274 Chapter 7

FIGURE 7.22 Step response for the closed-loop system given in Eq. (7.75).

is noted between the root locus and the time solution. This section is devoted
to strengthening this relationship to enable the designer to synthesize and/or
compensate a system.

General Introduction
In review, consider a simple second-order system whose control ratio is
CðsÞ K
¼ ð7:77Þ
RðsÞ s 2 þ 2zon s þ o2n
and whose transient component of the response to a step input is
cðtÞt ¼ C1 es1 t þ C2 es2 t ð7:78Þ
where, for z < 1,
qffiffiffiffiffiffiffiffiffiffiffiffiffi
s12 ¼ zon
jon 1  z2 ¼ s
jod ð7:79Þ

Thus
cðtÞt ¼ Aest sin ðod t þ fÞ ð7:80Þ
Consider now a plot of the roots in the s plane and their correlation
with the transient solution in the time domain for a step input. Six cases
are illustrated in Fig. 7.23 for different values of damping, showing both
the locations of the roots and the corresponding transient plots. In the case
of z ¼ 0 the roots lie on the
jo axis and the response has sustained

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