UNIT-III

STABILITY ANALYSIS

Illustrations
 ROOT LOCUS TECHNIQUES

Illustrations
 Real-Axis
Breakaway
&
Break-in Points

Refining
the
Angle of
Sketch
departure
Finding & arrival
the jω from
axis complex
crossings poles & zeros

Illustrations
 Real-Axis Breakaway & Break-in Points
• Breakaway point is the point
where the locus leaves the real-
axis.
(-σ1 in the figure)

• Break-in point is the point

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Illustrations
 Finding the Breakaway & Break-in points via
differentiation
• We know that for a point to be on a Root-locus,
K = -1 / G(s)H(s)
• Thus, on the real-axis (jω = 0),
K = -1 / G(σ)H(σ)
• Note also that
• at the breakaway point, K is maximum (for the R-L on the real-axis),
• and at the break-in point, K is minimum.
• Breakaway & Break-in point can be found by differentiating K
G(σ)H(σ) = -1 & set it to zero.
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Illustrations
 Find the breakaway & break-in points for the
From the Root Locus
root locus shown
K ( s  3)( s  5)
KG ( s) H ( s ) 
( s  1)( s  2)
K ( s 2  8s  15)

( s 2  3s  2)
On the root locus & on the real  axis,
KG ( s) H ( s )  1  KG ( ) H ( )
K ( 2  8  15)
 1
(  3  2)
2

k (11 2  26  61)

   1.45, 3.82 G ( )
Note : We will get the same result if we take 0
Illustrations
d
 Finding Breakaway & Break-in Points by
transition method
• This method eliminates the step of
differentiation.
• Derivation in Appendix J.2. on CD-Rom.
• This method states that: Re peat the previous example with this method
• Breakaway & break-in points satisfy the K ( s  3)( s  5)
following relationship: KG ( s ) H ( s ) 
( s  1)( s  2)
m
1 n
1 1 1 1 1
  
1   z  1   p   3   5  1   2
i i
11 2  26  61  0
Where Zi & Pi are the negative of the    1.45, 3.82
zero & pole values, respectively, of
G(s)H(s).

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Illustrations
 Finding the jω axis crossings
• Jω axis crossing is a point on the R-L that separates the stable operation of the system from
the unstable operation.
• The value of ω at the axis crossing yields the frequency of oscillation.
• The gain at the jω axis crossing yields the max. positive gain for system stability.

Jω-axis crossing can be found by using Routh-Hurwitz criterion as follows:

• Forcing a row of zeros in the Routh Table will yield the gain.
• Going back one row to the even polynomial equation & solving for the roots yields the
frequency at the imaginary axis crossing.

(Recall that a row of zeros in the Routh Table indicates the existence of poles on the jω axis.)

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Illustrations
 For the system shown, find the frequency & gain, K, for which the root locus
crosses the imaginary axis. For what range of K is the system stable?

G ( s)
C.L.T .F of T ( s )  , H ( s)  1
1  G ( s) H ( s)
where
K ( s  3)
T ( s)  4
s  7 s 3  14s 2  (8  K ) s  3K

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Illustrations
 Construction of Routh table

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Illustrations
 Continuation of Previous Problem Solving
For +ve K, only s1 row can be all zeros.
Let -K2 -65K+720 / 90-K = 0 to find value of K on jω-axis.
-K2 -65K+720 = 0
K = 9.65
To find the frequency on the jω axis crossing, form the even polynomial by using the s 2 row
& with K= 9.65,
(90 -K)s2 + 21K = 0
80.35s2 + 202.7 = 0
s2 = -202.7 / 80.35
s = +j1.59
The root-locus crosses the jω axis at + j1.59 at a gain of 9.65
The system is stable for 0 < K < 9.65

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Illustrations
 Angle of departure & arrival from complex poles
& zeros
• Recall that a condition for a point on
the s-plane to be on the root locus is
that the angles of the zeros minus the
angles of the poles, all drawn to the
selected point on the s-plane, add up to
(2k + 1) 180°.

Example
∟KG(s)H (s) = (2k + 1 ) 180°

Consider the next Figure:

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Illustrations
 Angle of departure & arrival
• Assume ε is a point on the root locus close to a complex
pole.
• Sum of all angles drawn from all other poles & zeros to
the pole that is near to ε is:
-θ1, + θ2 + θ3 – θ4 – θ5 + θ6 =(2k+I)180°
The angle of departure is:
θ1 = θ2 + θ3 – θ4 – θ5,+ θ6 - (2k+1)180°
Similarly, for complex zero:
-θ1 + θ2 + θ3 – θ4 – θ5 + θ6 = (2k+I)180°
The angle of arrival is:
θ2 = θ1 - θ3 + θ4 + θ5,- θ6 + (2k+1)180°
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Illustrations
 Example: Given the unity feedback system, find the angle of departure from the complex poles &
sketch the root locus

K ( s  2)
KG ( s) H ( s)  , H ( s)  1
( s  3)(S  2s  2)
2

where
K ( s  2)
KG ( s) H ( s) 
( s  3)(s  1  j1)(s  1  j1)
Root locus for the system
showing angle of departure

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Illustrations
 Continuation of Previous Problem Solving
 1   2   3   4  ( 2k  1)180 0  180 0 ( k  0)

1 1
 1  90 0  tan 1    tan 1    180 0
1 2

1  90 0  450  26.50  180 0

 251.6 0  108.4 0

The angle of departure of the complex pole is  108.4 0

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Illustrations
 Skill assessment Exercise 8.4: Given a unity feedback system that has the forward
transfer function G(s)  K (s  2)
( S 2  4s  13)

Do the following:
a. Sketch the root locus
b. Find the imaginary axis crossing
c. Find the gain, K, at the jω axis crossing
d. Find the break-in point
e. Find the angle of departure from the complex
poles
K ( s  2) K ( s  2)
G ( s)  
( S 2  4s  13) ( s  2  j 3)( s  2  j 3)

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Illustrations
 An Example

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Illustrations
 Transient Response Design via Gain Adjustment
• Use Second order approximation which satisfy
the following conditions:
• Higher order poles are much farther into
the left half of the s-plane than the
dominant second order pair of poles. The
response that results from a higher order
pole does not appreciably change the
transient response expected from the
dominant second order poles
• Closed loop zeros near the closed loop
second order pole pair are nearly
cancelled by the close proximity of higher
order closed loop poles
• Closed loop zeros not cancelled by the
close proximity of higher order closed
loop poles are far removed from the
closed loop second order pole pair

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Illustrations
 Pole Sensitivity
• Since Root Locus is a plot of the Closed Loop Poles as a system
parameter is varied  any change in the parameter will change the
system performance too!
• Root Locus exhibits nonlinear relationship between gain and pole
• Along some sections of the RL – very small changes in gain yield very
large changes in pole location and hence performance  High
Sensitivity to changes in gain
• Along other sections of the RL – very large changes in gain yield very
small changes in pole location  Low Sensitivity to changes in gain
• Preferences  Low Sensitivity to changes in gain

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Illustrations