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Automatic Control Lab Exp 5

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5 views7 pages

Automatic Control Lab Exp 5

ewfg

Uploaded by

moha amro
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Mechatronics Engineering Department

Experiment Name:

Control System stability


Analysis via Root locus

Name: Mohamed Alamrouni


No: 3787

Mohamed alamrouni 3787


Background

Root Locus analysis is a valuable tool for examining the locations of the poles in a linear
system when you close its feedback loop with a gain factor. As you adjust the gain, the
poles move along the loci.
Consider a straightforward Single Input Single Output (SISO) Linear Time-Invariant (LTI)

system characterized by its transfer function:

where,

when you close the loop with a feedback gain, you’ll get

Without delving into mathematical details, it's evident that as k approaches zero, the
poles of the two systems are nearly identical, indicating that they remain close to
their original positions. Conversely, as k approaches infinity, the denominator D(s)
becomes much smaller than the numerator kN(s) causing the poles to shift closer to
the zeros of the system.
Importantly, if the root loci traverse the right half of the s-plane, the system can
become unstable for certain gain values—specifically those that result in poles being
located in that region. This underscores the significance of monitoring the loci as the
gain is adjusted, as it directly affects system stability.

The root locus diagram illustrates the paths of a system's closed-loop poles as the gain
parameter transitions from zero to infinity. It effectively links open-loop poles to open-
loop zeros, demonstrating how modifications in the open-loop transfer function
influence the positioning of closed-loop poles. The location of these poles is critical, as
they dictate the system's natural response modes, stability, and transient response
characteristics. By examining root locus patterns, engineers can identify suitable gain
values to strategically place poles, optimizing system performance.

Furthermore, the root locus delineates the trajectories of the roots of the characteristic
equation as the gain KKK varies from zero to infinity. This method establishes a general
stability criterion applicable to linear systems of any order. By analyzing the distribution
of real roots within the even and odd components of characteristic equations, one can
predict the damping characteristics of higher-order systems. Additionally, manipulating
the roots in these components enables the design of higher-order systems with
multiple adjustable coefficients that meet specific performance criteria.
Experiment Design and Results

Fig_1

Fig_2
By handy analysis :
Results

In my analysis of the Automatic Voltage Regulator (AVR), I found that


setting KA=10 resulted in a stable system. The poles of the characteristic
equation remained in the left half of the complex plane, indicating that
any disturbances would diminish over time. However, when I increased
KA to 20, the poles shifted into the right half-plane, leading to instability.
This means that any perturbations would cause the output to diverge
uncontrollably.

Through my analytical comparison, I determined that stability is


maintained when KA<12.6. The root locus plot supports this, showing
how pole locations change with varying gain. Overall, my results highlight
the importance of keeping KA below this threshold to ensure effective
AVR performance.

Fig_1 The image shows instability with KA=20, resulting in significant oscillations
and divergence. In contrast, Fig_2 the image illustrates stability at KA=10, with a
controlled output and minimal fluctuations. This comparison highlights the
crucial link between gain settings and system stability in the AVR context.
Conclusion:

In addition to my analysis of the Automatic Voltage Regulator (AVR)


using root locus techniques, the instructor also applied the Routh-
Hurwitz stability criterion to assess system stability. This criterion
provides a systematic method for determining the stability of a linear
time-invariant system by examining the characteristic equation's
coefficients.

By comparing the results obtained from both methods, we found that


the Routh-Hurwitz criterion corroborated my findings regarding the
critical gain threshold of KA<12.6 Specifically, the instructor's
calculations indicated that as KA​ increased, the number of sign
changes in the Routh array also increased, confirming the instability
observed with KA=20 .

This comprehensive approach highlights the importance of using


multiple stability assessment methods to ensure accurate predictions
of system behavior, reinforcing the crucial relationship between gain
settings and overall AVR performance
Reference:

https://www.geeksforgeeks.org/control-systems-root-
locus/#:~:text=of%20the%20framework.-
,Root%20Locus,of%20posts%20concerning%20the%20dependability%20district%2C%2
0damping%20proportion%2C%20and%20normal%20recurrence.,-
Angle%20Condition%20and

https://www.quora.com/What-is-the-applications-of-roots-locus-analysis-to-control-
system#:~:text=Root%20Locus%20analysis%20is%20useful,those%20which%20place%2
0poles%20there.

I used AI to get suggestions for this report specific the background. It


helped enhance my grammar and clarity, making my ideas more
effective.

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