Stability Analysis

Sub: Control System

Unit:3

Dr. C. B. Khadse
1
 Root Locus

• It is plotting of system’s dynamic characteristic.

• Relative stability gives the range of “k” in which
system is stable or unstable.
• Root locus will give the plot of it.
• K=0,1,2……check the stability and plot the locus.
 Example
• G(s)= k/{s(s+2)}, H(s)=1
• Characteristic eqn
Img
 1+G(s)H(s)=0
 s(s+2)+k= s2+2s+k
• If k=0 Real
• s2+2s=0 -2 -1 0

• s=0 ,-2
 Example
• G(s)= k/{s(s+2)}, H(s)=1
• Characteristic eqn
Img
 1+G(s)H(s)=0
 s(s+2)+k= s2+2s+k
• If k=1 Real
• s2+2s+1=0 -2 -1 0

• s=-1 ,-1
 Example
• G(s)= k/{s(s+2)}, H(s)=1
• Characteristic eqn
Img
 1+G(s)H(s)=0
 s(s+2)+k= s2+2s+k -1+j1 j1
• If k=2 Real
• s2+2s+2=0 -2 -1 0

-1-j1 -j1
• s=-1+j1 ,-1-j1
 Rules of Root Locus
1. Root locus is always symmetrical w.r.t real axis
2. Total Loci= max (p,z)
3. No. of asymptotes= p-z
4. Angle of asymptotes
– Where x= 0,1,2….
– X= No. of assymptotes
5. Centroid of asymptotes
6. Breakaway point
 Rules
6. Breakaway point
– Characteristic equation (1+G(s)H(s)=0)
– Compute k= polynomial
– Compute dk/ds=0
– S=breakaway point
7. Angle of departure : Complex conjugate pole
8. Intersection to imaginary axis
– Characteristic equation (1+G(s)H(s)=0)
– Construct Routh Array
– Find k for marginaly stable
– Place k in auxilary equation
– S=intersection to imaginary axis
 Example on Root Locus
• Obtain root locus plot for the unity feedback
system with transfer function G(s)=k/s(s+2)

1. Total Loci= max (p,z)

• No. of poles= 2 (0, -3)

• No.of zeroes=0
• Hence total Loci=2
 Example on Root Locus
• Obtain root locus plot for the unity feedback
system with transfer function G(s)=k/s(s+2)

2. No. of asymptotes= p-z

• No. of poles= 2
• No.of zeroes=0
• No. of asymptotes=2-0=2
 Example on Root Locus
• Obtain root locus plot for the unity feedback
system with transfer function G(s)=k/s(s+2)
3. Angle of asymptotes
Where x= 0,1
As 2 asymptotes

Ѳ= 90,270
 Example on Root Locus
• Obtain root locus plot for the unity feedback
system with transfer function G(s)=k/s(s+3)
4. Centroid of asymptotes

• Centroid= (0-2)-(0)/ 2
= -1
 Example on Root Locus
• Obtain root locus plot for the unity feedback system with transfer function
G(s)=k/s(s+2) Characteristic equation (1+G(s)H(s)=0)
Compute k= polynomial
5. Breakaway Point Compute dk/ds=0
S=breakaway point

• Char. Eqn: s2+2s+k=0 hence k=-s2-2s

• dk/ds=-2s-2=0
• Hence s=-1 which is break away point
 Example on Root Locus
• Obtain root locus plot for the unity feedback system with transfer function
G(s)=k/s(s+2) Characteristic equation (1+G(s)H(s)=0)
6. Intersection to imaginary axis Construct Routh Array
Find k for marginaly stable
Place k in auxilary equation
S=intersection to imaginary axis
• Char. Eqn: s2+2s+k=0

s2 1 k
s1 2 0
s0 k

• No Kmarginal
 Plotting
Img

Real

-2 -1 0
 Plotting
Img
K=∞

K=0 K=0 Real

-2 -1 0

K=∞
• Mark Following
– Centroid
– Breakaway point
– Intersection with imaginary axis
 Existence of Root Locus on Real Axis

• Root locus exist on real axis if and only if

number of poles plus zeroes towards right are
odd.
• Sketch the root locus
– Centroid
– Breakaway point
– Intersection with imaginary axis
• Sketch the root locus
– Centroid
– Breakaway point
– Intersection with imaginary axis