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7 ROOT LOCUS Part 1

The document provides the solution to three problems regarding root locus analysis of feedback control systems. For the first problem, it sketches the root locus plot and comments on the stability of the system. It finds the open loop gain at two points on the locus. For the second problem, it again sketches the root locus, comments on stability, and calculates the gain and phase margins. The third problem similarly finds the gain and phase margins.

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182 views7 pages

7 ROOT LOCUS Part 1

The document provides the solution to three problems regarding root locus analysis of feedback control systems. For the first problem, it sketches the root locus plot and comments on the stability of the system. It finds the open loop gain at two points on the locus. For the second problem, it again sketches the root locus, comments on stability, and calculates the gain and phase margins. The third problem similarly finds the gain and phase margins.

Uploaded by

vidya_sagar826
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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VTU e-learning Courseware

Control Engineering (ME55)

ROOT LOCUS
Part 4
Problem No 1
Sketch the root locus of a unity negative feedback system whose forward path transfer
K(s 1)
function is G(s)H(s)
. Comment on the stability of the system.
s(s - 1)(s 2 4 s 16)
Also, find the open loop gain K at s=-4.0 and s = -0.124+j1.9.
Solution:
1) Root locus is symmetrical about real axis.
2) There is one open loop zero at s = -1 (m = 1). There are four open loop poles at
s = 0, 1, -2 j3.464 (n=4). All the four branches of root locus start from the
open loop poles when K = 0. One locus starting from open loop pole goes to
zero at s = -1 when K , and three branches go to asymptotically(zeros at )
when K .
3) Root locus lies on the positive real axis in the range s=0 to s= 1 as there is one
pole to the right of any point s on the real axis in this range and on the negative
real axis from - to -1as the number of open loop zeros and open loop poles is
odd i.e. three in number.
180 (2q 1)
4) The asymptote angle is A =
, q n m 1 0, 1, 2.
nm
Angle of asymptote is A = 60, 180, 300.
(sum of poles) (sum of zeros)
nm
(1 2 2) (1)

0.67
3

5) Centroid of the asymptote is A

6) The root locus does branch. Hence, there is need to calculate break points.
s(s - 1)(s 2 4 s 16) s 4 3s 3 12s 2 16s
K

( s 1)
s 1
dK
Break point is given by
0
ds
(4s 3 9s 2 24s 16)(s 1) (s 4 3s 3 12s 2 16s)
0
(s 1) 2
3s 4 10s 3 21s 2 24s 16
0
(s 1) 2
Prof. S. C. Pilli, Principal,
K.L.E.S. College of Engineering and Technology, Belgaum - 590008.

Session: XXIX, 08/11/06

VTU e-learning Courseware

Control Engineering (ME55)

Two of the roots s = 0.46 and s = -2.22 are the break points and the corresponding
values of K are 3.07 and 70.59 respectively.
7) The angle of departure at real pole at s = 1 is -180 and s = 0 is 0. The angle of
departure at the complex pole at s = -2+j 3.464 is:

p 180
(sum of the angles of vectors to a complex pole in question from other poles)
(sum of the angles of vectors to a complex pole inquestion from zeros)
6.928
90
0
3.464

2 tan -1
60 or120
-2
1 tan 1

3.464

3 tan -1
49.1 or130.9
-3
3.646
tan 1
-73.9 or 106.1 ,
-1

p 180 (90 120 130.9 ) 106.1 54.8


The angle of departure at the complex pole at s = -2-j3.464 is 54.8.
p 180 (270 240 229.1 ) 253.9 54.8

8) The root locus does cross the imaginary axis. The cross over point and the
corresponding gain is obtained from Rouths array.
The characteristic equation is s4+3s3+12s2+(K-16)s+K=0.
The Rouths array is

s4 1

12

s3

K 16

s2
s1
s0

3
52 K
3
K 2 59K 832
3(52 K)

Prof. S. C. Pilli, Principal,


K.L.E.S. College of Engineering and Technology, Belgaum - 590008.

Session: XXIX, 08/11/06

VTU e-learning Courseware

Control Engineering (ME55)

For the system to be stable


K 2 59K 832
0
3(52 K)
K 35.7
K 23.3
K 52

The auxiliary equation is


52 K 2

s K 0
3
At K = 35.7 s = j2.56 and at K = 23.3 s= j2.33.

The root locus plot is shown in Fig.1

Figure 1 Root locus plot of K(s+1)/s(s-1)(s2+4s+16)


Comments on stability:
The system is stable for 23.3 < K < 35.7.
Value of Open Loop Gain K
product of lengths between point s to poles
K
product of lengths between point s to zeros

Prof. S. C. Pilli, Principal,


K.L.E.S. College of Engineering and Technology, Belgaum - 590008.

