EXPERIMENT - 8

Analyze the stability of the given system using Root locus.

AIM: To analyze the stability of the given system using Root locus.

Theory:

The root locus method is a graphical technique used to determine the roots (or poles) of the
characteristic equation of a feedback control system as a parameter, typically the gain (K), is
varied. It's particularly useful for analyzing the stability of a system with respect to changes in
a design parameter.

Steps to determine the stability of a given system using the root locus method:
1. Transfer Function:
Start with the transfer function of the given system. It's typically expressed in terms of
Laplace variables.
2. Characteristic Equation:
Obtain the characteristic equation of the system by setting the denominator of the transfer
function equal to zero. This equation determines the locations of the system's poles.
3. Root Locus Plot:
Plot the roots of the characteristic equation in the complex plane as the parameter (usually
the gain, K) varies from zero to infinity.
• As K varies, the roots trace out paths in the complex plane known as the root locus.
• The root locus starts from the poles of the open-loop transfer function (when K = 0) and
terminates at the zeros of the transfer function (when K = ∞).
4. Stability Analysis:
• Determine the stability of the system based on the root locus plot.
• If the entire root locus lies in the left-half plane (LHP), the system is stable for all values
of K.
• If any part of the root locus enters the right-half plane (RHP), the system is unstable for
some values of K.
• If the root locus intersects the imaginary axis, the system is marginally stable.
5. Additional Analysis:
 • Analyze the behaviour of the system as the parameter K varies. Look for regions of the
root locus where the system's response meets desired specifications (e.g., settling time,
overshoot).
• Adjust the system parameters (such as pole/zero locations) or introduce compensators to
achieve desired stability and performance characteristics.

By following these steps and analyzing the root locus plot, engineers can gain insights into the
stability of the system and design appropriate control strategies to achieve desired performance
objectives.

(a). Program to plot the Root locus

𝐾
𝐺(𝑠)𝐻(𝑠) =
𝑠(𝑠 + 1)
clear all;
n=[1 ];
d=[1 1 0];
sys=tf(n,d);
zpk(sys);
rlocus(sys);
grid;
RESULT:

Root Locus
1.5
0.78 0.66 0.52 0.38 0.26 0.12

1 0.89
-1 )

0.5 0.97
Imaginary Axis (seconds

2 1.75 1.5 1.25 1 0.75 0.5 0.25

0

-0.5 0.97

-1 0.89

0.78 0.66 0.52 0.38 0.26 0.12

-1.5
-2 -1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4 -0.2 0 0.2
-1
Real Axis (seconds )
Conclusion: Root locus plot of the original system shown above signifies that the system is
absolutely stable for 0<k<∞.

(b). Root locus with addition of poles to the system

𝐾
𝐺(𝑠)𝐻(𝑠) =
𝑠(𝑠 + 1)(𝑠 + 2)
clear all;
n=[1 ];
d=[1 3 2 0];
sys=tf(n,d);
zpk(sys);
rlocus(sys);
grid;
title ('root locus of system with addition of poles');

RESULT:

root locus of system with addition of poles

6
0.7 0.56 0.42 0.28 0.14
0.82
4

0.91
-1 )

2
0.975
Imaginary Axis (seconds

7 6 5 4 3 2 1
0

0.975
-2

0.91

-4
0.82
0.7 0.56 0.42 0.28 0.14
-6
-7 -6 -5 -4 -3 -2 -1 0 1 2 3
-1
Real Axis (seconds )

Conclusion: Root locus plot of the system shown above signifies that the system is unstable,
as the root locus crosses on to the right side of the s-plain.
(c). Root locus with addition of zeros to the system
𝐾(𝑠+2)
𝐺(𝑠)𝐻(𝑠) = 𝑠(𝑠+1)
clear all;
n= [1 2];
d= [1 1 0];
sys=tf(n,d);
zpk(sys);
rlocus(sys);
grid;
title ('Root Locus with addition of zeros to the system')

RESULT:

Root Locus with addition of zeros to the system

1.5
0.945 0.89 0.81 0.68 0.5 0.3

1
0.976
-1 )

0.5
0.994
Imaginary Axis (seconds

4 3.5 3 2.5 2 1.5 1 0.5

0

0.994
-0.5

0.976
-1

0.945 0.89 0.81 0.68 0.5 0.3

-1.5
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1
-1
Real Axis (seconds )

Conclusion: Root locus plot of the system shown above signifies that the system is absolutely

stable for 0<k<∞.

(d). Root locus with complex poles
𝐾
𝐺(𝑠)𝐻(𝑠) =
𝑠(𝑠 2 + 6𝑠 + 10)
clear all;
n= [1];
d= [1 6 10 0];
sys=tf(n,d);
zpk(sys);
rlocus(sys);
grid;
title ('root locus with complex poles');

RESULT:

root locus with complex poles

8
0.76 0.64 0.5 0.34 0.16
0.86
6

0.94
-1 )

2 0.985
Imaginary Axis (seconds

12 10 8 6 4 2
0

-2 0.985

-4
0.94

-6
0.86
0.76 0.64 0.5 0.34 0.16
-8
-12 -10 -8 -6 -4 -2 0 2 4
-1
Real Axis (seconds )

Conclusion: Root locus plot of the system shown above signifies that the system is unstable,
as the root locus crosses on to the right side of the s-plain.