis. 2 Each branch of the root locus originates from an open-loop pole where K = 0, and terminates on an open-loop zero or on infinity where K = oo, The number of branches of the root locus terminating on infinity is equal to nm, i.e. the number of open-loop poles minus the number open-loop zeros. Rt Segments of the real axis having an odd number of real axis open-loop poles plus zeros to their right are parts of the root locus. a The (n ~ m) root locus branches that tend to infinity do so along straight line asymptotes making angles with the real axis given by —2g+i)r. nm a The point of intersection of the asymptotes with the real axis called centroid is at s = where = 0,12, (n— m= _g ~ Sum of real parts of poles ~ sum of real parts of zeros ‘number of poles — number of zeros 6 The break points (breakaway and break-in points) of the root locus are determined from the roots of the equation Ko. rr branches of the root locus which meet at a point break away at an angle of 180° r + 1 The angle of departure from an open-loop pole is given by 04 = £(2q + Itt o; rat where ¢ is the net angle contribution at the pole, of all other open-loop poles and zeros. Similarly, the angle of arrival at an open-loop zero is given by 6, = 429 + t- 659 = 01,2, where @ is the net angle contribution at the zero, of all other open-loop poles and zeros. s The point of intersection of the root locus branches with the imaginary axis and the critical value of K can be determined by use of the Routh criterion. The open-loop gain K in pole-zero form at any point s on the root locus is given by product of phasor lengths from sa to open-loop poles product of phasor lengths from sp to open-loop zeros K= S44 Determination of Roots for a Specified Open-Loop Gain Alon, the" ® Particular root locus branch, a region is determined by trial and error such that Values of the open-loop gain (calculated by the magnitude criterion) at various points ~~> 368 contro! systems Of the region are close to specified value. Further trial and error will then Yield the ro, location. The above procedure is repeated for each root locus branch. 6.4.2 Determination of Open-Loop Gain for a Specified Damping of Dominant Roots The dominant poles are a pair of complex conjugate poles which decide the transient response _of the system. In higher-order systems, the dominant poles are given by the poles which are very close to the origin, provided all other poles are lying far away from the dominant poles, ‘The Poles which are far away from the origin will have less effect on the transient response, To fix a dominant pole on the root locus, draw a constant iS line making an angle of 9= cos"! & with the negative real axis. The point of intersection of this line with the root locus will give the location of the dominant pole. The value of K corresponding to this dominant pole can be obtained from the magnitude condition. 6.5 EFFECT OF ADDING POLES AND ZEROS TO G(s)H(s) The general problem of controller design in control systems may be treated as an investigation of the effects to the root loci when poles and zeros are added to the loop transfer function G(S)H(s). 6.5.1 Addition of Poles to G(s)H(s) Adding a pole to G(s)H\s) has the effect of pushing the root loci towards the right half. The “complex path of the root loci bends to the right, the angle of asymptotes reduces and the centroid is shifted to the left, and the system stability will be reduced. Even a system which was perfectly stable may become unstable as K increases. In general, we can say that the addition of poles to G(s)H(s) has the effect of moving the dominant portion of the root loci towards the right half of the s-plane. So the relative stability decreased by the addition of a pole. = 6.5.2 Addition of Zeros to G(s)H(s) Adding left-half plane zeros to the function G(s)H(s) generally has the effect of moving and “bending the root loci towards the left-half of the s-plane. So the relative stability of the system “is improved by the