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Root Locus PDF

The document discusses root locus analysis, which is used to analyze the stability of closed-loop feedback control systems. It provides rules for constructing the root locus plot, which shows how the system poles vary with the open-loop gain. The rules address symmetry, number of loci, real axis intersections, asymptotes, breakaway/break-in points, and intersections with the j-axis. Methods are presented for determining breakaway points and angles of departure and arrival at complex poles and zeros.

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Fseha Getahun
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160 views39 pages

Root Locus PDF

The document discusses root locus analysis, which is used to analyze the stability of closed-loop feedback control systems. It provides rules for constructing the root locus plot, which shows how the system poles vary with the open-loop gain. The rules address symmetry, number of loci, real axis intersections, asymptotes, breakaway/break-in points, and intersections with the j-axis. Methods are presented for determining breakaway points and angles of departure and arrival at complex poles and zeros.

Uploaded by

Fseha Getahun
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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CHAPTER-3

PART-3
ROOT LOCUS METHOD

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ROOT-LOCUS
It is the plot of the roots of the characteristic
equation of the closed-loop system as a
function of the gain of the open- loop
transfer function.

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FUNDAMENTALS OF ROOT LOCUS

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Example: Find the root locus of the unity feedback
system having G(s) = K/s(s+2) as shown

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If K is varied from 0 to infinity root locus varies
from 0 to infinity and -2 to infinity

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ANGLE AND MAGNITUDE CONDITION

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GENERAL METHODS FOR
CONSTRUCTION OF ROOT LOCUS
RULE-1: SYMMETRY:- root locus is symmetrical
about the real axis.
RULE-2: NUMBER OF LOCI:- let the number of
OLTF poles and OLTF zeros be n and m,
respectively.
if n > m the number of loci is n.
each locus will start from an OLTF pole and end on an
OLTF zeros.
m > n is hardly found practically.

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RULE-3: REAL AXIS LOCI:- a point on the real axis
will lie on the root locus if and only if the sum of OLTF
poles and zeros to the right of the point is odd.

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RULE-4: ANGLE OF ASYMPTOTS:- since n > m, n –
m branches will move to infinity and these branches
move along the asymptote.

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RULE-5: CENTER OF ASYMPTOTES:- the point
where the asymptotes touch the real axis
it is given by

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RULE-6: BREAK-AWAY/BRREAK IN POINT

BREAK-AWAY POINT: the point at which root locus


comes out of the real axis.
BREAK-IN POINT: the point at which root locus enters
the real axis.

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PREDICTION-1:if there are two adjacently placed
poles on the real axis and the real axis is part of the root
locus, one minimum break-away point exists in b/n
adjacently placed poles.

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PREDICTION-2: if there are two adjacently placed
zeros on the real axis and the real axis is part of the root
locus, one minimum break-in point in b/n adjacently
placed zero

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PREDICTION-3: if there are no poles and zeros to the
left of a zero on the real axis and this portion of the real
axis is part of the root locus, there exists minimum one
break-in point to the left of that zero.

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Second method
1) Frame the characteristic equation 1+ GH = 0 of the
system
2) Write K in terms of s, i.e. , K = f(s)
3) Drive dK/ds and put dK/ds = 0
4) The root of the equation dK/ds = 0 are the break-
away points.
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RULE-7: INTERSECTION OF ROOT LOCUS
WITH j -AXIS

Intersection of root locus with j -axis


1) Construct the characteristic equation 1+GH=0
2) Develop routh’s array in terms of K
3) Find Kmar that creates one of the roots Routh’s array
as row of zero
4) From auxiliary equation A(s) = 0 with the help of
the coefficients of row just above the row zeros.
5) The roots of the auxiliary equation A(s) = 0 for K =
Kmar give the intersection point of the root locus
with the imaginary axis.
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RULE-8: ANGLE OF DEPARTURE/ARRIVAL
The root locus leaves from a complex pole and arrives
at a complex zero. This two angles are known as angle
of departure and angle of arrivals, respectively.

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