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Muhammad Imran
Or
Magnitude Condition
The root loci for the system are the loci of the
closed loop poles as the gain K is varied from
zero to infinity (K >0 meaning ve feedback)
found either by
Use of Routh stability criterion or
Put s=jw in characteristic equation, equating both real
and imaginary parts to zero and solving for w & k
the value of w found gives frequencies at which root loci
crosses imaginary axis. The value of k corresponding to
each frequency crossing gives the gain at that crossing
point
Rule 3 Modification
Equation for angle of asymptotes becomes
Rule 5 Modification
All angles of open loop poles /zero are subtracted from 00 instead of
1800