addition of a zero. Example 6.4 Sketch the root locus plot for the system given below with K as a variable parameter and show that the loci of complex roots are part of a circle with (~1, 0) as centre and radius = 2 . Is the system stable for all values of K? If not, determine the range of K for stable system operation. Find also the marginal value of K which causes sustained oscillations and the frequency of these oscillations. From the root locus plot, determine the value of K such that the resulting system has a setting time of 4 seconds. What are the corresponding, values of the roots? fict eine 287 (sys =KE+) s(s=1) solution: For the given open-loop transfer function Gs)H(s): ‘The open-loop poles are at s = 0, s = I. Therefore, n = 2. she open-loop zero is at s = -1. Therefore, m = | Thus, the number of branches of root locus n = 2 and the number of asymptotes 11 Te i 4 Bue "the complete root locus is drawn as shown in Figure 6.11, as per the rules given as follows: _ All the open-loop poles and zeros are on the real axis only. Therefore, the root locus is symmetrical about the real axis, 2. The two branches of the root locus start at the open-loop poles s = 0 and s = K = 0, and terminate on the open-loop zeros at s = -1 and 5 = co, where K |, where 3, One branch of the root locus travels to the zero at infinity along a straight line asymptote drawn at an angle of = 2q+in n-m” 2 ‘That is, the angle of the asymptote is 0) = =180" |. The point of intersection of the asymptotes on the real axis (centroid) is given by sum of real parts of poles — sum of real parts of zeros _ (0+1)=(-1) _ number of poles — number of zeros. ee 2 ‘The root locus exists on the real axis between s = 1 to s = 0 and to the left of s = 1 ‘The breakaway and break-in points are given by the solution of the equation Bao. is Therefore, | G(s)H(s)|= s(s-1) (s+) ' dK _ af ss-1) ie. aE) EAI 4 nas—1)-s(5- DQ) =0 “ “eo N(2s=1)s(s—10) | ie. st+2s-1=0 Therefore, the break points are at pe rttyatd sith wait Ji=oa14 and -2.414 = 0.414 is a breakaway point and s = -2.414 is a break-in point.ce The break angles at s = 0.414 and at s 7. There is no need to calculate the angle of de te angle of arrival besa, the open-loop transfer function has no complex pi zs - 8. The point of intersection of the root locus with the imaginary axis and the crtiay a Of K are determined by using the Routh criterion. The characteristic equation ig 1+ G@H{s) = 0 ie. 1 MOD ie, 8+ (KD K=0 s(s=1) The Routh table is 2 1 K s K-1 * K For stability, all the elements in the first column of the Routh array must be Positive, Therefore, K > 0 and K- 1 > 0, ie. K > 1. So the system is not stable for all values of K The marginal value of K for stability is ‘k= 1 The range of values of K for stable system operation is ULE R0 48-K>0 K<48 Therefore, the range of values of K for stability is 0 =-34fl 9+ 2s+10=0 ~24 4-40 . sa 3 i 2 a G(s)H(s) = KE41+ Hs +1- 73) (+34 jls+3— jf) For the given open-loop transfer function G(s)H(s): The open-loop poles are at s = ~3 + jl and s = —3 —/1. Therefore, n = 2. The open-loop zeros are at s = —1 + j3 and s = -1 —j3. Therefore, m = 2. So the number of branches of root locus = =2-2=0. The complete root locus is drawn as shown in Figure 6.16, as per the rules given as follows: i 2 and the number of asymptotes = n — m Since the pole-zero configuration of the open-loop transfer function is symmetrical with Tespect to the real axis, the root locus will be symmetrical with respect to the real axis. ~ The two branches of the root locus start at the open-loop poles s = -3 + fl and s =-3 — jl, Where K= 0 and terminate at the open-loop zeros at s = —1 + j3 and s = -1 — j3 where K = 0, - Since there are no asymptotes, there is no need to compute the angle of asymptotes. Since there are no asymptotes, there is no need to compute the centroid. The root locus does not exist on the real axis at all. There are no break points. So no break angles. The angles of departure and the angles of