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Root Locus

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Root Locus

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Prodyot Sinha
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CHAPTER 1 0 Root Locus Method ah The basic points to be remembered for Root Locus plot are as follows: Root locus method is a graphical method of obtaining the roots of the characteristic equation from the zeros and poles of the open-loop transfer function. The closed loop transfer function of the system is, Cis) &s) R(s) 1+G(s)H(s) “~ where, the open loop transfer function is of the form, K(st2z))(s+z9 (s+ Pi) (s+ P2)- 2, are called zeros and 2 = Total number of zeros. GS) Hs) = The values -2, The values —p,, Pp, ~P3 ate called poles and_p = Total number of poles, Points to remember ) 8 (s+3)(s? +2542) Solution vii. There are four loci since P = 4. The root loci start from the s = 0, -3, (-I +l), (-1 -jl). Since Z = 0, all the loci end at infinity. Root loci is symmetrical about the real axis. Angles of asymptotes: 45° 135% 225° and 315° Point of intersection of the asymptotes with the real axis The breakaway points of the root loci are obtained from 4s) + 15s? + 105+ 6=0 which gives s, = -23 ; 8) = -0.725+j0.365 ; s; = -0.725-j0.365 The value of Kat s, = -2.3 is 4.54, The limiting value of K using Routh’s Table is 8.16. Auxiliary equation obtained is 6.85? + 8.16 = 0 Hence, @ = 1.1 rad/sec, The root locus branch at the pole s = —/ +j/ leaves at an angle of 180°— 135°— 90°- 26.2° = 71.6° The approximate root locus is given below: — nd Solutions in Control System Engineering 404 Problems al + teal axis Fig. 10.2 3, Sketeh the root locus for G(s) = wa A xg (843) (845) (9? +2842) Solution The given open loop transfer function is, G(s) = —___*«“___ (s+3) (s+5) (8° +2542) Number of poles P=4 5 Number of zeros z=0 Number of asymptotes N= P-Z=4 Start of loci, $=-3,-5,-14+j, -1-J The point of intersection of asymptotes with the real axis, x= (3-5-1 +j-1-j)/4 x=-25 The angles of asymptotes, 45°, 135° 225° and 315° calculating 1! k = -s4 -10s3 -33s? - 46s — 30 differentiating with respect to s, the breakaway points, & = —4s} 30s? -66s- 46 = 0 From this, s = —4.26 is the breakaway point. tad Vii. Chapter 10: Root Locus Method 405 Fig. 10.3 4. Sketch the root locus diagram for G(s) H(s) = a Determine the gain and s(S+1)(s+3) the phase cross frequency for K = 10 Solution i, There are three separate loci since P = 3_<~ ii, The root loci start from the poles at s = 0, —1, -3. iii. Since Z = 0, all the loci terminate at infinity, iv. Root loci are symmetrical about the real axis. v. The angle of the asymptotes are given by (24+ 1)X180 4 _ 9,1, 2) which are 60% 180", 300° 3-0 —_— vi. The point of intersection of the asymptotes with the real axis is : X= (-1-3-0)/(3-0) 43 =-1.33 The breakaway points of the root loci are obtained as follows, S44? + 35+ K=0 ~~ Differentiating with respect to s : 3s? + 88+3=0 Hence, s, = ~0,45 and s, = -2.215 5, cannot exist sinée there is no root loéus in the section between s = —/ and s = ~3 (even number of poles exist to the right of this section 406 Problems and Solutions in Control System Engineering viii, The limiting value of K is obtained using Routh’s stability criteria, Routh Ti 1 3 4 \k (12-K)A s K From the table, the limiting value of K = Using the auxiliary equato az fr table, = ds +K=0 Thatis, 4s? + 12=0 The root locus passes through @ = /.732 on jaaxis. ix, The approximate root locus is given below | Fig. 10.4 | x. Gain Margin = 12/10 = 1.2 | xi. Phase Margin: 10 afta)” (9400 Squaring both sides and solving for « | , = 1.58 rad/sec | } The net phase angle of (G(jco,) H(j@,) is =-175,5° Hence, phase margin = 180° 1755° = 4.5° xii, Value of K at breakaway point: (8 +4? +35+K).. 94 = 0 => K = 0.63 Chapter 10; Root Locus Method 407 5, Sketeh the root locus for Gis) = for K<0 (841) (8° 478412) Solution The given system transfer fimetion is, s(st1) (8? 478412) = K (St I)(S+3)(8+4) ‘Number of poles P=47 v Number of zeros Starting of root locus Number of asymptotes. NV Angle of asymptotes =: 0,-1,-3,-4 P-Z =4-0=4 7 5°, 135%, 225°, 315° (0-1-3-4) =2 4 Intersection on real axis To calculate the breakaway point, k =-s4 853-195? — 12s Differentiating with respect to s, ae 13 24s? 385-12 = 0 0.421 and 3.58 are the breakaway points. On solving, Fig. 10.5 408 Problems and Solutions in Control System Engineering 6. Sketch the root locus of G(s) = —KE*Y tor roo (s° +6413) Solution The given system transfer function is, K(st+4) | K(s+4) Gg Ee : (8? 465413) (s+(-3+21))(s+(- Number of poles Number of zeros Starting of root locus is at Number of asymptotes Angle of asymptotes Angle of departure Break in point 3.63" at pole -3 + 6s+13) (+4) Differentiating with respect to s, dk _ (844) Qs+6) ~(s? +65+13)) - nn ds (st4P [287 + 65 + 85 + 24-5? — 68-13] =0 srt+8s+1=0 On solving, The plot can be, Fig. 10.6 Chapter 10; Root Locus Method 409 7. Determine the break away points and break in points for the root locus of the unity feedback system with open-loop transfer function G(s) = £8=32.8-5) Solution (st I) (s+2) The characteristic equation of the given system is, 1+ G(s) Ho) = 0 1+ KS=3) (8-5) | (st 1) (s+2) K(s-3) (5-5) (st 1) (s#2) pa DFW S42) (8-3) (s~5) Differentiating with respect to ‘s’ and equating s to 0 the break away and break in points are ko 7 found, dk ds dk ds Hence, — IJs?