complete description of the system in terms

of variation of one parameter of the system

which is your design parameter. So once the
complete description of the system with respect
to the design parameter is known to you you
simply translate your requirement performance
requirement and get the value of the design
parameter that is going to be root locus method.
So you see that there will be two steps in
the root locus method. You consider what is
your design parameter it may be the derivative
constant of a PD controller, it may be integral
constant of a PI controller, it may be an
amplifier gain or it may be any other thing,
at this juncture you assume as if there is
only one parameter but there may be more than
one parameters as well but start with a only
one parameter. So what you do is you plot
the root locus diagram with respect to that
parameter as it varies from 0 to infinity.
So it means the total behavior of the system
with respect to that parameter is visible
to you in terms of the root locus sketch and
then you can translate your requirements and
look at the root locus sketch to find out
what should be the appropriate value of that
parameter. These points will become very clear
later but at this juncture it should be very
clear to you that a root locus plot is a complete
description of the system with respect to
a specific parameter of design.
So in this case K, you find, for example,
for example if you take this point you known
that the roots are complex conjugate so if
you take larger value of K what will happen
you know that the system damping will increase
or decrease tell me? If I increase the value.....
from this point to this point if I go what
will happen to system damping please? It will.....
decrease and increase both terms are coming.
Please see that it will decrease. The system
damping is given by.... this is theta cos
zeta is equal to cos theta; you can check
that this point also as the roots are going
this way, you are coming from the situation
of over damp to critical damp and to under
damp and as you go this way as K increases
the system damping will decrease this you
can easily check. So you see that the effect
of K system will never become unstable, system
damping will decrease with the value K, and
up to K is equal to 1 by 4 the system is critically
damp over damp all these conclusions can easily
be made from the root locus sketch.
Questions welcome please at any stage. Come
on; make little change in your diagram. I
now say that your system becomes K over s
into s plus 1 into s plus 2 this is your open-loop
system. What is the difference now with respect
to the earlier diagram? You will note that
the difference is this that the plant now
has an integrator the plant has an integrator.
What is the characteristic equation of the
system? It is a third-order characteristic
equation as a function of K. Though I do not
claim that you can immediately get the roots
analytically; assuming that for a different
values of K from 0 to infinity you have got
the roots.
How will be root locus diagram look like and
suppose you have got the roots whether the
complete information is available or not let
us see. The open-loop poles are at s is equal
to 0 at minus 1 at minus 2. I leave this as
an exercise to you. Of course you need not
to do it on the computer, I am going to give
you the methods how to make a root locus sketch.
But the root locus as I know will be of this
nature. Please see, these are the root locus
branches. This is the total root locus diagram.
You can imagine that you will write the characteristic
equation of the system, vary K from 0 to infinity,
get the roots and plot them and join them
by line. If you do this exercise the red lines
will come. At this point I hope you will not
mind accepting this statement.
Now let us see the conclusion. The conclusion
is very visible from here. Look, this is the
point at which K is equal 0, this is the point
at which K is equal to 0 and here is the point
corresponding to K is equal to 0 you are at
the open-loop pole points at K is equal to
0. Increase the value of K. If you increase
one root will this way, other root will go
this way, third root will go this way these
are the three branches. One branch going like
this, this way, this way, the other branch
going like this, this way, this way and the
third is here so for any value of K you are
going to get three roots from the root locus
plot. Increase K further, you are reaching
this particular point where the two roots
are repeated and real and let us say the third
root is here.
Further increase in K gives you complex conjugate
roots.
Now you see that this system clearly shows,
as you are increasing the value of K you are
drifting towards the imaginary axis and your
system is becoming more and more to the system
is going more and more towards oscillations
and instability. And the third root tells
you, please see, the third root also gives
you the location, you can test the dominance
condition and see whether the contribution
of the third root on the dynamics of the system
is going to be significant or not. If this
particular third root is about four to five
times away compared to the real part of these
complex conjugate roots in that particular
case the effect of this particular third root
on the dynamics of the system is going to
be negligible.
Increase your K further, you are coming at
this particular point and you are going closer
to be imaginary axis, at this particular point
there is some value of K which makes the system
oscillatory. You further go to and increase
the value of K as system become unstable.
So you will find in this particular case that
this point you are getting as K tends to infinity,
this point is going to infinity as K tends
to infinity and here is a point which goes
to infinity as K tends to infinity. The only
point I have left to you is that you compute
it on computer and make this as the sketch.
So can we say that this particular diagram
has got three branches: for one branch an
arrow is shown like this from K is equal to
0 to infinity K is a running parameter, the
other branch K is equal to 0 to infinity K
is a running parameter, the third branch K
is equal to 0 to infinity with this as the
third branch as I told you that really scanning
this way or this way is immaterial because
the two roots are going to be complex conjugate
and symmetrical.
So you just see that if you have a root locus
diagram the effect of parameter K is totally
visible from the root locus diagram this is
what we are going do with the help of the
so-called root locus technique. Everything
about the system is visible. Routh stability
criterion did give you the range, you see
that the information that from K is equal
to 0 to K is equal to this point the system
is stable and K is equal to this point to
K is equal to infinity the system is unstable
this information is available to you from
Routh stability criterion as well. But it
really does not give you the system poles
in that particular region while the root locus
plot gives you the system poles in that particular
region that is important.
You can at this point say that what is a root
locus method after all? If I have a characteristic
equation I can sit on the computer terminal
and get the poles for any value of K I am
interested in. my argument is same as I gave
you in connection with the Routh stability
criterion. There, only numerical values will
be available to you, you will definitely need
this type of sketch to see how the parameter
is going to affect the closed-loop poles so
those numerical values are also required to
be plotted. So I do not say that the computer
is not useful in root locus method; the use
of the computer is only to the extent of getting
this plot. Once this plot is available you
have to apply your own judgment to see what
should be the value of the parameter K which
satisfies you performance requirements.
Yes please?
...((the third root does not affect the transient
performance the one which starts from minus
2)) why?] ((Does it affect the transient when
you are deciding the designing the system))
yes, this we have discussed that the third
root of a system if it lies in the insignificant
range then it does not affect the transient.
In this particular case, for example, if the
numerical values....... I have not given you
numerical values because at this particular
point what is the value when the roots are
there? I take complex conjugate roots, this
is the real part, let us say it is minus 0.5
and let us say this is minus 3 yes it will
not affect so it means the root locus plot
it will give you that information as well;
you cannot say you cannot conclude that the
third root does not affect the transient performance.
Let me take a situation where this 0 is close
to this Sir, in this particular case.......in
this particular case it depends..... what
I want to say is that in general you have
to determine the third root and check the
dominance condition if it does not in that
particular case your performance translated
into these two poles is the acceptable performance
and if it really affects then the performance
you have translated in terms of these two
poles is not the true performance and you
have to suitably account for these effects
as well. I hope this is clear that the third
root is also given by, third or any number;
in a higher order system it will be more than
3 so those roots other than the dominant roots
also have to be investigated and the dominance
conditions to be examined. So if it is satisfied
you are happy if not then you have to suitably
re-enter the design cycle so that the affect
of the other roots other than the dominant
roots is accounted for.
Fine, let me take one more example, say K
over s plus let me take it at 5 divided by
s plus 1 into s plus 2 you know that what
this, this now has a 0 which is equivalent
to adding a PD controller to the system. You
see with the background, now you see mostly
I will be working with transfer function to
save time hardware I cannot bring in. But
any transfer function should immediately give
you a corresponding system in your mind so
that you can visualize that system in your