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W11B

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31 views17 pages

W11B

Uploaded by

Nouman Nisar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Example:

In this example, we shall sketch the root-locus plot of a system with


complex-conjugate open-loop poles. Consider the negative feedback
system shown in Figure below.

1. Locate the poles and zeros of G(s)H(s) on the s plane. The root-locus
branches start from open-loop poles and terminate at zeros (finite zeros
or zeros at infinity).
2. Number of Loci. The number of loci (i.e. the number of branches of
the root-locus branches) equals to the number of open-loop poles.

Two open-loop poles ⇨ Two branches of root-loci.


3. Real axis Loci. For K > 0, points of the root-locus on the real axis lie on
the left of an odd number of finite open-loop poles and zeros. If no
points on the real axis lie to the left of an odd number of finite open-
loop poles and zeros, then no portion of the root-locus lies on the real
axis.
4. Asymptotes:
5. Breakaway and Break-in Points. Suppose that the characteristic
equation is given by
B s + 𝐾 𝐴(𝑠) = 0

The breakaway & break-in points can be determined from the roots of
𝑑𝐾 𝐵′ 𝑠 +𝐴 𝑠 −𝐵(𝑠) 𝐴′ 𝑠
= =0 (RL-14)
𝑑𝑠 𝐴2 (𝑠)

So, in this example, the characteristic equation G(s) H(s)+1= 0


6. Departure and Arrival Angles of the root locus from a complex
pole (at a complex zero).
𝜃𝐷 = 180 +
where the double prime indicates the phase angle of GH computed at
the complex pole, but ignoring the contribution of that particular pole.

☞ Since the root locus is symmetric about the real axis, the angle of
departure from the pole at 𝑠 = −𝑝2 is –145°.
7. Points cross the imaginary axis:
There is no point cross the imaginary axis.
If one substitute 𝑠 = 𝑗𝜔 into the characteristic equation and solve for 𝐾
and 𝜔, one will have 𝐾 = −2 < 0.
The value of the gain 𝐾 at any point on root locus can be found by
applying the magnitude condition or by use of MATLAB. For example,
the value of 𝐾 at which the complex-conjugate closed-loop poles have
the damping ratio 𝜉= 0.7 can be found by locating the roots, as shown
in Figure above, and computing the value of 𝐾 as follows:

Comments on the Root-Locus Plots. It is noted that a slight change in


the pole–zero configuration may cause significant changes in the root-
locus configurations. Figure below demonstrates the fact that a slight
change in the location of a zero or pole will make the root-locus
configuration look quite different.
For example, consider the system shown in Figure (a) below. (This
system has velocity feedback.) By modifying the block diagram of Figure
(a) to that shown in Figure (b), it is clearly seen that G(s) and H(s)
have a common factor s+1. The closed-loop transfer function C(s)/R(s) is
Because of the cancellation of the terms (s+1) appearing in G(s) and
H(s), however, we have

The root-locus plot of G(s)H(s) does not show all the roots of the
characteristic equation, only the roots of the reduced equation.
To obtain the complete set of closed-loop poles, we must add the
canceled pole of G(s) H(s) to those closed-loop poles obtained from the
root-locus plot of G(s) H(s). The important thing to remember is that
the canceled pole of G(s) H(s) is a closed-loop pole of the system, as
seen from Figure (c) above.
Typical Pole–Zero Configurations and Corresponding Root Loci :
In summarizing, we show several
open-loop pole–zero configurations
and their corresponding root loci in
Table 6–1. The pattern of the root
loci depends only on the relative
separation of the open-loop poles
and zeros. If the number of open-
loop poles exceeds the number of
finite zeros by three or more, there
is a value of the gain K beyond
which root loci enter the right-half
s plane, and thus the system can
become unstable.
A stable system must have all its closed-loop poles in the left-half
s plane.

Summary. From the preceding discussions, it should be clear that it is


possible to sketch a reasonably accurate root-locus diagram for a given
system by following simple rules. At preliminary design stages, we may
not need the precise locations of the closed-loop poles. Often their
approximate locations are all that is needed to make an estimate of
system performance. Thus, it is important that the designer have the
capability of quickly sketching the root loci for a given system.
Plotting Root Loci with MATLAB:
Conditionally Stable Systems.
Consider the negative feedback
system shown in Figure (a).
We can plot the root loci for
this system by applying the
general rules and procedure
for constructing root loci, or
use MATLAB to get root-locus
plots. The plot is shown in
Figure (b).

o It can be seen from the root


locus plot of Figure (b) that this
system is stable only for limited
ranges of the value of K —that
is, 0 < K< 12 and 73 < K< 154.
The system becomes unstable for 12 < K< 73 and 154 <K. (If K assumes
a value corresponding to unstable operation, the system may break
down or may become nonlinear due to a saturation nonlinearity that
may exist.) Such a system is called conditionally stable.

 In practice, conditionally stable systems are not desirable.


Conditional stability is dangerous but does occur in certain systems—
in particular, a system that has an unstable feedforward path. Such
an unstable feedforward path may occur if the system has a minor
loop. It is advisable to avoid such conditional stability since, if the
gain drops beyond the critical value for any reason, the system
becomes unstable. Note that the addition of a proper compensating
network will eliminate conditional stability. [An addition of a zero will
cause the root loci to bend to the left. Hence conditional stability
may be eliminated by adding proper compensation.]
Plotting Root Loci With MATLAB:
First, obtain the characteristic equation of the system, and rearrange
it so that the parameter of interest become:

Eq. (a)

where “num” is the numerator polynomial & “den” is the denominator


polynomial of Eq. (a) above, written in descending powers of s.
 A MATLAB command commonly used for plotting root loci is:
rlocus (num,den)

 For the systems defined in state space:

rlocus (A,B,C,D)
☞ The gain vector K is automatically determined by MATLAB,
contains all the gain values for which the closed loop poles are to be
computed.
When the user-supplied gain vector K, then the following commands
rlocus (num,den,K) rlocus (A,B,C,D,K)
are used.
 If it is desired to plot the root loci with marks 'o' or 'x', it is necessary
to use the following command:
r = rlocus (num, den)
plot(r,'o') or plot(r,'x')
Example:
Consider the negative feedback system whose open-loop transfer
function G(s)H(s) is
• There are no open-loop zeros. Open-loop poles are located at:
𝑠 = −0.3 + 𝑗3.148, 𝑠 = −0.3 − 𝑗3.148, 𝑠 = −0.5, and 𝑠 = 0.

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