- 268-61 = 1 Solving, the roots are ~/.45 and 3.84 ; Hence the break away point is ~/.45 and the break in point is +3.84. = Obtain 8. A. unity feedback system has forward path transfer function as G(s) = > the values of the roots of its characteristic equation, Solution The closed loop transfer function will be 2 08) G9) R(s) 1+G(s) MG) (37 +284) The characteristic equation will be P+ 2s+K=0 410 Problems and Solutions in Control System Engineering wre JO=®) and sy =-1- J=6) The value of these roots depend upon the value of K. plotted in Fig. 10.7. Tt will have two roots, ‘These roots are tabulated in Table 8.1 and Table 10.1 K s,=-1+ JU-K) 1-J(U-K) 0 0+j0 -2-j0 0.4 0.225 + j0 -1.775 -j0 08 0.553 +50 1.447 -j0 1.0 1.0 +50 -1.0-j0 2.0 =1.0 + j1.0 j 4.0 =1.0 + j1.732 K=40 In esa Fig. 10.7 Root locus plot ie the root locus plot it is clear that for all values of K, the roots lie on the left half of the * plane.They never cross the imaginary axis. Hence the system is stable for all values of K. This is | Chapter 10: Root Locus Method = 411 second order system and from the frequency response technique it is always stable, 9. Aunity feedback control system has an open-loop transfer function __k 8(s? +4513) Sketch the root locus of the system by determining the following: i. Centroid and angle of asymptotes ii, Angle of departure from the poles iii, The value of & and the frequency at which the root locus crosses the imaginary axis. wx Solution The open-loop poles are at s = 0, s -2 +3, There are no open-loop zeros, see 0-2-2)-(0) _ -4 Centroid of the asymptote = 27 2=2)-(0) 4 3 3 180 (24+ : Angle of asymptotes 9, = stg stt a9!" = 10! = one 3 © 1803 gge_ 3 180X5 ane 825 300 The angle of departure 9, = + 180(29+* +0 g = netangle contribution of other poles and zeros at the pole considered. % = -33.7° For finding the points where root locus cross the imaginary axis, Routh eriterion is applied. ‘The characteristic equation of the given system is i++ =0 s(s? +4s+13) S42 + 3stk=0 3 1 13 s 4 K 412 Problems and Solutions in Control System Engineering For the system to be stable k > 0 52-k 4 k<52 By substituting 4s? + 52 >0 52 ins? row The root locus crosses the imaginary axis when k = 52 and at the frequency @ = 3.6 radsec. Thus, the root locus plot is drawn as shown in Fig. 10.8. | jo Chapter 10: Root Locus Method 413 | 10. A system has open loop transfer function as Find the asymptotic nature of the system. ssl) (gtd) Solution | ‘The given open loop transfer function is, | GH) -_—_K__ S(st+1)(s+2) ‘There are no finite zeros but number of poles n are 3. Hence there are 3 infinite zeros. The angles of the finite zero asymptotes are 41x 180 = +60° 3-0 43x 180 and 3 = + 180° The asymptote starts on the real axis at tg, =< Or1=2)=0 “ 1 3 3 This is shown in Fig. 10.9. . _ k Fig. 10.9 Asymptotic nature of system having G(s)= seriyer2) 11. Sketch the root locus plot of the unity feedback system with open-loop transfer function 20 yy = Ht) pro s(s+2) Show that the complex root branches Iie on a circle. Go) 414 Problems and Solutions In Gontiol System Enginooring Solution ‘The characteristic equation of the given system: in I kad) s(92) NK WK Od Eb Ks? be ke The open-loop poles are at y= 0, 2 ‘The open-loop zeros are aly © 4//, 14 GINS) © wd afi ‘There are two branches that originate from the 2 open-loop poles and terminate on open loop zero, ‘The break away point in found ay Cg ds =s(84 2) ia, Wad) Uk (8 +1) [-29~ 2) + (s? +28) [29] ds (41)? Geto oe w28t = 29? — 29-24 283 44g? (ary O = ds! 4 29? = 29-2 4°07 is the break away point and 0 = 1.62 is the break in point, —y4—-{-. “2 at Fg. 10.10 12, ‘The forward path transfer function of a unity feedback system is K(s4+2) (8-4) Show that the part of Is 1 circle, Calculate the values of its centre Gs) = Draw its root locu and radius, Stn Chaptor 10; Root Locus Mothod 415 Solution Substitute 8 = + Ja to pet, K(O4 ford 2) Go + jo - (O4 ja) (4 jd) iis phase angle will be 2 G(o+ ja) stan”! ——— tan ra To satisfy the angle criteria of root locus £G(0+jo) = tan » 180° 10 or (e y +180") = tan o-4 0 _@ > -2 = tan! Gt2 6 2 tan”! 7 Ll > wo o + 2a+0" I+ o(a+2) Taking tangent of both sides, to get @ . -20 o-4 ot +2040" or o+20+w? =-20 +8 or (F+4o+4 +07 =4 or (o+ 2% +0? =2? (0) and radius 2, There are two separate root loci for Thisis the equation of a circle with centre at (-2, the given system. They start from s = 0 (K = ands = 4(K = (0) and end at the zero s = 21K )) and infinity (K = &). Thus the root locus is drawn. ig. 10.11, as shown in jo Hig. 10.11 Root locus 416 Problems and Solutions in Control System Engineering 13. Consider a system having complex poles and open loop transfer function as (9) Hy = ——____K_ (SAD (S43) (8414 ps4 1=j) Solution ‘The centroid of asymptotes will be go - Cls3-1 B The centroid of asymptotes will be n—m = 4-0=4 The angle of asymptotes will be p= (2941) 180 n=m for g=0 a= a ase forg=1 @= +135" The complex poles of this system are at (I +) and (-I -j). To determine the angle of departure of pole (-/ +j), the angle criteria at a point very near to A, HO) + 95+ 65+ 6) = (24 + 1) 180 The angles ¢,, 9, and ¢, from Fig. 10.12 respectively are 90°, 90° and 26.6° Hence -90 — 90 — 26.6 ~ 6, = 180° Therefore, 6, = 26.6" IMG} jo Fig, 10.12 Angle of departure at Complex pole (~1 + j) of the system with K G(s) H( = CE (st Dist 3)(st1+j(stl=p) Chapter 10: Root Locus Method 417 14, Sketch the root locus for the ystem with characteristic equation 1+ GO) Hs) = 14 KS42) (843) Solution The open-loop poles are at s The open-loop zeros are at s ‘The break away point and the break in point are found as dk Boo ds pe DEAD“) (s+2)(s+3) dk (s? +58+6) (28) ~(s? -1) (28+5) ds (s? +55+6) s2+2s-1=0 s= 0414, -2414 Since the real axis segment between —/ and +/ is on the locus the break away point is +0.4/4. Also the two branches that originate from the two open-loop poles meet at the point, 5 = 0.414 and break away towards the imaginary axis and then meet at the break in point ie, at s = 2.414, finally terminating on the open-loop zero. Applying Routh criterion for the characteristic equation k(s+2) (s+3) 1+ (s41)(s-D) (k+ Is? + (5k— 1) s + (6-1) = 0 st kt] Ok-1 sh Sk-1 s? 6k-1 For stability 5k—1 > 0, k> 0.2 From the s? row, (k + Is? + (6k-1) =0 128° +0.2=0 s= 4/041 The root locus intersects the imaginary axis at s = +/0.4/ and at s = -j 0.41. 