Session: XXIX, 08/11/06

VTU e-learning Courseware

Control Engineering (ME55)

i) at s = -4.
The length of vectors to the point s = -4 from the poles at s = 1, 0, and
-2j3.464 are 5, 4, 4, 4 respectively. The length of vector from zero at s = -1 to
the point s = -4 is 3.
K

5444
106.67
3

ii) at s = -2+j3.464
The length of vectors to the point s = -0.124+j1.9 from the poles at s = 1, 0, and -2
j3.464 are 2.2, 1.9, 2.4, 5.8 respectively. The length of vector from zero at s = -1
to the point s = -2+j3.464 is 2.1.
K

2.2 1.9 2.4 5.8


27.7
2.1

Problem No 2
8
. Comment on the
( s 2) 3
stability of the system. Also, find the gain margin and phase margin.
.
Solution:

Sketch the root locus plot of open loop transfer functions

1) Root locus is symmetrical about real axis.


2) There are no open loop zeros (m=0). There are three open loop poles (n = 3) at
s=2, -2, -2. Three branches of root loci start from the three open loop poles when
K= 0 and go to (open loop zero at infinity) asymptotically when K .
3) Root locus lies on negative real axis between s = - to s = -2 as there is one pole
to the right of any point s on the real axis in this range.

180 (2q 1)
4) The asymptote angle is A =
, q n m 1 0, 1, 2.
nm
Angle of asymptote is A = 60, 180, 300.
5) Centroid of the asymptote is A

(sum of poles) (sum of zeros)


nm
( 2 2 2 )

2 .0
3

The value of K at s=-2.0 is 0.

Prof. S. C. Pilli, Principal,


K.L.E.S. College of Engineering and Technology, Belgaum - 590008.

Session: XXIX, 08/11/06

VTU e-learning Courseware

Control Engineering (ME55)

6) The root locus has break points.


K = -(s+2)3
Break points are given by dK/ds = 0
dK
3(s 2) 2 0
ds

s= -2.0, -2.0 and corresponding vales of K is 0.0.


7) The root locus does cross the imaginary axis, The cross over frequency and gain
is obtained from Rouths criterion.
The characteristic equation is s 3 6s 2 12s 8 K 0 .
The Rouths array is

s3

12

s2

8K

s1

64 K
6

s0

8K

The system is stable if 0 < K < 64.


The auxiliary equation is 6s2+64 = 0.
The imaginary axis cross over is at s = j 3.464.
The root locus plot is shown in Fig.2.

Figure 2 Root locus plot of K/(s+2)3

Prof. S. C. Pilli, Principal,


K.L.E.S. College of Engineering and Technology, Belgaum - 590008.

Session: XXIX, 08/11/06

VTU e-learning Courseware

Control Engineering (ME55)

Comments on stability:
System is stable for all values of 64 > K > 0. The system has sustained oscillation
at = 3.464 rad/sec at K=64. The system is unstable for K > 64.
Gain Margin:
Gain margin is a factor by which the design value of the gain factor K can be multiplied
before the closed loop system becomes unstable.
Value of K at imaginary cross over
Design value of K
The gain K= 64 at imaginary axis cross over. The present value of K is 8.
Gain Margin

Gain margin GM

64
8
8

Phase Margin
Find the point j1 on the imaginary axis for which G(j)H(j)=1 for the design value of
K i. e. B(j)/A(j) = Kdesign where, B+AK=0 is the characteristic equation. The phase
marin = 180 + arg G(j 1 ) H(j 1 )

8
1
(s 2) 3

2 8
2

( 2 4) 3 64 2 4 4 or 0
3

0
180 tan 180
2
0

Problem No 3
The open loop transfer function is G(s)

24
. Find the gain margin and phase
s(s 4) 2

margin.
Solution:
Find the imaginary cross over point and open loop gain. It can be found by Rouths array
or substituting s=j in the characteristic equation and equating real and imaginary parts
to zero.
Rouths array
The characteristic equation is s 3 8s 2 16s K 0

Prof. S. C. Pilli, Principal,


K.L.E.S. College of Engineering and Technology, Belgaum - 590008.

Session: XXIX, 08/11/06

VTU e-learning Courseware

Control Engineering (ME55)

Rouths array is

s3 1
16
s2 8
K
128 K
1
s
8
s0 K
For the system to be stable K > 0 and 128-K > 0. The gain at imaginary crossover is
given by 128-K= 0 or K = 128.
At K = 128 the auxiliary equation is 8s2 +128 = 0. The imaginary cross over occurs at
s= j4.
Or
The characteristic equation is s 3 8s 2 16s K 0 . Substitute s=j

j3 8 j2 16 j K 0
j 3 8 2 16j K 0

K j - 3 16 0
on equating the real and imaginary parts to zero
0, j4 and K 128.
2

The locus crosses j axis at s = j4 and K = 128. The design value of K is 24.
Gain margin GM

128
5.33
24

Find the point j1 on the imaginary axis for which G(j)H(j)=1 for the design
value of K i. e.

24
1 2 4 2 24
s(s 4) 2
3 16 24 0; 1.3472, 0.6736 j4.1667
Taking = 1.3472

2 * tan 1
0
4

90 2(18.61) 180 127.2 52.8

P M 180 - tan -1

The phase margin is 52.8.

Prof. S. C. Pilli, Principal,


K.L.E.S. College of Engineering and Technology, Belgaum - 590008.

Session: XXIX, 08/11/06

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