Experiment 8 Student Manual

American International University- Bangladesh

Department of Electrical and Electronic Engineering
EEE 4101: Control Systems Laboratory

Title: Study of the Root Locus of a system simulated on a pc using the MATLAB software

Abstract:

Root Locus plotting is very useful way to predict the behavior of closed loop control system.
The root locus is a way of presenting graphical information about a system’s behavior. The
root locus is a widely used tool for design of closed loop systems, and it has the virtue of
being a good design tool for continuous time systems and for sampled systems. In this
experiment, we will study how root locus of a system can be simulated using MATLAB,
which in turn will help us to determine the stability of the system.

Introduction:
C(s) G(s)
The overall transfer function of a closed loop system is = .
R(s) 1+ G(s)H (s)

C (s)
The stability of the system and the response depend upon the poles of , which are the
R(s)
roots or zeros of the characteristic equation 1  G(s) H (s)  0 . The root locus of the system is
a plot of these roots as a function of the gain. To work with the MATLAB the product
KP( s )
G(s) H (s) is to be expressed as G ( S ) H ( S )  where the variable k represents gain,
Q( s)
P(s) and Q(s) are functions of s either in a single polynomial or in a factored form.

The main objectives of this experiment are following-

1) To draw the root locus of a given system for a specified range of gain.
2) To analyze the system stability from the root locus with the variation of gain.

In this experiment, students will at first learn about the theoretical or analytical procedures on
how to sketch root locus from close-loop control system. Then they will learn how to build
the code for a control system to get the same using MATLAB. They can also compare the
results from the MATLAB with the results found from the analytical analysis.

Theory and Methodology:

In control theory and stability theory, root locus analysis is a graphical method for
examining how the roots of a system change with variation of a certain system parameter,
commonly a gain within a feedback system. This is a technique used as a stability criterion in
the field of control systems developed by Walter R. Evans, which can determine stability of
the system. The root locus plots the poles of the closed loop transfer function as a function of
a gain parameter.

Sketching a Root Locus Plot:

Let us consider a control system shown in fig. 1. A detail description on how to sketch the
root loci by analytically for the system will be discussed in the following.

© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 1

 Fig 1: Close-Loop Control System

The open-loop poles are located at s = 0, s = -1, s = -2 + j3, and s = -2 - j3. A root locus exists
on the real axis between points s = 0 and s = -1.

Fig 2: Root-locus plot

The angles of the asymptotes are found as follows:

±180 0 (2k +1)
= = ±450 , ±1350
4

The intersection of the asymptotes and the real axis is found from
0 +1+ 2 + 2
s= = -1.25
4

The breakaway and break-in points are found from dK/ds = 0. Noting that

k = -s(s +1)(s 2 + 4s +13) = -(s 4 + 5s3 +17s 2 +13s)

© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 2

We have,
dK
= -(s 4 + 5s 3 +17s 2 +13s) = 0
ds

From which we get,

s = -0.467, s = 1.642 + j2.067, s = -1.642 – j2.067

Point s = -0.467 is on a root locus. Therefore, it is an actual breakaway point. The gain values
K corresponding to points s = -1.642 ± j2.067 are complex quantities. Since the gain values
are not real positive, these points are neither breakaway nor break-in points.
The angle of departure from the complex pole in the upper half s plane is-

q =180 0 -123.69 0 -108.440 - 90 0 = -142.130

Next we shall find the points where root loci may cross the j𝜔 axis. Since the characteristic
equation is-
(s 4 + 5s 3 +17s 2 +13s + K) = 0

by substituting s = j𝜔 into it we obtain,

(( jw )4 + 5( jw )3 +17( jw )2 +13( jw ) + K) = 0

=> (K + w 4 -17w 2 ) + jw (13- 5w 2 ) = 0

from which we obtain

w = ±1.6125, K = 37.44 or 𝜔 = 0 , K = 0
The root-locus branches that extend to the right-half s plane cross the imaginary axis at 𝜔= ±
1.6125. Also, the root-locus branch on the real axis touches the imaginary axis at 𝜔 = 0.
Figure 2 shows a sketch of the root loci for the system. Notice that each root-locus branch
that extends to the right half s plane crosses its own asymptote.