418 — Problems and Solutions in Control System Engineering The root locus plot is drawn with these specifications as shown in the Fig. 10.13. Fig. 10.13 15. Consider a characteristic equation } K(s+6) _ 9 Obtain the saddle points. s(s+4) Solution Its saddle points will be found by taking Kas = —0844) (st+6) ‘Taking differential of above equation with respect to s to get, dK __(st4)_ 8, s(s+4) ds (#6) (846) 9546)? or —(s? +105 + 24) ~ (s? + 65) + (9? + 4s) = 0 or -s?- 12s-24=0 ors? +12s+24=0 Saws eer Therefore, s = | Chapter 10: Root Locus Method 419 Hence saddle points will occur at The breakaway pi $= -254 and 9.46 can also be determined by applying angle criteria, 16. A positive feedback control s ‘stem has its forward path transfer function as Gos Ke S(8+4) (s? +454+20) Plot its root locus. Solution The given function has no zero. The poles are at s = 0, s =—4, (-2 + j4) and (-2 ~j4). The poles s = Oand s = —4 are on the real axis and their locus can be easily drawn as zeros are at infinity. The vectors drawn from (~2 + j4) and (-2-j4) are symmetrical about the other poles. The vector drawn from (~1 + j2) will contribute from these poles a phase angle of 180° The vectors from (~1 -j2) will contribute another /80° phase angle. Thus the phase angle criteria of 0° or even multiples of 180° is satisfied for this positive feedback system, So locus from these conjugate symmetrical poles can be drawn as shown in Fig. 10.14. mK K== Fig, £0.14 Root locus 17. Draw the root locus of a multiple loop system having block diagram shown in Cs) Fig. 10.15, Find Rs) . Solution ; / The output/input relation in the Laplace transform for the Fig. 10.15 will be cls) K MO Res) ~ (e+ 4548)45Ks+K 420 Problems and Solutions in Control System Engineering { ” k — 0) fark Fig. 10.15 Block diagram The root locus cannot be directly plotted from this transfer function. K (s+2+ j2)(s+2-j2) SK(s+02) (542+ j2)(s+2—j2) This can be expressed as M(s) = 5K(s+0.2) This will give characteristic equation as J+ ——-~G* "<7 _ (s+2+j2)(s+2—j2) Fig, 10.16 Root locus 5K(s+0.2) (st2+j2)(s+2—-j2) From which the root locus for GH(s) = 10.16. can be plotted as shown in Fig. & 18. A unity feedback system has G(s) = ———8_ (1+8T,) (8? +2842) varying values of T,,. + Plot its root contour for Solution For the given problem comparing it with Chapter 10: Root Locus Method K Gus) = KO) * rest) ok a 8 This gives K@) = =—S__ +2542 id G)Hs) = Ze an HT (3) = ——— = T+#K(S) 74 _ (8+1+j) (8+ 1- jy (s+ 1+ j3)(st+1~j3) The root contour of this equation is shown in Fig. 10.17. =14 320? jo -1B Fig. 10.17 Root contour 19. Plot the root contour for the function 16(1+sT,) 8(8+2) with varying parameter 7, . GH(s) = Solution In the given problem, 16 oe s(s+2)? 421 422 Problems and Solutions in Control System Engineering (5? 44944) 416 (5244) (st4) (s+4) (8+ j2M8- j2) Its root contour is plotted in Fig. 10.18. Fig. 10.18 Root contour | 20. For a unity positive feedback system having G(s) = F a lot the rot Loews, | wet | Solution i i. The characteristic equation is | 1-GH6)=1- *_ =0 | s+) or S4s-K= The system has two poles at s = 0 and s = -1. The root loci starts from poles in positive feedback system ie., from s = 0 and s = —. ‘There are no zeros. So root loci will end at infinity, Since p = 2 and z = 0, therefore, there will be two separate root loci. 2qn The angles of asymptotes are —— puz Chapter 10: Root Locus Method = 423 where g = 0, 1, 2, 3,44. (pz). The root loci are plotted in Fig, 10.19. Kew Root locus? a 0} Rootlocus Fig. 10.19 Root loci for positive feedback system 21. Plot the root locus for a unity feedback system having loop transfer function as K GH) = —*~__.. fi ; 4 ica (s) Hs¥1) (342) ‘ind the value of K where the root loci cross the imaginary axis. Solution The root locus can be plotted as follows. For breakaway points. 1+ GHG) =0 or K=-s6+1) 6+2) (93 + 3s? + 2s) dK SF, 77s? + 6542) = 0 Therefore, = 1.537, 0.427 So breakaway points lie at -0.427 and -1.573 Centroid of asymptote will be Epj-EH _ (0-1-2)-0 P-Z 3-0 2n+1)180 mien eae Angle of asymptote = nim = 60°, 180", 300 = 1414 Point of intersection with the imaginary axis from root loci This gives lengths as A = 2.45, B= 1,732 and C= 1.414 245% 1732K1414 Therefore, K= ae = 7 =26) Hence, the value of K = 6 at the point of intersection with the imaginary axis. Alternatively the characteristic equation is 424 Problems and Solutions in Control System Engineering —+~ -0 s(s+1) (s+2) 1+ GH(s) = 1+ or Si +35? + 2s+K=0 Routh tabulation s 1 2 oe | | | | Su oe 0 ; 3 | s K i For stable system limiting value of K will be 6-K = 0 or K=6. i In order to obtain intersection point auxiliary equation will be, 3° +K=0 or 3° +6=0 or s=ajy2 ‘The root locus is sketched in Fig, 10.20. WIT Fig, 10.20 Chapter 10: Root Locus Method 425 22. Determine the unit step r fe plot sown jim Step response for the syste i i eee ; stem whose root locus plot is shown i Fig. 10.21 Solution The system has open loop transfer function as Go) = Kt) ‘s(s+2) The closed loop transfer function at K = / is cls) _ Wst)) R(s) (8+0.38) (s+2.62) : i For unit step input _R(s) = = Therefore, Cy ee ee 773, 0.227 5(s+038)(s+262) s (s+038) (+2262) Hence Ci) = £1 Cy) =1- 0.773¢-°38! — 0.27767. 