Control Engineering

NPTEL Online Course

Indian Institute of Technology Madras
Assignment 5
(Common data for Q1 & Q2)
The open loop transfer function of unity feedback system is given by

2s + (p + 6)
G(s) =
s2 + 5s + 6
root locus of the system with ‘p’ as the parameter to be varied.
1. The centroid of the asymptotes is at s = .

2. The break point is

Solution:
Given that
2s + p + 6
G(s) = and H(s) = 1.
s2 + 5s + 6
The closed loop transfer function is given by

G(s) 2s + p + 6
= 2
1 + G(s)H(s) s + 7s + 12 + p
Characteristic equation of the system is

s2 + 7s + 12 + p = 0
An equivalent system with the same characteristic equation and p as the gain is
p
1+ =0
s2 + 7s + 12
So, the root locus of an equivalent unity feedback system with open-loop transfer function
p
s2 +7s+12 is considered.
There are 2 open-loop poles at s = −3, −4 and no open-loop zero. Hence, the root-loci has two
branches originating at the open-loop poles and terminating at infinity.All points on the real axis
lying between -3 and 4 are part of the root locus.
The centroid of the asymptotes is

(−3 − 4) − (0)
σ= = −3.5
2
dp
The break point is determined from ds = 0. Since

p = −(s2 + 7s + 12)

dp
∴ = −(2s + 7) = 0 =⇒ s = −3.5
ds

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 Figure 1 shows the root locus of the given system.

Figure 1: Root locus of the system given in 1

Common data for Q3 & Q4

The loop transfer function of a feedback control system is given by

K(s + a)
G(s)H(s) =
s(s + b)

3. If no part of the root locus lie on the RHP then break-away and break-in points will exist only
when

(a) |a| > |b| [correct]

(b) |a| < |b|
(c) |a| = |b|
(d) not dependent on a and b

4. With the condition obtained in the above question, the shape of the root locus consists of a
circle. The co-ordinates of the center of the circle is .
(Hint: Use Evan’s angle condition at s = σ + jω, then analyse result)
(a) (−b, 0)
(b) (−a, 0) [correct]
(c) (−ab, 0)
(d) (−a + b, 0)
Solution:
Given that no part of the root locus lies in the RHP. Then both a and b are negative.There are
two poles, p1 = 0 and p2 = −b, and one zero, z1 = a. If p2 = z1 then the terms (s + a) and
(s + b) cancel out and the transfer function resembles an integrator whose root locus is nothing
but a straight line originating at the pole located at the origin and moving towards infinity along

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the real axis. So, for a circle to exist as a part of the root locus there shouldn’t be any equality
condition between a and b.
The root loci of the transfer function have two branches, originating at p1 and p2 and terminating
at z1 and infinity.
The points on the real axis which is a part of the root locus depend on the values of a and b.
(2q+1)180o
The angle of asymptote is σA = 2−1 , where q = 0 i.e. σA = 180o .
Break points are determined from Ks = 0. Analysing the condition, it can be found that

Ks = 0
s2 + bs
 
d
⇒ − = 0
ds s+a
(2s + b)(s + a) − (s2 + bs)1 (1)
⇒ = 0
(s + a)2
⇒ s2 + 2as + ab = 0
p
⇒ s = −a ± a2 − ab


break points will exist if a2 − ab > 0 i.e. |a| > |b|. If a root locus of a transfer function consists
a circle then it is necessary that break points exists for the system. If not then there will be no
circle. Consider the case when |a| < |b|. Then z1 lie between p1 and p2 . Hence, all points on
the real axis lying between z1 and p1 is a part of the root locus. Also, all points on the real axis
to the left of p2 is a part of root locus. Therefore, the branch originating from p1 terminates at
p1 , moving along the real axis while the branch originating from p2 terminates at −∞. Both the
branches are straight lines along the real axis. So, the necessary condition for the existence of a
circle is |a| > |b|.
But is the condition also sufficient?
consider |a| > |b| and hence break points exist.
Let us √ √ In that case, the breakaway

point is
(−a + a2 − ab) and the break-in point is (−a − a2 − ab) Verify Yourself . Thus the
√
branches originating from√p1 and p2 meet and breaks away at s = −a + a2 − ab and again meet
or break-in at s = −a − a2 − ab.
Now, any point in the s-plane represented by s = σ + jω satisfies the Evan’s angle condition

∠G(s) = ±(2q + 1)180o , q = 0, 1, · · · , (n − m − 1) (2)

where symbols have their usual meanings. Then,

(s + a)
∠ = ±180o
s(s + b)
⇒ ∠(σ + a + jω) − ∠(σ + jω) − ∠(σ + b + jω) = ±180o
 ω  ω  ω 
⇒ arctan − arctan − arctan = ±180o
σ+a σ σ+b
σ 2 + 2aσ + ω 2 + ab (3)
 
⇒ arctan − 3 = ±180o
σ + (a + b)σ 2 + (ω 2 + ab)σ + (b2 − a2 )ω 2
⇒ σ 2 + 2aσ + ω 2 + ab = 0
⇒ (σ + a)2 + ω 2 = (a2 − ab)
p
⇒ (σ + a)2 + ω 2 = r2 , where r = a2 − ab

