Chapter 5: Method in Control - Root Locus Method
Chapter 5: Method in Control - Root Locus Method
Chapter 5: Method in Control - Root Locus Method
INTRODUCTION
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ROOT LOCUS CONCEPT
K
Open-loop transfer function: G ( s ) =
s ( s + 2)
Y ( s) G( s) K
Closed-loop transfer function: = = 2
R( s ) 1 + G ( s) s + 2s + K
Characteristic equation: ∆ ( s ) = s 2 + 2 s + K = 0
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A root locus of a system is a plot of the roots of the system characteristic
equation (poles of the closed-loop transfer function) as some parameters
of the system are varied.
• Each root locus gives one characteristic root (closed-loop pole) for a
specific value of K.
• Note that information about damping can be obtained from the root
locus.
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BASIC PROPERTIES OF ROOT LOCI
KG(s)
Y ( s) KG ( s )
Closed-loop transfer function: =
R ( s ) 1 + KG ( s ) H ( s )
1 + KG(s)H(s) = 0
G(s)H(s) = -1/K
∏ (s + z )
i =1
i
1
Magnitude criterion: G( s) H ( s) = n
=
∏ (s + p )
K
j
j =1
m n
Angle criterion: ∠G ( s ) H ( s ) = ∑ ∠( s + zi ) − ∑ ∠( s + p j ) = ±180o
i =1 j =1
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Example: Find if s = -1 and s = -3 are points on the root locus. If so, find
the value(s) of K at these points.
-1+j Im(s)
Re(s)
-2
-1-j
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For s = -1 For s = -3
-1+j -1+j
a d
o
c=0
b f
-2 -3 e
-2
-1-j -1-j
m n
Angle criterion: ∠G ( s ) H ( s ) = ∑ ∠( s + zi ) − ∑ ∠( s + p j ) = ±180o
i =1 j =1
-3 r -2
Magnitude criterion:
m
∏ (s + z )
i
1
q
G( s) H ( s) = i =1
n
= -1-j
∏ (s + p )
K
j
j =1
r 1
=
pq K
K=5
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PROPERTIES AND CONSTRUCTION OF ROOT LOCI
The root locus plot consists of n root loci (branches) as K varies from 0
to ∞. The loci are symmetric with respect to the real axis.
n m
Characteristic equation: ∆( s ) = ∏ ( s + p j ) +K ∏ ( s + z i ) = 0
j =1 i =1
Degree n → n roots
s+2
Example: For a system with G ( s ) = and H ( s ) = 1, find the
( s + 1)( s + 1)
starting and ending points of the root loci.
Characteristic equation:
( s + 1)( s + 1) + K ( s + 2) = 0
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Rule 3: Asymptotes to Root Loci (Behaviour at Infinity)
The (n-m) root loci which tend to ∞ do so along straight line asymptotes
radiating out from a single point s= -σa on the real axis (called the
centroid) where
( 2q + 1)180 0
φa = ; q = 0, 1, L , ( n − m − 1)
n−m
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m
K ∏ (s + z i )
i =1 K
1+ ≅ 1+ n−m
=0
n
(s + σ a )
∏ (s + p )
j =1
j
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n
∏ (s + p )
j =1
j
m
≅ (s + σ a ) n−m
∏ (s + z )
i =1
i
n m
n − m −1
s n −m + ∑ p j − ∑ z i s + ... = s n − m + ( n − m )σ a s n − m −1 + ...
j =1 i =1
n m
∑ (− p
j =1
j ) − ∑ (− zi )
i =1
−σ a =
n−m
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Rule 4: On-locus Segments on the Real Axis
A point on the real axis lies on the locus if the number of open-loop poles
plus zeros on the real axis to the right of this point is odd.
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∠G(s)H(s) = (mr + nr)1800
mr = number of open-loop zeros on the real axis to the right of s0
nr = number of open-loop poles on the real axis to the right of s0
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Rule 5: On-Locus Points of the Imaginary Axis
The intersections (if any) of root loci with the imaginary axis can be
determined by use of the Routh criterion.
Example: Find the imaginary axis crossings for the root locus plot of
K ( s + 2)
KG ( s ) H ( s ) = .
( s + 1 + j 4)( s + 1 − j 4)( s + 3)( s + 4)
Characteristic equation
s 4 + 9s 3 + 43s 2 + (143 + K ) s + 204 + 2 K = 0
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Routh Table:
s4 1 43 204+2K
s3 9 143+K
s2 (244 – K)/9 204+2K
s1 (18368 – 61K – K2)/(244 – K)
s0 204+2K
244 – K > 0 → K < 244
18368 – 61K – K2 > 0 → -169.4 < K < 108.4
204 + 2K > 0 → K > -102
Hence, 0 < K < 108.4
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Net angle contribution of all other open-loop poles and zeros at s0 is
φ = θ 2 − (θ1 + θ 3 + θ 4 )
Total phase ∠G(s)H(s) at s0 = φ - φp.