23. The given unity feedback system has transfer function K(st)) (s+2) Starting points of root loci. Ending points of root loci Total number of root loci. Portion of root locus on the real axis for positive value of K. angle of asymptote and its centroid. Breakaway poit GH(s) = 426 Problems and Solutions in Control System Engineering Solution i, Starting points are poles of GH(s)function so for this system they are 2 poles at s=~2, ii, Ending points are zeros of GH(s) function so for this system one will be at s other will be at infinit —1 and the iii, Total number of root loci will be either number of poles or zeros whichever is greater. In this system poles are more. So number of root loci = 2. In the given system s = 2, there are poles superimposed on each other. It has one zero at 5 = 1, therefore, for positive value of K, the portion of root loci on real axis is only tothe left of s=-l. _ (2n+1)180 _ 180 P-Z 2-1 Total number of asymptotes. = P-Z = 1 Vs Angle of asymptote = 180° Centroid of asymptote vi. Its breakaway point will be where x is d|_(s+2) 4[- st] | or SM 2As+2)— (8427 _ s(s+2) _ (s+1P (s+1) Therefore, breakaway point is at s = —2 The root locus is sketched in Fig. 10.22. K(s+1) oy jo Fig. 10.22 Chaptor 10: Root Locus Method 427 24. Draw the root locus of the following characteristic polynomial (9? 44S +8) + KS +2) =0 for OSK S00 Solution The given characteristic equation can be expressed as 1+ GH) = 1+ KG*2)_ (8° +4548) Comparing to get, GH(s) = ——_K(s2)_ (8+2+2j)(s+2—2)) Its poles and zeros are shown in Fig. 10.23. The two roots will originate from two poles and one at —2. The breakaway points are obtained as S+4st8+Ks+2=0 will terminate at infinity and other at the zero Differentiating this equation with respect to s and putting a is = Oto get Ist+44+K=0 or so-Laeg The value of s should also satisfy the value of K. This is obtained by trial and error method as 5 =~4, this gives K = 4. So the root locus plot is shown in Fig. 10.23. 2-2) Fig. 10.23 Root locus | | 428 Problems and Solutions in Control System Engineering 25, Find the gain margin and phase margin of the system having transfer function ‘ a G(s) = 2; « Also find the value of s at which the root locus intersect the imagi O° he imaginary axis, Solution a : K For root locus the transfer function will be DF to have the value of K, at the point when it (st crosses the imagiary axis, the Routh Hurwitz criteria will be applied ic, characteristic equation wi be, K 1+ — as 43t3st(Kt+) =0 (s+ I) Routh tabulation will be s 1 3 s 3 (K+) gh 2a(K+D) " 3 ? K+1 So to have limiting value of K, 9-(K+I) 9 3 So, K-8 at this value root locus crosses imaginary axis. Nolo Hence the gain margin of the given system = § = To obtain phase margin the point where |GHG@,)| = 1 is to be found out = 1 or 0, = [2-1]! = 0.766 Therefore, Argument of GH(e,)| @,= 0.766 = -122.5° So the desired value of phase margin = 180° 112.5" = 67.5% ‘The auxiliary equation is 3s? + (K + 1) = Chapter 10: Root Locus Method 429 For K -3 or So ats =4jV3 the root locus will intersect the imaginary axis. The root locus is sketched in Fig. 10.24. Tripple Pole at sul Fig. 10.24 26. Asystem is having a transfer function of G(s) = —2 + « Ithas unity feedback. Obtain s(s+1) the value of phase margin and gain margin of this system. - Solution ‘The system response in frequency domain is, GH(a) = | jo(jo+l) "Let «, be the frequency at which |GHG@,)| = 2 = ean ———F jo, (jo, +1) o,=1 The argument of the system at @, = / is LGH(j1) =-90 - 2x 45 -180° So the phase margin = 180 - 180 = 0° Hence it has zero phase margin. For gain margin the system transfer function will be K CHO) = Tel 430 Problems and Solutions in Control System Engineering Its characteristics equation will be J + — or +22 454+K=0 Routh tabulation, s 1 1 s 2 K 0 sf K or So gain margin = — “ 27. Plot the root contour for the funetion GH(s) = ——! where 7, is the variable S(1+sT,) i parameter. Solution Comparing the given function with generalized function Guy -KO)___1/s (+sT,) (1+sT,) The value of Ks) The modified characteristic function will be wt s Its root contour can be plotted There is a pole at s = —1, so one root locus starts from this pole, ‘There are 2 zeros at the origin s = 0, $0 the two Separate loci end at origin, 2 at Dy, The characteristic equation is 222.4. 1=0o0r 2 T +54+1=0 Cs) ” as follows: 431 Fig. 10.25 Differentiating 7,, with respect to s and putting —* =0 to get 2s, + 1=0 1 So, s--357, This gives the breakaway point at + and is obtained as s = -2. The actual root contour will be as shown in Fig. 10.25. a K(stD) 28. Sketch a root locus for a unity feedback system having G(s) = . Find the S45) value of system gain corresponding to maximum value of damping ratio. Solution Athas three poles at 0, 0, -5 so three root loci will start from there. Ithas one zero at z — —I so one root loci will terminate at it. Other two will terminate at infinity. -$) —(-L Centroid of asymptote = £ “ + y 2n+1)180 _ 95 790 Angle of asymptote = CUEZISE = oo: 270 The breakaway point will be obtained from characteristic equation J + GH) = 0 or s?