LABOROTARY MANUAL.

CONTROI. SISTEMS

Date:
614 lR02
Experiment No. O
ROOT LOCI

OBJECTIVES:
given transfer function to show its breakaway points and
Draw the root loci for a the system.
with imaginary axis. Obtain the range of K for stability of
intersection
Verify using MATILAB.
Theos
fruolved to plot woot loci fsvm open loop
Tranu ber buncfon i
Sep0: Get the geneual fobormaton about the number
o open poles ze2¬Mgs , numbe l ban (hes

lhe pole- zeno ptot. I3 denHy geckon

oß ueal axa oust the exfotence
mnimnu m
he oo t loc Us and pedc +
numbe af buealuoy poYnB.
Catcutak augles ß asy mptote.
the cenbotd . setch fhe
Sepaae Sretch Bor Sep 3 and
Calculate
TH the
the
byeat
baeak a ucuy
ae comper
conjugate then avay
CUse. pt
cclculate the fnteechon poînts
ceoith

seO: caletate Ahe

cnga
imaghg
loreg
Peereolict the stabtlfty cnd pexhorma ure
Prepared by: Dr. N. S. Jyothi
poqam -I
aiun han,jen
tunchon to thaD
to 1!
i4 bularauay potn s andthe
Qri6 . obtain
in vsecfon ith Tmagtnay
eange lab
ystem . veuiby stng mat

pHo am
cle,
cleau all"
num [i]:
den CL
8:4 (num, den)

Tabulau colam:
rheauifcol value Simulafe d value

: Cn 8)
poes (n: 3)
a)
poles
gi-3
S: -5
co)
" 2eoes: Cm 2en0es :(mo)
Bueak away 4.31
maugtnel magtnal
arîd
Jntouecton ao tmaginay
j3.84
 Theosutgreal calculaHort
n:3
fepl: rhe n ob polel ,
.e Si 0, -3, -5
rhe nd o 2eoel,
þlot G)H)
pole ze0

kp3. Real ai loct aue pueel ent for

plep 4
duga ob agmptok :
n
when 0, 6o

Sep 55 enboid Coc)

('eseat -
Ereal pall ob 2es
3

k
SCS+ ) Cg+5)
3Cs+3) (e+5) t k
SA5S?+ 382 + 15S +
+ LS S +
Keo
ko
K -s3 -gs-ISS
Soale
 Edt

View

lsert
Toots
Imaginary Axis(seconds!)
15
-10
-25 995 D.39
095 0.988
0.988 Desktop
Window
089

0.81
20
081 Help
-20

arch Q
15
-15 0.7
0.7

10 0.56
-10 0.56
(seconds)
Real
Axis LOcus
Root

0.38
0.38

0.2
0.2

ENG
US

10

023

02
38
 -38 - l6S-|5
4
lvaltd baear way potn

arfS
Stp: nteecton ob trnag fnang
g3

93
I5
120-k
K F max |20

|20

832 20 o
S:f3.9 ad|sec

0utput
Root locus plot Ba the goen trantpe Buncfen
the sheet ol page no
CUmmCnT
O<K 120 al Oots aHe tn the eßt
half o 8-plane. Henc e the Sytem cn cosolutas
tade.
fou K120,
Hence the
00t On Hhe
fmagtnany axi8
mogtnasly
Ac?ang8
FoH K>\20
wfth 3.9
On
Had{sec.
the
tho S-plane . ence the sskem us
unstable.
ketch QC) HCs) : k
sCSt)Ct 6)
Poxg wtng MeTLAB
K

phoqam;:
olc'
clean ue;
num =t];
den: Ei a4 o];

sutocas g)
TABULAe COUmN
heoeeal rmulete d
Ualue
n 3

NO 2tuoes S-6
geeat away point -S- -l.S6
Eaaginat
Sotersecfon af
inegnay
 30

{Xe No EXE lLE DATE

Scote

-5 -3
 05-04-20
2005

ENG
Co

US

fayate

4.94
(rad'
Frequency
s)}
4.940.00403
Damping
101
(%)
Overshoot
1.63
(rad's)
Frequency
-0.0199
0(%). System:
9
Overshoot Gain:
245
Pote.
Pole:
16.9
1Damping:
Gain.-1.63
System:
9

0.2 0.2

4(rads). (seconds)
Axis
Real
(%):
0Overshoot -5
0.38 0.38
Locus
Root 6.05 System:91Damping:
(rad/s):
Frequency Frequency
4Pole:
0Gain:
(%):0
Overshoot

0.666
Gain:
System:g
6.051Damping:
Pole:
0.56 0.56 -10

0.7 0.7 Searcn

Q
-15
15

Help
0.81 0.81 -20
Window 20

Toos
Desktop
0.95 0.988 0.988
0.89 0.95 0.89

-25
10 -10 -15
5 (seconds'") Imagi
Axis nary
Insert

sunn
Mos
View

23*C
Fiqure
A
1 Edit

File
 Calccula fon
Theou?fcal
eb pole n3
The ad.
i.e

the no

Pole plot o 4c) H)