arrival can be computed from the graph by using the formula Maney 04 = #(2q + I+ o ——382 Control Systems Where ip iBp tg = Gyr 225° + SE BOF = 248 “ 0, = -180° + 248° = 68° and 0, = #(2q + In-@ — where 0 = 0, — 0 — & = 90° - 45° - 63 = -18' * , = 180° = (-18°) = 198° en 8. The root locus does'not intersect the imaginary axis at all. So there is no need 4 formulate the Routh table. ranches of ts The complete root locus is shown in Figure 6.16. There are two branches of the root locus. The root locus starting at the complex pole s = -3 + /1 departs at an ae of Se travels along an arc of a circle and arrives at an angle of 198° and terminates eae lx x ==1'+ 3. The root locus starting at the complex pole -3 — jl departs ee of ~68 travels along an arc'of a circle and arrives at ani angle of 198° and terminates at the complex zero s = -1 — j3. The root locus does not lie on the real axis and there are no break points. So the system cannot be overdamped or critically damped. The range of values of K for which the system is underdamped is Kat (1+ 3)-Kat (3+/l)=0-0=0 Figure 6.16 Example 6.8: Root locus.Root Locus Technique 383, chow that the root loci are arcs of @ circle with radius = jas rn) the inde SLASH LL radius = J10 and centred at the origin o 2 ZG(Ms) = 2K E+28+10) _ S610 109+ De puting s = +70 in the above equation, LAH) = (L(G + JOP + AG + ja) + 10) ~ (L(o + ja? + 6(6 + ja) + 10) = ie (Zo - @ + 20 + 10 + jada + 2)) —(L(P — @& + 60 + 10) + ja2o+ 6) = 2 : pC ae ie ow +60 +10} ‘Taking tangent on both sides of the equation, 2 @@o +6) TS Oo e Ee oa +60+10 0? -@7 +26 +10 Cross multiplying and simplifying the above equation, 402 + 4a? - 40 =0 + a@=10 This is the equation of a circle centred at the ori to Vi0. So the root loci are arcs of a circle with radius = ie igin of the s-plane with radius equal 10 centred at the origin of the s-plane. Example 6.9 Sketch the root locus for 0 < K <=, for the system with the open-loop transfer function G(s)H(s) = —__* __ ‘s(s + 2)(s? +25+2) tion G(s)H(s): Solution: For the given open-loop transfer func' eyes vs = -1 +/l. Therefore, n= The open-loop poles are at s = 0, s = -2, 5 = There are no finite open-loop zeros. Therefore, m = 0. So the number of branches of root locus = 7 = 4 and the number of asymptotes = 7 ~ m =4-0=4, fol The complete root locus is drawn as shown in Figure 6.17, as per the rules given as lows: ith respect to the real axis, the root axis. 1. Since the pole-zero configuration is symmetrical w locus will be symmetrical with respect to the real384 . The break points are given by the solution of the equation = ™ s Control Systems + The four branches of the root locus originate at the open-loop poles s = 0, s ~1 + jl and s =—1 ~j1, where K = 0 and terminate at the open-1 Joop zeros at inn, where K = oo, , . There are four asymptotes and the angles of the asymptotes are A 2G4DF g = 041,23 U n-m vals |. The point of intersection of the asymptotes on the real axis (centroid) is given by 0 a 20-4K sy 5 ie. K<5 Therefore, the range of values of K for stability is 0 < K < 5. The marginal value of K for stability is Ky, = 5. The point of intersection of the root locus with the imaginary axis (ie. the frequency of sustained oscillations) is given by the solution of the auxiliary equation 52+ K=0 5s? + Ky = 0 . 5+ 5=0 ie, st+1=0 or s=4yl Therefore, the frequency of sustained oscillations is @ = 1 rad/s. The complete root locus is shown in Figure 6.17.386 Asymptote K symptot Chae Toceeaeey vont KQMomprote Kl Figure 6.17 Example 6.9: Root locus. Example 6.10 Sketch the root locus for the system with 3, K(s? +2s +10) s°(s+2) Solution: For the given open-loop transfét futtetion G(s)H(s): The open-loop poles are at s = 0, s = 0, and s = -2. Therefore, n = 3. 