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Root locus
Tohid Alizadeh
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Part I
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n (t )
and
d (t )
u (t ) = kp e (t ) = Gc (s ) = kp ,
r
- n
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Mp
kp
and/or
T (s )
such that
Ts ,2% )
vary as a function of
kp
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Gp (s ) = K 0 Gp0 (s ) = K 0
where
N (s )
and
D (s )
Then, by dening
KGp (s )
(s + z1 )(s + z2 ) . . . (s + zm )
N (s )
= K0
D (s )
(s + p1 )(s + p2 ) . . . (s + pn )
= kp K 0
T (s ) =
L(s )
=
1 + L( s )
Gp0 (s )
1 + Gp0 (s )
N (s )
D (s ) + N (s )
Therefore, the poles of the closed-loop system are the roots of the characteristic
equation
D (s ) + N (s ) = 0
Denition
The root locus of a feedback system is a plot of the poles of
T (s )
as parameter
changes
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A simple example
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A simple example
In this case, we nd the roots of
D (s ) + KN (s ) = s 2 + 10s + K = 0
Since it is a second-order polynomial,
it is easy to see how the poles change
as a function of
=K 0
in this case
0, and negative
locus (NL) the values of the roots for
of the roots for
<0
6 / 35
D (s ) + N (s ) = 0,
1+
N (s )
= 1 + Gp0 (s ) = 0,
D (s )
Gp0 (s ) =
N (s )
1
=
D (s )
All points of the complex plane which satisfy any of these conditions are points
of the root locus
Looking at the last condition, and remembering that, for a given complex
number
s , Gp0 (s )
Magnitude condition:
N (s )
1
D (s ) = ||
Phase condition:
N (s )
+ 2h,
1
=
=
D (s )
0 + 2h,
> 0 (PL)
< 0 (NL)
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pi ,
zi ,
and
= the angle
we get
m
n
X
N (s ) X
=
i
i
D (s ) i = 1
j =1
Figure 6-2 (a) and (b) Diagrams showing angle measurements from open-loop poles and open-loop zero to test point s.
Example:
Gp0 (s ) = 1 1 2 3 4
Next, we dene some properties, useful to draw the root locus of a given system
Modern Control Engineering, Fifth Edition
2016-2017
8 / 35
rlocus()
However, we want to have some intuition on how the root locus is sketched,
especially for synthesizing controllers
9 / 35
rlocus()
However, we want to have some intuition on how the root locus is sketched,
especially for synthesizing controllers
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Part II
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Since
N (s )
and
D (s )
Rule 1
The root locus has 2n branches,
This can obtained from the fact that the polynomial equation
D (s ) + N (s ) = 0
has
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Gp (s ).
Amongst these,
Gp (s ),
and
r =nm
at innity
1+
from which
(s + p1 )(s + p1 ) . . . (s + pn )
=0
(s + p1 )(s + p1 ) . . . (s + pn ) + (s + z1 )(s + z1 ) . . . (s + zm ) = 0
(s + z1 )(s + z2 ) . . . (s + zm )
= 0,
Gp ( s )
which has
The other
r =nm
12 / 35
Asymptotic behavior
Rule 3
The branches that go to innity have asymptotes which meet on the real axis, at the
point of abscissa
xa =
and form with the real axis angles
r a =
m
X
i =1
zi
n
X
i =1
pi
such that
(2h + 1),
2h,
h = 0, 1, . . . , r 1
h = 0, 1, . . . , r 1
(PL)
(NL)
Gp0 (s ) =
lim
sm
= lim r
s s
sn
xa
r 2
13 / 35
each, from
Modern Control
Engineering,
FifthLab
Edition
ROBT303 Linear Control
Theory
with
N (s )D 0 (s ) N 0 (s )D (s ) = 0
for both PL and NL.
N 0 (s )
and
D 0 (s )
of
N (s )
and
D (s ).
Root Locus
1
0.982
0.962
0.925
0.86
0.72
0.45
0.8
0.6 0.992
BREAKAWAY POINT
0.4
Imaginary Axis
0.998
0.2
4
0.2
0.998
0.4
0.6 0.992
BREAKIN POINT
0.8
1
5
0.962
0.982
4
0.925
3
0.86
2
Real Axis
0.72
0.45
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Angles of departure
Rule 6
The angles of departure
is
q dep =
X
m
n
X
i + (2k + 1),
i
i =1
m
X
dep
i =1
and
i =1
n
X
i =1
i + 2k ,
k = 0, 1, . . . , q 1 (PL)
k = 0, 1, . . . , q 1 (NL)
= 0).