SRp 3 Real art loc1

n-m-)
n-m

cwhen

cent oid (o)

c Eueal pat & poles

-3.33
3- 0
(t e) HS) = o

S(SA) (9ts)
g(st) (St6) tk 0
R't|og2 +943t Keo
K-S -log-4e
dk -3s
d3
e {vaid beeat away pty
S:-5. 09
 3ep 40404ecKon

fman
K

Oulput
toansjeu buncfon
Root docus gYun
no:Q
in the Hes e4ente sheel pag
omment
in te legt haf of
plano. Henc e a bsolukly stade
the imaginy arf
Hence the
movgrnty Stable
wfth 4. g9 Hadlsec.
the
tho S plane, ence the

Unstabe
SLetcn the HOOt

ornmen t s(sutj)(+)
mATLAB.

clej
clease all;

den = (1
(num

Tabulose cotumn
paseamefeus The orical Simulatd value
value
n3 n3
Numbe
Poles

N ambe
2eeuOe m o

Knosgtiat
gntesechon
imag inany
 o Stl 5)(
Tmasinayke t-j) + SCS
dntesectfon
beaa foe lahon culea
J
eal the
not do doci
fhe Bince
2-0.
6G -1) -| 3lo6e:
poles 8 pet
(or) ceobod Seps :
30
2 o,
-) 0.l2 6o°
3
adymptote Sep4:
6om pseeßent Le loci axis Real
plot 2e40 pole-
af Numb
Cij) (-i-j) o, g ie
poles Numbe
o Sep!:
ARUN's
GOLD
 Fgue1

et
Imaginary Axis (seoonds) Tools
-3 2

08 091 O975 0975 Desttep

Wndoa
Help

Q68
0
68

ch Q

0
58
058

-3

(seconds)
Real
Axis 042 Locus
Root
042
Syslem:9
1.Damping
Frequerny 41 0.707 Pole.-1i -1
(radis)
Overshoot
(%)4.32 Gain: 0 2
2

028
0.28

014
0.14

Frequency
Oversh0ot
(rad's} -1System.
0 0 Pole.
Damping
(%): 0 0 9
Gain Overshoot
Frequency
(rads) 2 101(%} Systemg
1.Damping
40.00315 Pole: Gain:
4.05

0.00448

+
1.421

ENG
US

23

20
26
 Department of Electrical &Elecronics Engineering

K
G(s)H(s) =
S(S +3)(S +2S + 2)

Root Locus

K=8.22, w=1.1
2.29

Real Axis

Malnad College of Engineering, Hassan

 4Cs):
44 C

4aIBo"4 a*g (G, () HC9J

(4o°t13s°)]
-s

the 00\ ptot Bo. the g'oen oarabe

Bucton in 4he sehençe gheef no 3

Fo4 all s o08 lie in the Jegt hal

oß the S-pla ne, Henr e

the the
arif Henc e the sykm Tnogfray
sla ble.
cAoith 1-4| 3ead Ise c

Fost P4, the Jie the

he S-plane Hence
ansta ble.
 loop panßer
fketch the docut
con bol ypkm
funch'on db e feedback
giuen
S(St )
uing mATLA B.
t (St3)

cleay allj

A f (nuo, den)
Tabula
colunn;
paseanetes
Numbuu ah poles
heosu'value!
sco! SPml ted
vaue
Numbeu 280e4
Rueak Qteay poin!

buear tnin point -1.9{

-4-43
-4.73
 colculchon:
NO

centofd (oc)

Cnd boeak tn point

S(S+)

S+S + KO8 +3)ro

k: -6? +9s )
 dr
ds (S+)?

P+)?
S+ 6S t 6
+6S9

+ 6St 6 O

-4.f 3) Cvalfo bac ßn pofnt

The yoot loccus plof fose the gloen târnsfe

functfon fn the efesrerce Sheef peg ne 50
COMMent'
abse ved thaf for a
ponss cleauy
fenckfon
Q giaen
sheosrtray alulofe d ualue
machig aith gmu lafed Valel
 DATE

ARUN's
GOLD
 ENG

29
1
(radst
0
Overshoot
(%
0536
-i.29
Poie1Damping
Syslemg Frequency
Gair Q4

066
066

1.99
(ras)
Frequency 2

0.82 (%):0
Overshoot
0.0101
Gain O82
1Damping
-1.99
Pole:
System9
-3
3Frequency
(rad's)
(%)0
Overshoot (seconds)
Locus
Root
1Damping.
System:
9
0.9 Gain
nf Pole.
-3
0.9
Real
Axis

0.00573i (rads).
4.73
Frequency

(%):
0Overshoot
0945 + 0.945
4.73
Gain 1Damping:
System.9
7.46
Pole: Searcn

Help

Window
Desktop
Tools
3
8
0974 0.974

O997 0.997
0.99 O99

15 05 05 5-1
(seconds") Imaginary
Axis
lnsert
~oty
sunn

26°C
V
Edit

File