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1st Revision 2007 Taufik

Root Locus
A graphical technique that gives qualitative description of control system performance and stability Root Locus will answer questions such as:
• • • What is the maximum Gain of the system before it becomes unstable? At a given gain K1, how would the transient response of the system look? If the system is Unstable at very low Gain, will it be stable at higher Gains?

Recall: • Stability of control system depends on the location of its poles • The system poles are the Roots of the Characteristic Equation Δ(s) • If Δ(s) is a Fixed Equation (no variable coefficient) then its roots are fixed as well, so the system has fixed poles (from which stability can be determined) • If Δ(s) has parameter K in its coefficient, then its roots (system poles) will depend on the value of K. Hence, its stability will also be determined by K • Parameter K may be the forward Gain of the system which can be adjusted
Cal Poly State University, San Luis Obispo

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1st Revision 2007 Taufik Root Locus is the Representation of the Path of the Closed Loop poles as Gain K is varied Cal Poly State University. San Luis Obispo 188 .

1st Revision 2007 Taufik Let’s see how the closed loop poles change location as gain K is varied Since this is a Second Order system. San Luis Obispo 189 . and Green rows? Cal Poly State University. what kind of Transient Response characteristic is represented by the Yellow. Blue.

1st Revision 2007 Taufik Will the system remain stable regardless of the K value (i.e. Gain that is put into the system)? Cal Poly State University. San Luis Obispo 190 .

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