(st5) (s+1) aK _ at DB! +10s)— (9 +58?) q ds (+1? i 432 Problems and Solutions in Control System Engineering or 244s+5)=0 This gives useful breakaway point at s = 0 Its root Toous is sketched! in Fig, 10.26, It gives maximum value of & by drawing a tangen locus from origin of an angle 0 tothe £=cos @ = cos 50” = 0.64 This corresponds to K = 10. K(+1) F@* 5) : Fig. 10.26 29. Calculate the value of K at the breakaway point of a unity feedback system having K(s+1 GH) = K(s+) Also find the value of K at the point on the root locus first above zero. 5 Solution The breakaway points can be obtained by using the characteristic equation as, 1 + GH(s) = Oor 1+ ie 0 3 a Therefore K s+] Because, wo = 0 at breakaway points Is aK a |-s? Therefore a as - x (stIP (slp? Therefore 9? + 25 =0 This gives breakaway point at s = 0, —2 So the root locus may be sketched as shown in Fig. 10.27. Chapter 10: Root Locus Method 433 Fig, 10.27 Value of K at moe Product of all vector length drawn from pole of GH(s) 00 _ Product of all vector length drawn from zeros of GH(s) 10 0 Oe 7 Value of Kat (s =-2) = 22 =4 (ii) The vector length of point above zero on root locus will be, From poles = v2, v2 From zero =/ Therefore, 9 K= eld =2 30. Sketch the root locus for K(s+1) ____K(s+l)_ GHO) = (oT j2) (st 1-32) Find its breakaway point. Solution Let the breakaway point be as s = * Therefore, at breakaway point: xtl 1 i (eal j) * (xt I-J) axel). 1 (2 +2x+2) (xt1) or 2 + 2+ = OPH TD or 434 Problems and Solutions in Control System Engineering or w+ 2x-3=0 _ 2tV4412 _ 244 rr) Therefore, breakaway point at x = 3, because x = / is not desirable being on Right Half of s-plane Analytically the characteristic equation / + GH(s) = 0 is I+ K(s+1) a (s? +2545) = -142 2 Kea ls +2545) (s+1) Therefore, _ aK at breakaway point +1) (2542) (8? +2545, or ETT est ela (st 2st5) (s+? or 5? + 2s—3 Therefore, (s+ 3) (s- 1) or — breakaway points lie at s = -3, 5 = | The root locus is sketched in Fig. 10.28, jo Kiet) CFs ETD Fig. 10.28 31. Calculate the breakaway points for = K(s+2) oO s(s+ 0 Chapter 10: Root Locus Method 435 Solution Let the breakaway points be atx then i 1 Zeros tothe #i Poles to the Pi -X Zero tothe X24 Potent the X~ Py Gers tehop « “igh of ia age PF 1 The system has poles at O and —1, zero at -2, Therefore, or it 2 24V2 = 3.414, 0.586 0.586 and x = 3.414. Hence it has breakaway points on real axis at x The root locus is sketched in Fig. 10.29. K(s+2) (+l) Fig. 10.29 32. Determine the closed loop transfer function for the root locus shown in Fig. 10.30 for K=6, given: 2 = (s+0.5) @ Hi) = 1, 0) HO = 753 © Ho) EE Also for Fig. 10.30 determine the positive value of gain which results in damping ratio of 0.5 for its complex poles. 436 Problems and Solutions in Control System Engineering jo! SDC Fig. 1030 Solution 2 From the plot the open loop transfer function is G(s) = Sasa H(s) = 1. For closed loop the poles are located at s=-3,jV2,-jV2 a Cis) 6 Rs) (s+3)(s+ jv2) (s-jv2) b. When Ho) = —2 (s+05) G(s) = GHC) __3(5+05) H(s) — s(s+1)(s+2) | Therefore, C9) 2 1 [ GUs) Rs) Hs) \T+¥GH(s) 35405) aes G3) (e+ is) (on) Chapter 10; Root Locus Method 437 (s+05) (s+1) When eee R(s) +0.5)(s+3) (s+ j2) (s- jv2) Fofany quadratic function of form (s? + 26,5 + @”) the roots are at s, and s, = @, +/@, )-@? the magnitude will be [| = [sl = [Be + 5 (7 ey” 7. eng and argument of and argument of 5 From the above it is clear that cos @ =§ In this system desired value of § = 0.5 Therefore, cos @ = 0.5 or @ = 60° 1m the origin at 60° will indicate ¢ = 0.5 line. It will cut the root locus at Hence a line is drawn frot oducts of vectors from all poles divided by the a point A. Where the value of K; is given by the pt product of vectors from all zeros. a ee ss xIT4 _ 19g which is the required gain. nd closed loop transfer function. Explain it 33. Discuss the relationship between root loci with the help of following transfer function, _ Astt) cielo G09) = (3) and HO) = 755 Problems and Solutions in Control System Engineering 438 Solution st 5 i = KN) Let the unity feedback closed loop system have open loop transfer function as G(s) = Tee The closed loop transfer function of the system will be C(s)__G(s)____KN(s) R(s) 1+G(s) D(s) +KN(s) M(s) = = KN(s) _ K(s+21) (s+2y). | Inpole zero from G(s) Dis) (s pp) (e+ pals Vs Dy | oe Cls) _ K(s+2) (stz5) | i Rs) (st py) (s+ pr! where p;', po’. are poles of the closed loop system. Which differs from open loop poles, whereas | zeros are unchanged. Ast) } G(s) = 264). {} i (s+2)? ii G(s) \ For closed loop it will be M(s) = T+G(5) | ae 2As+1) 2(s+1) (s+2)? +2(s+1) (s+4732) (s+ 1268) ls) pms) |) rersecontene 22) Ste) R(s) 1+ G(s) H(s) 2A(st+1) (S42) ____2s41)(s42)_ 14284 (542)? 4 (841) (+2842) s+) (s+2) (8+4732) (s+ 1268) Hence the closed loop poles remain the same at s = 4.732 and. a $= 1.268 but zeros chi as given above, in case the system is not unity feedback. ao ee Chapter 10: Root Locus Method 439 SM The loop transfer function of a feedback control system ie Guy = ——__K____ S843) (842+ j5) (542-75) Find i. the angle of departure from the complex poles of this system. i. Centroid and inclination of the asymptotes. Breakaway points, 82 2-55 ~ Fig. 10.31 Solution / (i) The complex poles for this system are at ~2-j5 and -2 + /5. The real poles are at s = 0 and § =~3, These are shown in Fig, 10.31. Applying the angle formula at a point close to the pole -2 +5 to get -(0, + 8; + 0, +0) = (2n+ 1) 180° Now angles are 0, = 111.8% 8, = 90% 0; = 78.7° So, — 0, = (2n— 1)180° + HIL8° + 90° + 78.7° or 0, = 100.5" The lower plot will be the image of the above plot. = 100.5° i GH(s) ~ zeros of GH(s) (i) Centroid = Spe ON 440 Problems and Solutions in Control System Engineering 2-j5)-0 Angle of inclination of centroids are = (21+) 