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 √
This is an equation of a circle with centre (−a, 0) and radius a2 − ab. Therefore the condition
|a| > |b| is both necessary and sufficient.
Common data for Q5 & Q10

Consider the open-loop system with an unity feedback given by

2K(s + 5)
G(s) =
s(s + 13)(s + 2)

The root locus plot with K being varied from 0 to ∞, answer the following questions:
5. How many branches does the root locus have ? [Answer: 3;Range=2.99 -3.01]
6. Does s = −4 lies on the root locus?
(a) Yes
(b) No [Correct]
(c) Cannot be determined
7. Write any one of the angle of asymptote (in degrees between 0 to 360) [Answer:
90 and 270]

8. The centroid of the asymptotes is at s = . [Answer: -5; Range=-4.95 to -5.05]

9. What is the value of the break-away point rounded to one decimal point ? [Answer:
-1.2 to -0.8]
10. Does the root locus intersect the imaginary axis

(a) Yes
(b) No [correct]

Solution

The open-loop transfer function of the system is given by

2K(s + 5)
G(s) =
s(s + 13)(s + 2)

The open-loop transfer function for the unity feedback system is given by

2K(s + 5)
G(s) =
s(s + 13)(s + 2)

The poles of the transfer function are p1 = 0, p2 = −2, p3 = −13 and zero at s = −5. Number
of branches of the root loci is 3.
The branches originate from the poles when K = 0 and terminate at infinity when K = ∞.
All the points on the real axis between 0 and −2 and between −5 and −13 are part of the root
locus.

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The angle of asymptotes are given by
(2q + 1)180o
φA = , q = 0, 1, · · · , (n − m − 1)
n−m
(2q + 1)180o
= , q = 0, 1
3−1
= 90o , 270o

The centroid of the asymptotes is given by

(0 − 2 − 13) − (−5)
σA = = −5
2
dK
The breakaway point is derived from ds = 0. Then
s3 + 15s2 + 26s)
K = −
2 (s + 5)
dK s + 15s2 + 75s + 65
3
⇒ =− 2 = 0
ds (s + 5)
⇒ s3 + 15s2 + 75s + 65 = 0
⇒ s = −1.085, −6.96 ± j3.39
s = −6.96 ± j3.395 are not a part of the root locus. Hence, the breakaway point is s = −1.085.
Clearly, the branches originating from p1 and p2 meets at the breakaway point and breaks away
towards infinity. The angle of departure for p1 is given as
φp1 = 180o + 0 − (−0o − 0o ) = 180o

and the angle of departure for p2 is given as

φp2 = 180o + 0 − (180o − 0o ) = 0o

Figure 2: Root locus plot

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 Common data for Q11- Q12

Consider the root locus of an open-loop transfer function as shown below

Root Locus
1.5
0.791

1
)
-1

b
Imaginary Axis (seconds

0.5

c a
0

-0.5

-1

0.791
-1.5
-5 -4 -3 -2 -1 0 1
-1
Real Axis (seconds )

11. If you are asked to find the gain for sustained oscillations, which point will you choose in the
root locus plot?
(a) a
(b) b
(c) c
(d) Not possible for given root locus [correct]
12. If you are asked to find the gain for minimum damping ratio, which point will you choose in the
root locus plot?
(a) a
(b) b [correct]
(c) c
(d) Not possible for given root locus

Solution

It is not possible to have sustained oscillations(ζ = 1) because the root locus does not intersects
the imaginary axis.
The point at which the tangent intersects the root locus gives the gain for minimum damping
ratio (Why?)
13. Consider the open-loop transfer function
K
G(s)H(s) =
s(s2 + 6s + 25)

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 The angle of departure at the complex pole with positive imaginary part (angle measured in the
anticlockwise direction and to be answered in between 0◦ to 360◦ ) in degrees is .
[Ans = 323.13, Range = 319 to 327]

Solution

The poles are given by s(s2 + 6s + 25) = 0 =⇒ s = 0, −3 ± j4. Let s1 = −3 + j4. Let θ be the
angle of departure at s1 . By the angle condition,

−θ1 − θ2 − θ3 = 180◦

θ1 = 180◦ +0−∠(s1 )−∠(s1 −3−j4) =⇒ θ1 = 180◦ −(126.87◦ )−(90◦ ) = −36.94◦ = −36.94◦ +360◦ = 323.06◦ .

14. The pole-zero plot of an open-loop system is shown below, the shape of the root locus will be

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 [Answer : Option C]

Solution

Satisfy all property. Root locus start from pole and end on zeros. On real axis locus exist to the
left of odd number of poles and zeros. Locus has symmetry.
15. The valid root locus diagram is

[Answer : Option A]

Solution

Let s be a point near the pole on +ve imaginary axis. Let θ be the angle of departure.
Then,

θ = 180o + (−90o + 90o ) − (90o + 90o ),

⇒ θ = 0o

∴ The angle of departure is 0o which satisfies the root locus plot shown in option A.