From angle criterion, φ - φp = ±1800
Angle of departure from the complex open-loop pole, φp = 1800 + φ.
φ = θ 2 − (θ 1 + θ 3 + θ 4 ) = −130 0
φp = 1800 + φ = 500
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Rule 7: Angle of Arrival at Complex Zeros
The angle of arrival, φz, of a locus at a complex zero is given by
φz = 1800 - φ, where φ is the net angle contribution at this zero of all
other open-loop poles and zeros.
K ( s 2 + 1)
Example: Let us consider the characteristic equation 1 + = 0.
s ( s + 2)
Rule 1: 2 branches.
Rule 2: Starting points are open-loop poles s = 0, -2.
Ending points are open-loop zeros s = ± j1.
Rule 3: Not applicable.
Rule 4: On-locus segments on the real axis between 0 and -2.
Rule 5: Root locus touches imaginary axis at s = ± j1.
Rule 6: Not applicable.
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Rule 7:
∏ (s + p j )
j =1
where K = − m
).
∏ (s + z i )
i =1
Example: Draw the root locus plot for the characteristic equation
K ( s + 2)( s + 3)
1+ = 0.
s ( s + 1)
Rule 1: 2 branches.
Rule 2: Starting points are open-loop poles s = 0, -1.
Ending points are open-loop zeros s = -2, -3.
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Rule 3: Not applicable.
Rule 4: On-locus segments on the real axis between 0 and -1, and
between -2 and -3.
Rule 5: Not applicable.
Rule 6: Not applicable.
Rule 7: Not applicable.
Rule 8:
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s ( s + 1) s2 + s
K =− =− 2
( s + 2)( s + 3) s + 5s + 6
dK ( s 2 + 5s + 6)(2s + 1) − ( s 2 + s )(2 s + 5)
= − =0
ds ( s + 5s + 6)
2 2
2s 2 + 6s + 3 = 0
s = -0.634 (breakaway point), s = -2.366 (break-in point).
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COMPLETE EXAMPLES
Solution:
Rule 1: 3 branches.
Rule 2: Starting points are open-loop poles s = 0, -1, -2.
Ending points are open-loop zeros s = ∞, ∞, ∞.
Rule 3: 3 asymptotes.
Centroid, σ a = − 2 −1 = −1
3− 0
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(2q + 1)1800
Angles, φa = ; q = 0, 1, L, ( n − m − 1)
n−m
( 2q + 1)1800
φa = ; q = 0, 1, 2 → φa = 600, 1800, and 3000
3−0
Rule 4: On-locus segments on the real axis between 0 and -1, and
between -2 and -∞.
Routh Table:
s3 1 2
s2 3 K
s1 (6-K)/3
s0 K
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For stability, K > 0, (6 - K)/3 > 0
Crosses imaginary axis when K = 6.
Auxiliary equation: 3s 2 + K = 3s 2 + 6 = 0 → s = ± j 2
If two loci break away from a breakaway point, their tangents will be
1800 apart.
Solution:
Rule 1: 3 branches.
Rule 2: Starting points are open-loop poles s = 0, -2+j, -2-j.
Ending points are open-loop zeros s = ∞, ∞, ∞.
Rule 3: 3 asymptotes.
−2−2 4
Centroid, − σ a = =−
3−0 3
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(2q + 1)1800
Angles, φa = ; q = 0, 1, L, (n − m − 1)
n−m
( 2q + 1)1800
φa = ; q = 0, 1, 2 → φa = 600, 1800, and 3000
3−0
Rule 4: On-locus segments on the real axis between 0 and -∞.
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EFFECTS OF ADDING POLES AND ZEROS TO G(s)H(s)
Addition of Poles:
• Has the effect of pushing the root loci toward the right-half s-plane.
Rule 1: 2 branches.
Rule 2: Starting points are open-loop poles s = 0, -2.
Ending points are open-loop zeros s = ∞, ∞.
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Rule 3: 2 asymptotes.
Centroid, σ a = 0 − 2 = −1
2−0
(2q + 1)1800
Angles, φa = ; q = 0, 1, L, (n − m − 1)
n−m
( 2q + 1)1800
φa = ; q = 0, 1→ φa = 900, 2700
2−0
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Stable for all K.
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Let us introduce a pole at s = -b (b > 2).
K K
KG ( s ) H ( s ) = = , with b = 3
s ( s + 2)( s + b) s ( s + 2)( s + 3)
• The centroid of asymptotes changes from -1 to -(2+b)/3.
• The angles of asymptotes change from ±90° to ±60° and 180°.
• Root loci bend towards right-half s-plane → unstable at large K.
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Addition of Zeros
• Has the effect of pushing the root loci toward the left-half s-plane.
K ( s + 3)
Let us introduce a zero at s = -3. KG ( s ) H ( s ) = .
s ( s + 2)
Relative stability is improved.
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