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Root Locus Analysis in Z Plane: Example

This document summarizes an example of using root locus analysis to analyze a digital control system. The example determines the breakaway points, value of K for marginal stability, and unit circle crossover. It provides the open-loop transfer function G(s) and G(z), identifies the open-loop poles and zero, calculates the breakpoint, derives the characteristic equation, uses the Jury test to find the value of K for marginal stability, and inserts this K value to determine the unit circle crossover point and stability.

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78 views5 pages

Root Locus Analysis in Z Plane: Example

This document summarizes an example of using root locus analysis to analyze a digital control system. The example determines the breakaway points, value of K for marginal stability, and unit circle crossover. It provides the open-loop transfer function G(s) and G(z), identifies the open-loop poles and zero, calculates the breakpoint, derives the characteristic equation, uses the Jury test to find the value of K for marginal stability, and inserts this K value to determine the unit circle crossover point and stability.

Uploaded by

jin kazama
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We take content rights seriously. If you suspect this is your content, claim it here.
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Lecture 10

Root Locus Analysis in Z plane


Example

Dr. Sadeq Al-Majidi

Dept. Of Electrical Engineering/ College


of Engineering/ Misan University
Control Engineering
Fourth Year
Example 3: find the root locus for digital control system, shown in Figure
below. Determine the breakaway points, the value of K for marginal stability
and the unit circle crossover?

Solution:
The G(s):

The G(z): when T=0.5 (lecture 6)

2
NOW, the open loop poles:

Then , the open loop zero :

The breakpoint is given by :

By characteristic equation 1+GH(z)=0 now, GH(z) = -1


= -1

3
−𝑍 2 +1.368𝑍 −0.368
Now 𝐾=
0.092𝑍+0.066

Bu using Jury test, we can find the K? (lecture 8)

We can find the circle crossover by inserting the value of K in


characteristic equation:

Now, the root of equation is:

(stable)

4
crossover

Break point

Break point

poles

zero

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