16 / 35
Angles of arrival
Rule 7
The angles of arrival
q arr =
arr
X
m
n
X
+
i + (2k + 1),
i
i =1
m
X
i =1
and
i +
i =1
n
X
i =1
i + 2k ,
is
k = 0, 1, . . . , q 1 (PL)
k = 0, 1, . . . , q 1 (NL)
= 0).
This rule can be also obtained by checking the phase condition, this time in the
neighborhood of the considered zero
17 / 35
Some notes
Remember that, once we know that a point
want to nd the associated gain
kp
s = s is
N (
D (
s ) = 1 ||
s)
=
D (
s)
||
N (
s)
We obtain the sign of
= kp K 0 kp =
K0
(or
kp )
closed-loop system is BIBO stable, we can apply the Routh criterion, and nd
the values of
D (s ) + N (s )
has all positive values
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Part III
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Examples
r
- n
Example 1 (Click
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Draw a sketch of the root locus associated to the standard feedback loop with
proportional controller
Gc (s ) = kp
Gp ( s ) =
s +1
and compare the obtained solution with that obtained with Matlab. In addition:
compute (if possible) the value of
closed-loop system,
Ts ,5% = 0.3
kp
kp R
to
r (t ) = step(t )
stable
Tohid Alizadeh (NU)
20 / 35
Examples (cont'ed)
r
- n
Example 2 (Click
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Draw a sketch of the root locus associated to the standard feedback loop with
proportional controller
Gc (s ) = kp
Gp (s ) =
0.05
s (1 + 10s )
and compare the obtained solution with that obtained with Matlab. In addition:
compute (if possible) the value of
kp
to
r (t ) = 5ramp(t )
system
nd the range of values of
Tohid Alizadeh (NU)
kp R
21 / 35
Examples (cont'ed)
r
- n
Example 3 (Click
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Draw a sketch of the root locus associated to the standard feedback loop with
proportional controller
Gc (s ) = kp
Gp (s ) =
15
s (s + 3)(s + 5)
and compare the obtained solution with that obtained with Matlab. In addition:
nd the range of values of
kp R
stable
compute (if possible) the value of
kp
22 / 35
Examples (cont'ed)
r
- n
Example 4 (Click
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Draw a sketch of the root locus associated to the standard feedback loop with
proportional controller
Gc (s ) = kp
Gp ( s ) =
s +1
s2
and compare the obtained solution with that obtained with Matlab. In addition:
nd the range of values of
kp R
stable
compute (if possible) the value of
kp
23 / 35
Examples (cont'ed)
r
- n
kp
Example 5 (Click
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Draw a sketch of the root locus associated to the standard feedback loop with
proportional controller
Gc (s ) = kp
s +2
Gp (s ) = 2
s + 2s + 2
and compare the obtained solution with that obtained with Matlab. In addition:
nd the range of values of
kp R
stable
for which value of
kp
is it possible to approximate
T (s )
as a rst-order system?
24 / 35
Examples (cont'ed)
r
- n
kp
Example 6 (Click
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Draw a sketch of the root locus associated to the standard feedback loop with
proportional controller
Gc (s ) = kp
Gp (s ) =
s (s + 1)(s 2 + 4s + 13)
and compare the obtained solution with that obtained with Matlab. In addition:
nd the range of values of
kp R
stable
nd the value of
kp
25 / 35
Examples (cont'ed)
r
- n
Example 7 (Click
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Draw a sketch of the root locus associated to the standard feedback loop with
proportional controller
Gc (s ) = kp
s +b
Gp (s ) = 2
s (s + a )
and compare the obtained solution with that obtained with Matlab, for the following
conditions:
a = 10,
and
b=1
a = 9,
and
b=1
a = 8,
and
b=1
26 / 35
Examples (cont'ed)
r
- n
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Example 8
Draw a sketch of the root locus associated to the standard feedback loop with
proportional controller
Gc (s ) = kp
Gp (s ) =
(s + 1)2
(s + 2)4
and compare the obtained solution with that obtained with Matlab. In addition:
nd the range of values of
kp R
stable, by directly using the magnitude condition instead of the Routh criterion
27 / 35