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Tutorial 10

This document provides an overview of root locus analysis and worked through an example. It begins by reviewing key concepts like transfer functions, characteristic equations, and stability. It then explains how to draw a root locus by satisfying the magnitude and angle conditions. The example analyzes a system to sketch its root locus, determine breakaway and crossing points, and calculate the value of K that gives a damping ratio of 0.5 for a pair of dominant complex poles. Feedback is provided to clarify relative stability and using Routh-Hurwitz criterion to find the imaginary axis crossing points.

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48 views18 pages

Tutorial 10

This document provides an overview of root locus analysis and worked through an example. It begins by reviewing key concepts like transfer functions, characteristic equations, and stability. It then explains how to draw a root locus by satisfying the magnitude and angle conditions. The example analyzes a system to sketch its root locus, determine breakaway and crossing points, and calculate the value of K that gives a damping ratio of 0.5 for a pair of dominant complex poles. Feedback is provided to clarify relative stability and using Routh-Hurwitz criterion to find the imaginary axis crossing points.

Uploaded by

Yang ElvisQU
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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MECH 3610

Control Principles
Tutorial #10
Contents
• The Root Locus
– Referred to following concepts
• Transfer function
• Roots of Characteristic Equation
• Stability (Relative stability)
• Transient performance
• How to draw Root Locus?
– Two conditions
• Magnitude Condition
• Angle Condition
• Example
2
Review some concepts
• Start from transfer function
KG ( s )
K G (s ) T (s) 
1  KG ( s ) H ( s )
H (s )
• The characteristic equation
1  KG ( s) H ( s)  0
• K is a variable (real number)
KG ( s) H ( s)  1 KG ( s) H ( s)  1  j 0
Rewrite in polar form | KG ( s) H ( s) | KG ( s) H ( s)  1  j 0
The root locus is the path of the roots of the characteristic equation
3
traced out in the s-plane as a system parameter K is changed
Review some concepts
Rewrite in polar form | KG ( s) H ( s) | KG ( s) H ( s)  1  j 0
• Two conditions
– Magnitude Condition
| KG ( s) H ( s) | 1
– Angle Condition

KG ( s) H ( s)  180  k 360


While k  0,  1,  2,  3,...

4
Example
Consider the following system. (Assume that the value
of gain K is nonnegative)

(1) Sketch the root-locus;


(2) Determine the value of K so that the damping ratio
of a pair of dominant complex-conjugate closed-
loop poles is 0.5
R(s ) Y (s )
G (s )

5
Analysis
Magnitude Condition

Angle Condition

6
Solution
(1) Characteristic equation of the system is

(2) Determine the poles and zeros of G(s)

(3) Locate the poles and zeros on the s-plane.

7
Solution
(4) Determine the root locus on the real axis
Hint: using the angle condition. Select test points in
(0,+∞),(−1,0),(−2,−1),(−∞,−2), and check the angle.
The root loci on the real axis is (−1,0),(−∞,−2)
If the total number of real
poles and real zeros to the
right of the test point is odd,
then this point lies on a root
locus,

(5) Determine the number of Separate Loci (SL) (also


called as number of branches).
Hint: SL is equal to the number of poles.
SL = 3 8
Solution
(6) The root loci are symmetrical with respect to the
horizontal real axis.
(7) Determine the asymptotes of the root loci
(# of Asymptotes = # of Poles - # of zeros) .

The center point of the asymptotes

The angle of the asymptotes

Let q=0,1,2, we have 9


Solution
(8) Determine the points where the root loci cross the
imaginary axis
Hints: Routh-Hurwitz criterion
Characteristic equation:

Now roots are


located at ?

The value of K make s term in the first column


equal to 0 is K=6. 10
Solution
Based on Case 3 in Routh-Hurwitz criterion, the crossing point in
the imaginary axis can be found by solving the auxiliary equation
obtained from the above row.

An alternative method is to let in the characteristic


equation, set both the real part and the imaginary part to zero and
solve K.

11
Solution
(9) Determine the breakaway point.
Define K = p(s), find the roots of
For the present system

Solve:

Yield from the locus


position on real axis

Since the breakaway point in this problem


should lie in (-1,0), so we obtain s=-0.4226.
12
Solution
(10) Determine the angle of departure of the locus from
a pole and the angle of arrival of the locus at a zero,
using the phase angle criterion.
Hint: Choose a test point near the zero/pole, and
apply the angle condition.

For this problem,


this step is just
used to check

13
Solution
(11) Based on the information obtained in the previous
steps, draw the root loci of the system.

14
(2) Determine the value of K so that the
Solution damping ratio of a pair of dominant complex-
conjugate closed-loop poles is 0.5

Finally, as requirement by the problem, we determine a pair of


dominant complex-conjugate closed-loop poles such that the
damping ratio is 0.5.
These poles lie on the lines passing through the original and
making the angles of ± 60°with the negative real axis.

How to calculate s?

15
Solution
We obtain
The corresponding K is
Using this value of K the third pole is found as

16
End

17
Feedback
Relative stability ----is measured by "relative real part of each
root or pair of roots"

-3 -2 -0.5 0 -3 -2 -0.5 -0.3 0 -3 -2 -1.3 -0.5 0

Under disturbance, which pole/pair of poles would be much stable?


Shift the imagery axis and use Routh-Hurwitz criterion  help to determine the range
of real part of roots
18

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