RooT LOCUS ae The root locus is a pht of the roots of the characteristic equation of the closed-toop system as afinction of the gain . Consider fhe caxaral System Shani When dhe To Fe fe expressed with the coefficients of the wighes+ powers of § im beth the numerator and the denominake r equal te unity , the volue of K is defined as the static Loop sensitivity. the closed doop Ts F. is Gis) _ kk et K = oon "AW $ssvjee 8 starek at 2fmy, Ss + 4> 2 i .k K or Cay = aan Suet “RA $¢s+2)4e shapek sty 2pm, So where Weave s folie ond Kis considered te he adjustable Fyrom cere xo an tnfinte value [oo] The problem js to determine the roots «£ tHe character. iste equation Fer all valucs of KK and to plot there roots in the s plane. The reeks are given by Ayaiesy Shiney Sistr=-1tVi-k For Keo, the roots are s,s0 f S2=-2 » which also a¥e the poles of the open-loop trans Per Panttoon when K=1 » then Sy2=-t- thus when 0 SK <1 » the reets Sina are real and lie on the neg- ahve real axis of the S Plane between -2 2-1 and Oto = » respectively - Fae the Case where k>1 a reots arc Complex and are given oyGis Kk , K cs "RM stsnjake shartkK st 2fans +e sadeeiap) aes oO Note thet the real part of all the rests ip constant feral Values of K>I. K 7 Spee he Se. a-i-ivk-1 | Locatron of o -o —2-0 Yoots o-s Saas = oF Pon the cherachen. o-4s scan aS Whe Equation . 4-0 =-\.6 slo Qo 0 4 jhe ho - jhe rho ay hay Ho ~-yteany —\0 =37-0K == Spo-1s3 0 <= a eon o °o =e o as eee = ior o- 4s Saw = ee 4-0 iy ee Qo iB! fli reo ayy tee aes Spe Se af e Nie: tg apressen tennicterael de le Miseanen peeihis for Kho | ie magadve . | Tees Fhe enhire fetus Met en Ake real avy, HeeA TR, 04.5) C4 ce & -2es.5-0 £.+ OF K co. Fer any Negative siolwe ef K Aber is always a peck F plane, ond Une syrdc—, is unstable « | fa the weght belt of the plot of all voods of the Cheracteristic staisakso fe De KC -the characteristic equation for this system is sis+4)+K=st+4s+K=0 Real axis -5 <4 let it be desired to have a damping ratio £ = 0.5. f= 008" = cos" 05 = 60° the line inclined atthe angle f= 6 intersects the root locus pot at @ K-68 value of K = 16. From this plot, the corresponding roots are nae -22WR ‘Thus, the factored form of the characteristic function is (s—rils—ra)= 24454 16 K-16) o? = W6ora, =4, and 2%u,=4 orf =4/20, =4.Tesi pess‘ble fe dettrmine the variation in Systems Performance with respect pho Vewrtetton in Sensitivity [K- Root — locus plete ae of the peste consvel syste —(itiiW ee pe cot'§ Ss plane* dle addition of a 2ero 40 a systent has the gener! elect of pulling the root locus to the Abt , tending fo make ‘amore stable and faster—response (sharten setthiy tine) is C55 eo ee The pertion o& the root 7 en) Nwcus which is off the ¥ ARs Ls accircle UIMh ike center at the tere Bab ad with radius R=[e-Al-l2-Rl =v b(b-a) © plane 4 The addition of o pole to a system has the effect of Pulling the root locus fe the right, tenchng to make it aless s4able je and slower response * K ONES ae SGsao\Gesa) 2%‘Thus the characteristic function is s(s + 4)(s- +6) + K =(s— nA) —ras— 5) K-17 oh axis let it be desired to have a damping ratio { = 0.5, aa B=cos"!f = cos” '0.5 = 60° -6ROOT-LOCUS PLOTS Angle and magnitude conditions. Consider the system shown in Figure 6-1. The closed-loop transfer function is Ro cee a) _ __G)_ = RG) ~ 1+ G)H@) 6-1) a“ Cte ren ‘The characteristic equation for this closed-loop system is obtained by setting the de- nominator of the right-hand side of Equation (6-1) equal to zero. That is, 1+ G(s)H(s) = 0 or G(s)H(s) = -1 (6-2) Angle condition: /GG)H(s) = +1802k +1) (kK =0,1,2,...) (6-3) Magnitude condition lG(s)H(5)| = 1 (6-4) The values of s that fulfill both the angle and magnitude conditions are the roots of the characteristic equation, or the closed-loop poles. A plot of the points in the complex plane satisfying the angle condition alone is the root locus)Lor example , if Guts) “s given by _ K(s + 2) SOMO) = Tepe paw + DG + Pa where —pz and —p; are complex-conjugate poles, then the angle of G(s)H(s) is LG)H(S) = by — 8, — 02 — 3 — Os where 91, 1, 62, 63, and 64 are measured counterclockwise as shown in Figures 6-2 and (b). The magnitude of G(s)(s) for this system is KB, A\AAA, where A}, A2,A3,A4,and B; are the magnitudes of the complex quantitiess + pi,s + p2, 5 + ps.s + ps, ands + z:,respectively, as shown in Figure 6-2 1G@)H)| = Test point : fe Figure 6-2K(s + 2) CONS) = ERICH PIG + PNET PD) Test point = LG(syitis) = 6, - 6, ~ 0 - 5 - 4 loc) = FSExauple : Consider the following open. loep Trans kr Gls) = H¢s+¢) : : s (645) Cs4i3) (s+2-ju)(S424f9 For the test pout s=—5+s6 4. Determine the angle conditioa Q- Determine the magnitude Condit'et a Is the test poink part of reot locus 2 Gena Answer! ® by graphical method ~sH6~stié © jae AL Az Ag Aus ~ Geax g2eloxl2-5 x lod \Gcn| = o-poi2 @® -293 ~ £/80lzk+1) The point 15 aot part of root lotusby analytical method © 7 —S4j6 +6 Gus) _ y ¢ s+) ) Sa pase (SAE )(StiS+9) C5 aj6415)Csrier ra) (-S1jorreiy) 76 at Sy ay ee er s S GS oy cA -( G7 = 180 -tan 2 =129.3° G22 tan 6 = 56-3" = ban © Gere. tan z= 3 = 180— tan te = 106-7 = BaersKGst3) n SUS 4s28) | foe Se aay tangle Lend. tion ~ eee (B) Deseraine tee mega, Getiter as a fanction FE a ,e)| Ts ‘the test print (5 =-) part of Root locus | nee For the open loop teanefer Fonction Gestess< | | es GdHes) = Go Hes) i+ (a) [ Gete ee joes sands ot a — oy S Ge ldes) i" 180-225 —|3: aes 2 — = lho s0- 225-135 es ne 268 cet | ba ae a i Rao ty2y->> a5 ¢'s tot part of root (OMS |