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Root Locus Notes - Matlab

The document discusses root locus plots, which graphically show how the closed-loop poles of a negative feedback system change with variations in the feedback gain. It provides details on using the rlocus command in MATLAB to generate root locus plots for single-input single-output systems. Key aspects covered include how the poles are denoted on the plot, examples of defining transfer functions for analysis, and notes on interpreting features of the root locus such as the starting points of the branches and their movement to infinity as the gain increases. An example open-loop transfer function is also analyzed step-by-step to demonstrate generating and understanding a root locus plot.

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155 views4 pages

Root Locus Notes - Matlab

The document discusses root locus plots, which graphically show how the closed-loop poles of a negative feedback system change with variations in the feedback gain. It provides details on using the rlocus command in MATLAB to generate root locus plots for single-input single-output systems. Key aspects covered include how the poles are denoted on the plot, examples of defining transfer functions for analysis, and notes on interpreting features of the root locus such as the starting points of the branches and their movement to infinity as the gain increases. An example open-loop transfer function is also analyzed step-by-step to demonstrate generating and understanding a root locus plot.

Uploaded by

Peenoise
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ROOT LOCUS PLOT OF DYNAMIC SYSTEM

∙ rlocus(sys) calculates and plots the root locus of the SISO model sys. The root locus returns the closed
loop pole trajectories as a function of the feedback gain k (assuming negative feedback). Root loci are
used to study the effects of varying feedback gains on closed-loop pole locationss. In turn, these
locations provide indirect information on the time and frequency responses.

You can use rlocus to plot the root locus diagram of any of the following negative feedback loops by setting
sys as shown below:

For instance, if sys is a transfer function represented by

the closed-loop poles are the roots of

The root locus plot depicts the trajectories of closed-loop poles when the feedback-gain k varies from 0
to infinity. rlocus adaptively selects a set of positive gains k to produce a smooth plot. The poles on the root
locus plot are denoted by x and the zeros are denoted by o.

∙ rlocus(sys1,sys2,...) plots the root loci of multiple LTI models sys1, sys2,... on a single plot. You can specify
a color, line style, and marker for each model. For even more plot customization options, see rlocusplot.
∙ h = rlocusplot(sys) computes and plots the root locus of the single-input, single-output LTI model sys. It
also returns the plot handle h. You can use this handle to customize the plot with the getoptions and
setoptions commands.
∙ [r,k] = rlocus(sys) returns the vector of feedback gains k and the complex root locations r for these gains. ∙
r = rlocus(sys,k) uses the user-specified vector of feedback gains k to output the closed-loop poles r that
define the root locus plot.

sys = tf([2 5 1],[1 2 3]);


rlocus(sys)

The poles of the system are denoted by x, while the zeros are denoted by o on the root locus plot. You
can use the menu within the generated root locus plot to add grid lines, zoom in or out, and also invoke the
Property Editor to customize the plot.
EXAMPLE

For the open loop transfer function, G(s)H(s):


We have n=2 poles at s = 0, -3. We have m=0 finite zeros. So there exists q=2 zeros as s goes to infinity (q = n
m = 2-0 = 2).

We can rewrite the open loop transfer function as G(s)H(s)=N(s)/D(s) where N(s) is the numerator
polynomial, and D(s) is the denominator polynomial.
N(s)= 1, and D(s)= s2 + 3 s.

Characteristic Equation is 1+KG(s)H(s)=0, or 1+KN(s)/D(s)=0,


or D(s)+KN(s) = s2 + 3 s+ K( 1 ) = 0

NOTES:
∙ As you can see, the locus is symmetric about the real axis
∙ The open loop transfer function, G(s)H(s), has 2 poles, therefore the locus has 2 branches. Each branch
is displayed in a different color.
∙ Root locus starts (K=0) at poles of open loop transfer function, G(s)H(s). These are shown by an "x" on
the diagram above
∙ As K→∞ the location of closed loop poles move to the zeros of the open loop transfer function,
G(s)H(s). Don't forget we have we also have q=n-m=2 zeros at infinity. (We have n=2 finite poles, and
m=0 finite zeros
NOTES:

∙ The root locus exists on real axis to left of


an odd number of poles and zeros of open loop transfer function, G(s)H(s), that are on the real
axis. These real pole and zero locations are highlighted on diagram, along with the portion of the
locus that exists on the real axis.
∙ Root locus exists on real axis between 0 and -3 because on the real axis, we have 2 poles at s = -3, 0,
and we have no zeros.

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