Root Locus Summary

p(s) + k z(s) = 0
Poles Solution to p(s)=0
Zeros Solution to z(s)=0
Real Axis Loci There are an off number of poles or zeros to
the right
Breakaway Point (s) 𝑑 𝑝(𝑠)
( )=0
𝑑𝑠 𝑧(𝑠)
𝑗𝜔 crossing Ang(G(𝑗𝜔)) = 180°
Number of asymptotes n-m (#poles - #zeros)
Asymptote Angles 180° + 𝑘. 360°
𝑛−𝑚
Asymptote Intersect ∑ 𝑝𝑜𝑙𝑒𝑠 − ∑ 𝑧𝑒𝑟𝑜𝑠
𝑛−𝑚
Gain at any point on the root-locus k.G(s) = -1

© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 3

Pre-Lab Homework:

You must solve the following questions and make a short report on that before the start of the
lab-

1. What is the importance of studying Root Locus in control system analysis?

2. How can we sketch root locus for a given control system?

Apparatus:

1) Computer
2) MATLAB software installed in the
Computer

Precautions:

Students should take the following precautions while conducting the experiment –

 Check the computer if it is working; otherwise inform lab instructor,

 Be careful while handling the power supply buttons of computers and to keep them off
when they are not needed,
 Check if MATLAB is working correctly and beware of typing mistakes.

Experimental Procedure:
1
A closed-loop system that has an open-loop gain G ( s ) 
s  12 s  64 s 2  128 s
4 3

1. Open the MATLAB software

2. Write the MATLAB code for the above closed-loop system. Use rlocus( ) built in
function to draw the root locus.

3. After getting the plots, you can find breakaway point, imaginary axis crossing points,
center of asymptotes and critical value of K by using rlocfind command. To do this,
type rlocfind (num, den) in command window and a cursor will appear in the
figure(containing root locus).

4. Now in the figure, if you click on, say imaginary axis crossing point, it will give you
the location (say, 3+j4) and value of K (say 570) in the command window. In
command window the K value is given like this "ans = 570". These two values will be
imaginary axis crossing point and critical value of K.Similarly if you click on the
location where the asymptotes meet x-axis in the same manner, you will get its
location in the command window and that location is the breakaway point.

5. Then, you can find out the center of asymptotes by drawing slopes along the
asymptotes. The point where the slopes intersect x-axis is the center of asymptotes.
This location can also be found in a similar manner. To draw the slopes, use the "add
line "or" insert line icon in the figure. You can find the angle of asymptotes also by
drawing a triangle (and by using tan inverse).

6. The students should find the above-mentioned parameters for the control system
shown in Fig. 1 theoretically (which has already been solved in the Theory and
Methodology section!!!) and compare with the values that you will have to find in
MATLAB.

© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 4

Simulation and Measurement:

Figure : 1

Figure : 2

© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 5

 Figure : 3

Figure : 4
Now find the following property from the root locus:
a. The breakaway point.
b. The imaginary axis crossing point.
c. The range of gain, K for which system is stable, unstable & marginally stable.
d. Number of branches of root locus
e. Find exact point and gain where locus crosses, ξ = 0.34 damping ratio line.
Also find, ωn , TS, TP, %O.S.
© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 6
Questions for report writing:

1. A unity negative feedback system has 𝐆(𝐬) = 𝐊(𝒔𝟐 − 𝟔𝐬 + 𝟖)/(𝒔𝟐 + 𝟔𝐬 + 𝟐𝟓). Now write
code to sketch root locus by showing:
f. The break in point.
g. The imaginary axis crossing point.
h. The range of gain, K for which system is stable, unstable & marginally stable.
i. Number of branches of root locus
j. Find exact point and gain where locus crosses, ξ = 0.45 damping ratio line.
Also find, ωn , TS, TP, %O.S.

Discussion and Conclusion:

Interpret the data/findings and determine the extent to which the experiment was successful
in complying with the goal that was initially set. Discuss any mistake you might have made
while conducting the investigation and describe ways the study could have been improved.

Reference(s):

[1] Norman S. Nise, “Control Systems Engineering”, available Edition, John Wiley & Sons
Inc.
[2] Control System Laboratory Manual, American International University-Bangladesh
(AIUB), 2013

© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 7