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Learn A Specific Technique Which Shows How (Usually The Controller Gain, K) in The S-Domain

This document discusses the root locus technique for analyzing how changes in the controller gain (K) affect the closed-loop poles of a negative feedback control system. It provides definitions of key terms like characteristic equation and root locus. The learning steps describe how to sketch the root locus by following rules to draw pole/zero locations, real axis points, asymptotes, and branch terminations. Breakpoints are identified as poles where the derivative of K is zero. The last step is to draw the remaining branches to infinity. Determining K for a specified damping ratio is also demonstrated.

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ahmed s. Nour
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113 views23 pages

Learn A Specific Technique Which Shows How (Usually The Controller Gain, K) in The S-Domain

This document discusses the root locus technique for analyzing how changes in the controller gain (K) affect the closed-loop poles of a negative feedback control system. It provides definitions of key terms like characteristic equation and root locus. The learning steps describe how to sketch the root locus by following rules to draw pole/zero locations, real axis points, asymptotes, and branch terminations. Breakpoints are identified as poles where the derivative of K is zero. The last step is to draw the remaining branches to infinity. Determining K for a specified damping ratio is also demonstrated.

Uploaded by

ahmed s. Nour
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Aims

Learn a specific technique which shows how


changes in one of a systems parameter
(usually the controller gain, K)
will modify the location of the closed-loop poles
in the s-domain.

Definition
The closed-loop poles of the negative feedback control:

1 KGs H s 0

are the roots of the characteristic equation:

1 KGs H s 0

The root locus is the locus of the closed-loop poles


when a specific parameter (usually gain, K)
is varied from 0 to infinity.

Root Locus Method


The value of s in the s-plane that make the loop gain

KG(s)H(s) equal to -1 are the closed-loop poles


(i.e.
)

1 KGs H s 0 KGs H s 1

KG(s)H(s) = -1 can be split into two equations by

equating the magnitudes and angles of both sides


of the equation.

Angle and Magnitude Conditions


KG s H s 1

KG s H s 1

2l 1
KG
s
H
s

180

l 0,1, 2,

G s H s 1 K

2l 1
G
s
H
s

180

l 0,1, 2,

Independent of K

Learning Steps
1)

Sketch the root locus of the following system:

2) Determine the value of K such that the damping

ratio of a pair of dominant complex conjugate


closed-loop is 0.5.

Rule #1
Assuming n poles and m zeros for G(s)H(s):
The n branches of the root locus start at the n

poles.
m of these n branches end on the m zeros
The n-m other branches terminate at infinity
along asymptotes.
First step: Draw the n poles and m zeros of G(s)H(s)
using x and o respectively

Step #1
Draw the n poles and m
zeros of G(s)H(s) using x
and o respectively.
1
G s H s
ss 1s 2
3 poles:

p1 = 0; p2 = -1; p3 = -2
No zeros

Step #1
Draw the n poles and m
zeros of G(s)H(s) using x
and o respectively.
1
G s H s
ss 1s 2
3 poles:

p1 = 0; p2 = -1; p3 = -2
No zeros

Rule #2
The loci on the real axis are to the left of an ODD

number of REAL poles and REAL zeros of


G(s)H(s)
Second step: Determine the loci on the real axis.
Choose a arbitrary test point. If the TOTAL number
of both real poles and zeros is to the RIGHT of this
point is ODD, then this point is on the root locus

Step #2
Determine the loci on the
real axis:
Choose a arbitrary test

point.
If the TOTAL number of
both real poles and zeros
is to the RIGHT of this
point is ODD, then this
point is on the root locus

Step #2
Determine the loci on the
real axis:
Choose a arbitrary test

point.
If the TOTAL number of
both real poles and zeros
is to the RIGHT of this
point is ODD, then this
point is on the root locus

Rule #3
Assuming n poles and m zeros for G(s)H(s):
The root loci for very large values of s must be

asymptotic to straight lines originate on the real axis


at point:
zi
n pi
m
s
nm
radiating out from this point at angles:

180 o 2l 1
l
nm

Third step: Determine the n - m asymptotes of the root loci.


Locate s = on the real axis. Compute and draw angles.
Draw the asymptotes using dash lines.

Step #3
Determine the n - m
asymptotes:
Locate s = on the real axis:
s

p1 p2 p3 0 1 2

1
30
3

Compute and draw angles:

180 2l 1 l 0,1, 2,
nm

1800 2 0 1
0

60
0
30

0
180 2 1 1 1800
1
30

Draw the asymptotes using

dash lines.

Step #3
Determine the n - m
asymptotes:
Locate s = on the real axis:
s

p1 p2 p3 0 1 2

1
30
3

Compute and draw angles:

180 2l 1 l 0,1, 2,
nm

1800 2 0 1
0

60
0
30

0
180 2 1 1 1800
1
30

Draw the asymptotes using

dash lines.

Breakpoint Definition
The breakpoints are the points in the s-domain

where multiples roots of the characteristic


equation of the feedback control occur.
These points correspond to intersection points on

the root locus.

Rule #4
Given the characteristic equation is KG(s)H(s) = -1
The breakpoints are the closed-loop poles that

satisfy:

dK
0
ds

Fourth step: Find the breakpoints. Express K such as:

1
K
.
G s H s

Set dK/ds = 0 and solve for the poles.

Step #4
Find the breakpoints.
Express K such as:

1
K
s s 1s 2
G( s ) H ( s )
K s 3 3s 2 2 s

Set dK/ds = 0 and solve for the

poles.

3s 2 6s 2 0
s1 1.5774, s2 0.4226

Step #4
Find the breakpoints.
Express K such as:

1
K
s s 1s 2
G( s ) H ( s )
K s 3 3s 2 2 s
Set dK/ds = 0 and solve for the

poles.

3s 2 6s 2 0
s1 1.5774, s2 0.4226

Rule #1 Again
Assuming n poles and m zeros for G(s)H(s):
The n branches of the root locus start at the n

poles.
m of these n branches end on the m zeros
The n-m other branches terminate at infinity
along asymptotes.
Last step: Draw the n-m branches that terminate at
infinity along asymptotes

Last Step
Draw the n-m branches that
terminate at infinity along
asymptotes

Points on both root locus & imaginary axis?


Points on imaginary axis

satisfy:

s j

Points on root locus satisfy:

j?

1 KGs H s 0

Substitute s=j into the

characteristic equation and


solve for .

0 or 2

- j

Learning Steps
1)

Sketch the root locus of the following system:

2) Determine the value of K such that the damping

ratio of a pair of dominant complex conjugate


closed-loop is 0.5.

See class notes

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