245fa2 The open-loop zeros are at sp isp, Therefore, m = 2. G(s)H(s)= So the number of branches of root locus = n = 3 and the number of asymptotes =n m aed 65 The complete root locus is drawn as shown in Figure 6.18, as per the rules given as follows: 1. Since the open-loop poles and zeros are symmetrical with respect to the real axis, the root locus will be symmetrical with respect to, the real axis. 2. The three branchés of the root locus start at the open-loop poles s = 0, s = 0 and s = 2, where K = 0 and terminate at the open-loop zeros s = -1 + j3, s = -1-j3 and s = co, where K = 0, 3. One branch of the root locus goes to the zero at infinity along an asymptote making an (2q+1)a Tie on angle of 6, = <2*) 19=0, ie, =. 4. The point of intersection of the asymptotes on the real axis (centroid) is given by o= um of real parts of poles — sum of real parts of zeros _(-2)-(-1-) number of poles — number of zeros 3-2 =0Root Locus Technique _ 387 ‘the breakaway point is at the origin itself. The break angles at s = 0 are ‘the root locus exists on the real axis to the left of » = -2 ‘The angle of arrival at the complex zero ~1 + j3 is given ri 7 * from the graph given by @, = +(2g + 1)x—- $ where, ae = @ — (A + & + O&) = 90° — (108.4° + 108.4° + 71.6°) = -198.4° Gq = 180° ~ (198.4%) = 18,4° The angle of arrival at the complex zero at s = —1 — j3 is 0, = -18.4°. . The point of intersection of the root locus with the imaginary axis, and the critical value of K are obtained using Routh criterion. The characteristic equation is 1+ G(s)H(s)=0=1 4 KO4 28410) 9°(s+2) ie. 8+ (2 + K)s? + 2Ks + 10K =0 The Routh table is as follows: s 1 2K 2 2+K 10K A 2K? +4K ~10K (2+K) ’ 10K For stability all the elements in the: first column of the Routh array must be positive. Therefore, 10K>0 ie. K>0 2+K>0 ie K>2 2K?- 6K > 0 ie, K>3 a on the range of values of K for stability is 3 < K <<. The marginal value of K for stability =3, The frequency of oscillations is given by the solution of the auxiliary equation (2 + Ks? + 10K = 0 (2 + Ky)s? + 10Km = 0388 contol systems 6 ie, (2432+ 10x3=0 ie. st= 30/5 = -6 gat j245 “ations is. @ = 2:45 rad/s. Therefore, the frequency of sustained oscillations is 2.45 The complete root locus is shown in Figure 6.18. Figure 6.18 Example 6.10; Root locus. Example 6.11 A unity feedback control system has an open-loop transfer function K(s+4/3) $?(s +12) Sketch the complete root locus. Find the value of K for which all the roots are equal. What is the value of these roots? Solution: For the given open-loop transfer function G(s)H(s): The open-loop poles are at s = 0, s = 0, s = -12. Therefore, n The open-loop zero is at s = —4/3. Therefore, m = 1. So the number of branches of root locus = n = 3 and the number of asymptotes = 1 — m solar The complete root locus is drawn as shown in Figure 6.19, as per the rules given as follows: Gs)= 3.Root Locus Technique _ 389 ce the open-loop poles and zeros are 5 ‘is . 'ymMmetrical with I. sine jocus will be symmetrical with respect yo thea eit to the real axis, the three branches OF the root locus originate atthe open-loop poles s = 0, s = 0 and 2. “2-12, where K = 0, and terminate at the pen-loop zeros at s = 4/3, 5 = oo and where K =~, : 2, 3, The two branches of the root locus which tend to infinity do so along straight line angles of 0, = Cr+ bn at asymptotes at fn : 3n 29=0,1, ie. 6)== and 9, =2%. 0 2 an 1 2 Te point of intersection of the asymptotes on the real axis (centroid) is given by . “ge sum of real parts of poles — sum of real parts of zeros number of poles ~ number of zeros 0+0-12)-(-4/3 = CDH 6/3 The root locus exists on the real axis between s = —4/3 and s = -12, 6. The break points are given by the solution of 8 IG(S)H(s [GH0 s?(+12) 2 s°(s+12) ig eee), St4/3 AK _ (+ 4/3)G5" +245)=92(5+12) _ 5 = ds (s+4/3) 353 + 28s? + 32s — $3 — 125? = 0 2s? + 16s? + 32s = 0 s(s + 85 + 16) =0 s(s + 42 =0 Therefore, s = 0, s = —4 and s = 4 are the break points. All the three are actual break points There is no need to compute the angle of departure and arrival as there are no complex Poles and zeros. The root locus does not cross the imaginary axis, so there is no need to formulate the Routh array. The equal roots are at s = —4 Kats= 45g