Ch-7 Root Locus and Contour Slide
Ch-7 Root Locus and Contour Slide
Ch-7 Root Locus and Contour Slide
ROOT LOCUS
R +
H
C K G (s) = R 1 + K G (s)H (s)
1+ K G(s) H(s) = 0 is called the characteristic equation of the system and its roots are closed loop poles.
Root locus is the locus of the roots of the characteristic equation as parameter K is varied ( 0 < K < )
+ -
1 s + 1
K=0
-1
closed loop system is stable for all K As K is increased, closed loop pole is moved farther away from imaginary axis; hence the time constant reduces. i.e. Transient response improves.
Ex:
K KGH = s-1
s = 1-K
K
K=0
K=1
Root locus for G(s)H(s) = 1/(s-1) From the plot , for K < 1, system is unstable
Second Order
+ -
1 s (s + 1)
For K = 0 : Roots at 0 and - 1 For 0 < K < 0.25 : Roots are real and equidistant from -0.5. For K = 0.25 : Roots at -0.5
For K > 0.25: Roots are complex conjugate with real part at - 0.5
-1
0.5
locus is always symmetric about the real axis closed loop system is stable for all K system under damped for K > 0.25 damping factor reduces as K increases
>
>
>
>
For systems of order 3 & above, it is difficult to solve for roots and hence we will work out short cuts to plot the root locus.
R +
K
H
Ch Eq: 1 + K G H = 0
Angle Criterion
The method :
On the s - plane, check for the angle of G H at a chosen (Test) point. If the angle criterion is satisfied, the point is on the locus. Substitute in magnitude criterion to find K, at that point.
Ex:
K F(s)= s( s + 2)
j1
-2
-1
K =2
Point is on locus
Ch. eq:1 + K G H = 0
(s+ z 1) (s+ z 2)... or 1+ K =0 (s+ p 1)(s+ p 2 )... or (s +p1)(s +p2)+ K (s + z1)(s + z2) = 0 for K = 0, s = - p1, - p2, ...
K = 0, open loop poles are closed loop poles. i.e. From every open loop pole, a branch of the root locus STARTS .
for K = , s = - z1,- z2, ... Open loop zeroes are closed loop poles i.e. Each branch of the root locus ENDS at a open loop zero
Ex:
1 G(s)H(s) = ( s + 1)
s = - 1,
1 s 1+1 s
As s , G(s) = 0
i.e. The open loop zero is at infinity.
Ex
.
T2
-1
.
T1
K=0 -1
Example
T4 .
T1 T2 T3 T4
-2
T.3
T2 .
T1 .
Example :
1 G(s) H(s) = ( s + 1 )2
K= 0
-1
At any point T,
Angle = - 2 = - ( 2n + 1 ) 180 T = 90 , 270
-1
1 G ( s ) H (s ) = 2 ( s +1)
-1
-1
j1
-j 1
Example :
-1
.T
= 60 , 180 300
Ex.
1. 2. 3. 4.
1 GH = s (s + 1) (s + 2)
Locus starts at s = 0, -1, -2, 2 All three branches go to infinity Real axis locus from 0 to -1 & -2 to - Break away point between 0 and -1
<
> <0 -2 -1
3 s2 + 6s + 2 = 0
s = -1 1
s3 + 3s + 2s + K = 0 s3 s2 s1 s0 1 3
6-K 3
2 K
Asymptotes :
Consider GH with n poles & m zeroes
nm
GH =
( s + zi ) + pi )
i =1 n
(s
i=1
1
n m
(s
i=1
+ pi )
(s
i=1
+ zi )
Considering very large values for s, we take first 2 terms When s takes very large values , all poles and zeroes may be considered to be at the same point.
m
( s +z )
i
G H =
i=1 n
=
i
1 ( s + A )
n-m
( s + p )
i =1
( s + A )
Or
n- m
=s
n- m
+( pi -zi ) s
n - m-1
pi - zi = (n-m)
- A is known as centroid
( real part of poles) - (real part of zeroes) = (no. of poles - no. of zeroes.)
asymptotes
< -2
> <0 -1
j 2
While two branches cross Imaginary axis and go to , the third branch from - 2 goes to -
The third order system can be approximated as a second order system with dominant pole pairs located on the complex conjugate parts the third closed loop pole is on the negative real axis far away from imaginary axis.
For = 0.707, = 45
P1
.<
P3
>
.
P2
<
Example:
K=0
j1
K=0
-2
-1
K=0
0 K=
- j1
GH =
1 2 + 2s+ 2 ) s ( s + 2)( s
Break Away Pt
dK / ds = 0 4s 3 +12s 2 + 12s + 4 = 0 or s 3 + 3s 2 + 3s + 1 = 0 (s + 1) 3 = 0, s = -1
Imaginary axis crossing :
K=5,s = j1
Angle of departure from a complex conjugate pole : Let P be the point in the neighbourhood of s = - 1 +j 1(open loop pole)
= - 90
= 180 90 135 45
<
<
<
j1
<
-2
>
<
<
<
0
-j1
Root Contours Locus of closed loop poles as any other parameter also is varied.
Example :
+ -
1 s(s + a)
Characteristic Equation :
s2 + a s + K = 0 ( s2 + K )+a s = 0
s 1+ a . 2 = 0 s +K
This equation is similar to 1+KGH = 0 With a varying, we plot the locus with open loop zero at s = 0 and open loop poles at s = j K
a = 0
<
>
<
>
a= .
0
a = 0
Root Contours
<
<
>
K=4
. j2 . j1