180° P= 180 F n=0, 2 2 45 or rao, n= 1, 22180 = 1350 4 n= 2, 22180 @ aa50 4 n= 3, PHO = 3150 4 ‘Thus there are 4 asymptotes (+: P—Z = 4), this is because all the four root loci have to goto infinity. (iii) The characteristic equation is + GH(s) = 0 0 3(s+3) (s+2+j5)(st2-j5) |} K=-(s¢ + 753 + dls? + 875) or 1 _ dK For breakaway points “7 = 0 or 4s°+ 21s? + 62s + 87 = This gives breakaway point at s = -2.55 35. Construct the root loci for a unity feedback system having on) = KG) ____., Consider the effect of introducing a pole (543) (s+2+)5) (842-55) | s=0 in the system. | Solution The system has a pole at s = -3, -2 -/5, -2 +5. So the three root loci start from thi 2 ‘ at s = -6, so one root loci will end at this point, Other root loci will terminate at infinity. The pene on left of s = -3 will terminate at s = -6 whereas from complex poles root loci will terminate # infinity. rere. It has one zeF0 Lpole GH. zeros of GH itroid of tote = Centroid of asymptote or Chapter 10: Root Locus Method 0. 3-1 5 Angle of asymptote = (2041180 _ (2n+1)180 P-Z 3-1 The angle of departure at imaginary pole, = (0, + 8-0; + ,) = (2n + 1) 180° or 8,=@n + 1)180° + 6, + 8,~ 0, Now — 6,= 90% 0, = 78.7% 6; = 513° ‘Therefore, @,= -297.4° = 62.6 Angle of departure from pole -2 + j5 = 62.6" Angle of departure from pole -2 — j5 = -62.6" It will not crossover the imaginary axis and the system is absolutely stable For the other case the open loop will have poles at s = 0, -3, -2 + js, -2 + js. So root loci will start from these poles. There is one zero at s = —6, one root loci will terminate at this and rest three at infinity. The centroid of asymptote = 90", 270° 3-2-j5-2+j5)-(-6) 4-1 (2n+1)180 P-Z Angle of asymptote = = 60°, 180°, 300° | The angle of departure from imaginary poles will be (0, + 0; + 0; ~ 0, + 85) = (2n + 1) 180° Here 0, = 111.7% 0) = 90% 0; = 787°, 0, = 51.3° So 0, = (2n + 1) 180° +111.7° +90" + 78.7°— 51.3°= 409.1° or 6, = -49.1°, will be angle of departure at pole -? +75 Angle of departure at pole -2~ j5 = 49.1° - Point of intersection with imaginary axis. The characteristic equation is J + GH(s) = 0 or (643) (2 +4942 +K+H) = 0 or st 4753+ 41s? + 5(87+K) + 6K = 0 Routh tabulation 41 442 Problems and. Solutions in Control System Engineering 294K (87 + K) 0 0 tt s! (874K spon K a ? OK mat tt This will give the limiting value of K = 200 | Auxiliary equation is i 783 + (87 + K)s= 0 j or 7s? + 287 = 0 | Therefore, s=afVa 3h? . =s(s £78? +415 +87, | rskaay pints on seal ans = nA 47 416487) {i} (s+6) lit aK 2 _ \ (85) (45° + 148° 4-418 +87) ~ (54 4753 +415?-+ 875) ne ae oI = (STs) thls" + 875) of ras (s+67) | or 334+ 31s} + 84s? + 2463 + 522-0 This gives s~ -2.55 ands i The root locus is sketched in Fig. 10.32. Fig, 10.32 The comparison shows that introduction of a pole at s = limited stable one. 0 makes an absolutely stable system @ Chapter 10: Root Locus Method , 443 36... Sketch the root locus for Guy) = KO*2) (843) ; (sD (s=1) Solution... , . ; | Polesare ats = 1, ~1, so two root loci start from these poles. The zeros are s = ~2; ~3 so both the root loci will terminate at these zeros. Breakaway points will be obtained from the characteristic equation (541) (81) (s+2)(s+3) + 4 1+GH(6)= 0 or K= as (3? +5546) - 142 3 J 1414 = 0.414,-2.414 For finding the limiting values of K the Routh Hurwitz criteria gives characteristic equation as Routh tabulation sv (K+) (6K -1) sl (SK-1) 0 - 80 system is unstable for K < 0.2 and above it, it is stable one. The auxiliary equation is /.2s? + 0.2 =0 a lerefore, s? --2 or s=+j V0167 root locus is sketched as shown in Fig. 10.33. K(6+2)(6+3) ih tor ‘ CIDE) Fig, 10.33 = 444 Problems and Solutions in Control System Engineering 37, a. Obtain the root locus of a unity feedback system where forward transfer function K(s+2) (s+3) s(s+1) b. Determine the break in and breakaway points and the value of K at these points c. Determine the range of K for which the system is stable. Solution There are two open loop poles, hence there are two branches that terminate on the two open loop zeros. To find the break in and breakaway points, p+ Ks+2)(8+3) 4 s(s+1) =s(s¥1) Ket (s+2)(s+3) dk 2s? +6543 ds [(st2)(s43)P ‘The breakaway points is -0.793 between the two open loop poles 0 and —1 The break in point is -2.207 between the open loop zeros, ~2 and -3. The characteristic equation is modified as +s + Ks? + SKs + 6K =0 (1 + K)s? + (1 + SK)s + 6K =0 Routh array 2 1+K OK 5) 1+5K So 6K K>0 For all positive values of K the system is stable. 38. For a unity feedback system forward transfer function is given by K s(s+1) (s+2) a. Obtain the root locus of the system b. Find the values of @ and K for which the locus cross the imaginary axis. Gs) = Solution a, The forward transfer function of the system is Chapter 10: Root Locus Method 445, K G(s) = ——>~___ O- Tee DistD) Since there are 3 open loop poles, there are three branches that terminate on infinity. Lreal part of pole: n=m The centroid is given by = —Zreal part of zeros centroid'= (=2=2)-0 __, 3-0 The angle of asymptotes 9, = 189 (24+) @ - 9 7 »y n—m = 60, 180, 300 The breakaway point can be found using, aK _ as The characteristic equation is 7 + ——K __ ei s(st+1)(st+2) K=-s(s+1)(6+2) ie, 3s? +6s+2=0 _ 6436-24 6 s s = 1.6, -0.42 Since the branch between —/ and -2 cannot lie on the locus the breakway point is —0.42. To find the point of intersection with imaginary axis, applying Routh’s criterion, we have the characteristic equation as si +3? +2s+K=0 The Routh array is o-K 2 3 9 446 Problems and Solutions in Control System Engineering D6 ‘ 0 k , 7 K>0 on K when K = 6 the auxiliary equation is, 346-0 satin? The points of intersection with imaginary axis is + i 1.4/4 and -i 1.414. Thus K = 6 and @ = 1.414 for which the locus cross the imaginary axis, tit Fig. 10.34 yiai K(s+10) (+20 | | 39. Sketch the root locus for GH(s) = Rest 10) (5420) | $3(s+100) (s+230) 1 hG8 Solution : fa 1 gee ‘The poles are at s = -100, -200 and triple pole at the origin, so there will be 5 root loci starting i i these poles. vl 4 There are 2 finite zeros at s = -/0, -20 and 2 root loci will terminate there. The other three ; | terminate at infinity. i 1 i Centroid of asymptote = | Chapter 10: Root Locus Method» 447 Angle of asymptote = (2"+1)181 S=2 Applying Routh Hunwitz criteria, the characteristic equation is s? (6? + 3008 + 20000) 1s + 200) = 0 or 98 + 30084 + 2000083 +Ks? + 30Ks + 200K = 0 Routh tabulation will be = 60°, 180°, 300° ‘ zl 20000 10K i 300 © pie oon a oxi =K 800K 300 Te 0 a eee oe 200K 6x10°-K 0 302 88, 0.67(6 10° —K, st 2K- OsSt(G XIE SKE a 0 3 (3.36 10° —K)K ” 200K 5 ba tee OXIDE Hon K< 6x 10° For stability (i) arr ae laa duo 6 (iy G36XIP-K) 5 9 op K< 3.36% 108 (6x 10° -K) (iy 8x _ 0.676108 =KP 3 (3.36 x 10° -K) or (K2—0.27 x 109) (K? - 3. 3.36 x 10%) < 0 Therefore, K > 0.27 x 10? > 0.52% 103 \ So for stability range of K is ‘ 052x108 < K<336x10 . ‘The root loci is sketched in Fig. 10.35. it 448 40. Kae Ke 336x108 Keo kof or Fig. 10.35 A unity feedback system has the forward loop transfer function K(s+2)P s?(s-1) a. Determine the range of K for stable operation Determine the imaginary axis crossover points. KG(s) = ¢. Without calculating the real axis break away points, sketch loci for the system. Solution The given forward loop transfer function is, K(s+2P s(s-1) KG(s) = K(s+2)? _ (8-1) +4K=0 Characteristic equation, J+ ie, S's? + Ks? + 4Ks Applying Routh’s criteria st 1 4K s K-1 for stability 4K > 0 ie, K>0 K~ 052810 Triple pole the form of root Chapter 10; Root Locus Method 449 2 K-1>0 o 2 3K>7 Also (K-2>0 = K>2 Range / of K 0 © Ked To find imaginary axis cross over points, Substitute K = 2 in the aw ry equation. Fig. 10.36 1. a. Find the overall transfer function of the system shown in Fig. 10.37. b. Sketch the root loci as K varies from zero to . ¢. Calculate the breakaway points. a (> i T std 2s-1 Fig. 10.37 olution From the figure, X, = X- Y; (s? + Ks + 3K) X,=X,-Y¥, 28-1) 450 Problems and ‘Solutions in Control System Engineering y= ¥,(s? + Ks+3K)-¥,(28-1) —_ sti and Y) OY” Pa Kee aK + 20- 14543 Y I Xs? 45(K+3)4+3K4+2 b. — Characteristic equation 8 +5(K +3) 4+3K4+2=0 1+ KG#9 -931+GH=0 s?+3s+2 ow = 1+ KG*3) s? 43542 c. Root locus Fig. 10.38 To find breakaway points, £ (66) H()] = Oe [fae fo ae ds |s? 43942 or (6? + 38 +2)- (6+ 5) (28+ 3) =0 ie, +6547 =0 se Seu s = 4.41 and -1.59 42. A unity feedback system has the ‘open loop transfer function Gy) = Ks : s(8+1) (S42) Chapter 10: Root Locus Method | 451 Calculate the break Away point and the in Sketch the root loci aS K varies from 0 to 00, ry axis crossing points. Solution The given open loop transfer function is, K s+1) G(s) = — st +2) To determine break away points equate “to zero ds ° The characteristic equation is given by J + Gs) = — s(s+1) (s+ 2) ie, si +3s?+2s+K=0 K =~(3 — 35? — 25) ie, 1+ is =-(3s? + 68 +2) = ds s =-0.4226, s = 1.5774 Since the breakaway point must lie between 0 and -/, s =-0.4226, For s =-0.4226, K = 0.3849 - : To calculate the imaginary axis crossing points, we use Routh’s ‘stability criterion. Routh array is given by 8 1 2 2 3 Kis sion sl 6-K 0 BI sf K ++ For the system to be stable K>0 and 6-K>0. At the imaginary axis“. K = 6 seg? 452 Problems and Solutions in Control System Engineering Fig, 10.39 Substituting for K in the eqn. obtained from s? row, we get 352 +6=0 ie, s=siv2 43, Sketch the root locus for the given G(s) His) = XO+1) s(s+2) Solution ‘The closed loop transfer function is given as 7(s) = ee (s?4(24K)s+K) The two roots of the characteristic equation are, to 13V2 5 ~fo+8)-(r42x°) The root locus has two branches, one for closed loop pole which moves from the open-loop poleat the origin s = 0 to the open-loop zero at s = 1 and one from the open loop pole at s = —2 to the ‘open 1 12 Leen) +(1+te") and loop zero at s = 2°. Note: G(s) H(s) has two poles and one zero which are Poles:s = 0, s =-2. Zero: s=—1 Since the number of poles is greater than the number of zeros, the number of root loci is 2. The so Chapter 10: Root Locus Method 453 Mn also be obtai cal ‘ined from the degree of the characteristic equation The root locus plot is shown in Fig, 10.40. 44. fio soplane SK Potes C ) tet0s etd Real 2s Fig. 10.40 K Sketch the root locus for G(s) = ————__; K S(8+1) (s+ 3) (s+4)" >0 Solution vii. Vili. There are four loci since P = 4. The root loci start from the 0, -1, -3, -4. Since Z = 0, all the roots end at infinity. Root loci is symmetrical about the real axis. ‘Angles of asymptotes are: 45°, 135% 225% and 315% The point of intersection of the asymptote with the real axis is : (-1 -3-4 4-0) 2 The breakaway points of the root loci are obtained from st 62 + 95s+3=0 which gives s, = 0424; 8) = ~2.0; 83 = ~3576 5, cannot exist since there is no root locus in the section as the number of poles to its right is even, There are two break away points occurring between O and -3 and +4. The limiting value of K is obtained from Routh Table as 26.2 From the auxiliary equation : 17.55? + 26.2 = 0, @ = 1,224 /rad / sec. ‘The root locus passes through @ on. jo axis. ‘The approximate root locus is given below in Fig. 10.41 454 Problems and Solutions in Control System Engineering Fig. 10.41 x. The value of K at s = -0.424 is obtained as below : it St 4855495? + 128+K),. gyn, = 0. Thus, K = 2.25 45. Sketch the root locus for G(s) = ——K fork 3.6.” 