Automatic control

2. Analysis

Lesson 9

Root locus

automatic control by meiling CHEN 1

 Poles and zeros
k ( s  z1 )( s  z 2 )  ( s  z m ) z1 , z 2 ,  z m zeros
F (s)  poles
( s  p1 )( s  p2 )  ( s  pn ) p1 , p2 , pn
Im axis

pole

zero
Re axis

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 2
Closed-loop transfer function : T ( s)  n
2
s 2  2 n s   n
e  nt
y (t )  1  sin( n 1   2 t  cos 1  )
1 2
j
Im axis cos  
j n 1   2 
Tp 
n n 1  2
  4
Ts 
  n Re  axis  n

1 2
m.o.  e 100%

automatic control by meiling CHEN 3

 j
p3
1  2  3
p2 j n 1   2    1  2  3
p1  T p1 T p 2 T p 3
  o.s.1 o.s.2 o.s.3
  n
 n 3  n 2  n1
 Ts1  Ts 2  Ts 3

automatic control by meiling CHEN 4

 j
1  2  3
p3 p2 p1
  1  2  3
 o.s.1  o.s.2  o.s.3
  T p1  Tp 2  Tp 3
 n 3  n 2  n1
 n 
 Ts1 Ts 2 Ts 3
(i ) n  Ts 
(ii ) n 1   2  Tp 
(iii )    o.s. 

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 j
 0
Negative damped
 0

0  1
 0
 1  0
Undamped
 1  1   1 
 1
0  1
  1   1 Underdamped
 1  0
0  1  1
 0
Critically damped

 1
Overdamped
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 Root locus
r (t ) y (t )
k G(s)
＋
－
H(s)

y(s) kG ( s )
T ( s)  
R( s ) 1  kG( s ) H ( s )

1  kG ( s ) H ( s )  0 poles

automatic control by meiling CHEN 7

1  kG ( s ) H ( s )  0 Open loop transfer function
 kG ( s) H ( s )  1
kG ( s ) H ( s )  1

kG ( s ) H ( s )  (2n  1)

Using open loop transfer function + system parameters

to analyze the closed-loop system response

k 0
Draw the s-plan root locus

automatic control by meiling CHEN 8

Root locus properties:
(i) The locus segments are symmetrical about the real axis.
(ii) k  1
,k  0  
G (s) H (s)

k  0 , G(s) H ( s)  poles
k   , G ( s ) H ( s )  zeros

(iii)
j s0
3
G ( s0 ) H ( s0 )  1  ( 2   3   4 )
1
4

2 

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 Root locus construction

(i) Loci Branches each locus from poles k  0 to zeros k  

if nm for excess zeros or poles, locus segments

extend from infinity.

(1) n  m  0
nm branches  

(2) n  m 0

mn branches   zeros

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(ii) Real axis segments

Poles + zeros = odd

1800

kG ( s ) H ( s )  1  180 0

Poles + zeros = even

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(iii) Asymptotic angles ( 2k  1)
k  , k  0,1,2, 
nm

180
if n  6, m  2    450
4

450

 450

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(iv) Centroid of the asymptotes

  poles   zeros
nm
example 3s
G ( s) H ( s) 
( s  2)( s 2  6 s  18)

Zero : 0 (2  3  j 3  3  j 3)  0
Poles: -2, -3+j3, -3-j3   4
3 1

180
  900
3 1

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(v) Breakaway and entry points dk
0
ds
k
example kGH 
s ( s  1)( s  2)

1  kGH  0 The characteristic function of closed loop system

s 3  3s 2  2 s  k
1  kGH  0
s( s  1)( s  2)

k  ( s 3  3s 2  2s )
dk
 3s 2  6 s  2  0
ds
s  0.423,1.577
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(vi) Angle of departure and approach
 D  1800  G ( s ) H ( s )
 A  1800  G ( s ) H ( s )
k ( s  2)
example kGH 
( s  1  j )( s  1  j )

Angle of departure from the pole: s  1  j

( s  2)  ( s  1  j )  ( s  1  j )  180 0
( s  2)   D  ( s  1  j )  180 0
(1  j  2)   D  (1  j  1  j )  180 0
 D  180  (1  j  2)  (1  j  1  j )
 D  2250
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 k ( s  j )( s  j )
example kGH 
s ( s  1)

Angle of approach to the zero: s  j

( s  j )  ( s  j )  s  ( s  1)  1800
( s  j )   A  s  ( s  1)  1800
( j  j )   A  j  ( j  1)  180 0

 A  1800  ( j  j )  j  ( j  1)
 A  1350

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(vii) The cross point of root locus and Im-axis
k
example kGH 
s ( s  3)( s 2  2s  2)

The characteristic function of closed loop system:

s ( s  3)( s 2  2 s  2)  k  0
s4 1 8 k
s  5s  8s  6 s  k  0
4 3 2

s3 5 6
204  25k 34
0 s2 k
34 5
k  8.16 204  25k
s1
34
34 2
s k 0 s0 k
5
s   j1.095
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 R(s ) k C (s )
s(1  0.5s )(1  0.1s )
+ -

k
kGH ( s ) 
s (1  0.5s )(1  0.1s )

poles  0,  2,  10 s (1  0.5s )(1  0.1s)  k  0

(i)
zeros  , ,  0.05s 3  0.6s 2  s  k  0
(iii) dk d

0  (2)  (10)  0
 4  (0.05s 3  0.6 s 2  s )  0
(ii) 30 ds ds
k 
180
 60 s1  0.945, s2  7.05
3 0

automatic control by meiling CHEN 18

0.05s 3  0.6s 2  s  k  0 k  12
s3 0.05 1
0.6 s 2  12  0
s2 0.6 k
0.6  0.05k s   j 4.5
s1
0.6
s k
j 4.5(k  12)

600 s  0.945
  4
 10 2 0
(k  0) (k  0) ( k  0)

 j 4.5(k  12)

automatic control by meiling CHEN 19

 MATLAB method
k
kGH ( s ) 
s (1  0.5s )(1  0.1s )

gh=zpk([],[0 –2 -10],[1])
rltool(gh)

k (3s  9)
kGH ( s ) 
s 4  s 3  s 2  15s

n=[-3 -9]
m=[1 –1 –1 –15 0]
gh=tf(n,m)
rltool(gh)

automatic control by meiling CHEN 20