Root Locus

Castillo Mendoza Jose Alfredo Macario

October 22 of 2012
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Contents

Plot the root locus for the system. Determine the range of values of the gain
K for stability.
K(S+1)
< ((S)^2)(S+5)(S+2)

< (S+1)- 2< (S) - < (S+5) - < (S+2) = +- 180 (2K +1)

S1= 0 X1= 0
S2= 0 X2= 0
S3= -5 X3= -5

S4= -2 X4= -2

(((S)^3) + 5((S)^2)) (S+2)

((S)^4) +7((S)^3) + 10((S)^2)

K(S+1) K(S+1)
((S)^4)+7((S)^3)+10((S)^2) ((S)^4)+7((S)^3)+10((S)^2) K(S+1)
K(S+1) = ((S)^4)+7((S)^3)+10((S)^2)+KS+K = ((S)^4)+7((S)^3)+10((S)^2)+KS+K
1+ ((S)^4)+7((S)^3)+10((S)^2) ((S)^4)+7((S)^3)+10((S)^2)

Solve with ROUTH to check the gain K for which the system is stable.
(K 70) K
((S)^4) 1 10 K b1= 7 = 7 + 10
((S)^3) 7 K 0
((S)^2) b1 b2 0
((S)^1) c1 c2 0
((S)^4) d1 d2 0

( 7K)
((S)^4) 1 10 K b2= 7 =K
((S)^3) 7 K 0
K
((S)^2) 7 + 10 b2 0
((S)^1) c1 c2 0
((S)^4) d1 d2 0

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iv CONTENTS

(7K K( 7K +10 ))
((S)^4) 1 10 K c1= ( 7K +10 )
=
7K K
( K
+10)
+K = 7K + K( 7 + 10 )
7
((S)^3) 7 K 0 c2=0
K
((S)^2) 7 + 10 K 0
((S)^1) c1 c2 0
((S)^4) d1 d2 0

((S)^4) 1 10 K d1= ( Kc1)

c1 =K
((S)^3) 7 K 0 d2=0
K
((S)^2) 7 + 10 K 0
((S)^1) c1 0 0
((S)^4) d1 d2 0
Conditions for the value of K:

(1) 7K + 10 > 0
K 10
7 > 10 = K > 7
K
(2) 1 > 0
(3)( 7K + K( 7K + 10) > 0)( K 1
)
K
7 7 + 10 > 0
3 K 7 >0
3> K 7
21 > K
K < 21
Therefore the domain of values for K in which the system is a stable:
D=( 107 ; 21)

Graph
matlab:
num=[0 0 1 1];
den=[1 2 5 10];
numa=[0 0 0 1];
dena=[1 6 12 8];
a=rlocus(num,den);
b=rlocus(numa,dena);
plot(b);
hold
plot(a,x);
grid
CONTENTS v

200

150

100

50

-50

-100

-150

-200
-2 -1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4 -0.2 0