12542) ! Solution : K Ge) = — Au 2K, (37 42842), (s+(-14 J) (s+(-1- J) Number of poles P=2 wah Number of zeros 0 Number of asymptotes. N= P-Z = 240i 2 Angle of asymptotes =90°, 270° Starting of root locus Real axis intersection The plot is, Chapter. 10: Root Locus Method 455 Fig. 10.42 K(s+2) for K>0 (se IP 2 46. Sketch the root locus for G(s) fi Yo aronl ous he given open loop transfer function is, G6) = K(s42) fin (SHES plane ott ee “Number of poles P=2 a z=l Break away and break in point (s+2) Differentiating with respect to s, & => ba aaa ii ry er9=0 s=-l s=-3 456 Problems and Solutions in Control System Engineering Fig. 10.43 47. Sketch the root locus of the system whose open-loop transfer function is given by G(s) H¢y = +3) s°(s+5) Solution The open loop poles are at s = 0, s = ~5. The open-loop zeros are at s = -3. The centroid of asymptotes = (2+9-5)=(-3) G-) o, =-1 1 1 The angle of asymptotes, 9, = Meal 180 ° 94g, = 90 tif Ee an Of the 3 root locus branches, one branch originates from s = —5 and terminates on s = -3. a remaining two branches break away from origin itself and terminate on infinity along the asymptotes as shown in the Fig, 10.44, Chapter 10: Root Locus Method = 457 Fig. 10.44 Se (St+0)(s+2)(s+4) Obtain the value of its output/input ratio for K=-20. Hence obtain its transient response when unit step input is applied to the unity feedback control system. A unity feedback system has forward path gain as G(s) = G(s) has three poles so p = 3 and no zero soz = 0 The root loci start from infinity as there are no zeros. The root loci ends at poles s = 0, s = -2 and s = -4. 2gn 2, The asymptotes make = 0°, 120°, 240° with the real axis, is 2-9 The point of intersection of the asympltote is 7 = The characteristic equation is s7 + 6s? + 8s + K = 0 Differentiating it with respect to s. 3s? + 125+ 8=0 This gives gee init = 3.155, 0.845 tamara ties aa 458 Problems and Solittions in Control System Engineering Therefore, the breakaway point i 155 ic. between (-2 and ~4) other is avoided, The actual root locus plot is shown in Fig. 10.45. Fig. 10.45 Root locus From the root locus, the roots obtained are /.2, -3.4 +j2.] and -3.4 2.1 -20 Forunit sep input, C(S) = <7 79) (54 34— 721) (sn344 72D) 4,270 OD 8 (8-12) (s+34—j21) (s+34% j21) From Fig. 10.45, the residues’are’obtained as follows C= = 20,263 2150" (52152) (3.92148) (3.9.290") £ D will be conjugate of C, it will be Th 49. Try Thy Hen Sim Hen Chapter 10: Root Locus Method 459 D = 0.263 2 ~150° Therefore, C= 1.1 ~ 0.6702" 0.526¢-2" sin (60+ 2.11) 49. A unity feedback control system has loop transfer function of GH =—__K s+ 1) (s+ 2)(843) Find the breakaway point lying between 0 and —I. Solution Letx be the breakaway point between 0 and —/. 1 1 1 RHS. = 31 Try x=04, the LH.S.=2.5 RAS, 2.895 1 1 1 Try x= 0.38, the LH. 63 RHS. + = 261 epee 0.62 162 262 Hence x = 0.38 will be the very approximate breakaway point for such a system. Similar procedure can be adopted for finding the breakaway point between 2 and 3 which will give 1 I 1 1 1 ee ‘ x-0 x-1 x-2 x-3 4 Hence the system has got two breakaway points at x = 0.38 and x = 2.62. Lp, -d (0+1+2+3)-0 The centroid of asymptote will be = poz Tt OY BLS _ (nt 1)180 _ a P-Z i Other angles will be 135° 225° and 315° fh a ___ 38 4 asymptotes and all the locus will terminate at infinity. root loci is sketched in Fig. 10.46. aa { Angle of asymptote | 5 — INCE Fig. 10.46 460 Problems and Solutions in Control System Engineering iit 50. Draw the root locus of the following characteristic polynomial | s+) (s2+2s+5)+K = 0 for 0SKS@ | Li Solution | ‘The given characteristic equation can be expressed in the form as \ \ 1+ 6H -1+ —_——— =0 i s(st1)(s? +2845) | | This gives a EW Sst) (s+142j)(s+1-2j) i Its poles and zeros are shown in Fig. 10.47 4 1h The angle of asymptotes = Catlin _ Vth pr-z 4-0 Viet \| i ‘The points ofimerssehenr es ee! MCGL—2d)-4 (oI 21) i 4 t \ ‘The breakaway point is obtained from the following equation: aa s(s + 1) (52 +2s+5)+K=0 it or sf 43s) +75? +5s+K=0 ce 45°, 45% 135° and 135° Chapter 10: Root Locus Method Differentiating with respect to s and putting “ = 9 to get ds : 43 +95? + Ids +5=0 ~The breakaway point is obtained as -0.49, ‘ "The critical point in the imaginary axis is obtained by preparing Routh’s array. st 1 7 K s 3 5 es 16 3K s! 80 -9K st 3K 80 The critical value of K =" . Also 16s? + 3K =0 Putting s = je on the imaginary axis. -16@? + 3K=0 _ [3x80 -— 16x9 V3 The complete root locus is now sketched in Fig. 10.47. or K=0 A Fig. 10.47 Root locus 461 —= 462 Problems and Solutions in Control System Engineering 51. A unity feedback control system has transfer function Gui) = ———_KG+)) _ Bite 842) (s+14 J) (S41-J) Find (i) Centroid and the inclination of the asymptotes. (ii) Angle of departure from the complex pole. Solution (i) The centroid of asymptote = E pele GH) E seres of GHs) = (0-2-1-j-1-j)-(-l) ms 4-1 Angle of asymptotes are n = 0, Ce 180 = 60° fee hay Stan ee 3 5x180° n=2, ae = 300° Thus there are three asymptotes. Gi) Angle of departure from the complex poles (1 +j) and (-1 =) will be applying angi formula at a point very close to (—J + j). (0, + 8, + 0, + 8) + 8, = (2n + 1) 180° —(135° + 90° + 45° + 83) + 90 = (2n + 1) 180 Therefore, 6, = 0° The root locus is sketched in Fig. 10.48, K+) , WIDE IED Fig. 10.48

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