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S S S K S G: Ent385-Control Engineering SESSION 2012/13 Tutorial 5 Chapter: Root Locus

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15 views5 pages

S S S K S G: Ent385-Control Engineering SESSION 2012/13 Tutorial 5 Chapter: Root Locus

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brylla montero
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ENT385-CONTROL ENGINEERING

SESSION 2012/13
TUTORIAL 5
CHAPTER: ROOT LOCUS

1. An open-loop system has a transfer function given by:


K
GO ( s) 
s( s  2)( s  8)
Find the maximum value of the gain K before the system response begins to
oscillate. Determine the closed-loop system poles and the corresponding
transfer function for the condition above.

Solution:
From the open-loop TF, we obtain the poles on the s-plane. We have 3 poles on
the real-axis. The locus starting from poles at 0 and -2 will meet and
breakaway into the complex s-plane. When this happens, the closed-loop poles
will have complex values, and this will result in oscillatory process response.
This means that the maximum value of K just before the system oscillates is at
the breakaway point.
We can find this by differentiating the characteristic equation with respect to s
and equate it to zero.
For the system, the characteristic equation is given by:
K
1 0
s( s  2)( s  8)
s 3  10s 2  16s  K  0

Rearranging gives :
K   s 3  10s 2  16s

Obtain the differential of K with respect to s and determine its max value:
dK
 3s 2  20s  16  0
ds

This gives:
 20  20 2  4(3)(16)
s1, 2   0.93,5.74
2(3)

Another approach is a non-differentiation method. It is given that :


m n
1 1
1   z 1   p

i i

where zi and pi are the negatives of the zeros and poles values respectively of
G(s)H(s). Then we have:

1 1 1
0  
  2  8

0  3 2  20  16
This will give  = -0.93 and -5.74 as before.

2. Sketch the root locus and find the range of K for stability for the unity feedback
system shown in figure P8.3 for the following conditions:

Figure P8.3
K ( s  1)
2
a) G( s) 
( s  1)( s  2)( s  3)

K ( s 2  2s  2)
b) G( s) 
s( s  1)( s  2)

Solution:
a)

b)
3. For the unity feedback system the transfer function G(s) is given by:

1
G( s) 
s( s  6)( s  9)

Plot the root locus and get the critical points such as breakaways, asymptotes,
jω-axis crossing etc.

Solution:
4. The forward-path transfer function of a unity feedback system is given by:
K ( s  4)
G( s) 
s ( s  4 s  4)( s  5)( s  6)
2

Construct the root locus for K0. Find the value of K that makes the damping ratio of
the closed-loop system (measured by the dominant complex characteristic equation
roots) equal to 0.707 if such a solution exists.

o o o o
Asymptotes: K > 0: 45 , 135 , 225 , 315

Intersect of Asymptotes:
2  2  5  6  ( 4 )
1   2.75
51
5 4 3 2
Breakaway-point Equation: 4 s  65 s  396 s  1100 s  1312 s  480  0

Breakaway Points: 0.6325, 5.511 (on the RL)


When   0.707 , K = 13.07
5. The forward-path transfer function of a unity feedback system is given by:
K
G(s) 
s ( s  2)( s  5)( s  10)
Construct the root locus for K0. Find the value of K that makes the damping ratio of
the closed-loop system (measured by the dominant complex characteristic equation
roots) equal to 0.707 if such a solution exists.

o o o o
Asymptotes: K > 0: 45 , 135 , 225 , 315
Intersect of Asymptotes:
0  2  5  10
1   4.25
4
3 2
Breakaway-point Equation: 4 s  51s  160 s  100  0
When   0.707 , K = 61.5

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