Root locus 2

N. Magaji

ELE4201
 Root locus 2

Example 3.4
Draw a root locus of the transfer function below

K (s + 3) K (s + 3)
G ( s) , H ( s) =1
s (s + 2) (s 2 + 4s + 5) s (s + 2) (s+2-j)(s+2+j)

Solution
n = 4, m= 1, n m = 3
Real axis part of root locus:
2 s 0, s 3
Angle of asymptotes:
180 2l 1
A , l 0,1, 2, A 600 , 1800 , 3000 = 600 , 1800
3
Center of asymptotes:
0 (2) (2 j ) (2 j ) 3
A 1
3
Break points:

K (s + 3)
1 0 at any closed-loop pole
s (s + 2) (s 2 + 4s + 5)
 Root locus 2
-s (s + 2) (s 2 + 4s + 5) - s4 + 6s 3 +13s 2 + 10s
K
(s + 3) (s + 3)
dK -s (s + 3) (4s3 + 18s2 +26s+10)-(s4 + 6s3 +13s2 + 10s)1
0
ds (s + 3)2
dK
0=3s4 + 24s 3 + 67s 2 + 78s + 30
ds
dK
( s 0.7509)( s 3.5424)( s 1.8533 j 0.5697)
ds
B 0.7509, 3.5424
Angle of departure:
D [1800 900 p3 p 4 z1 ]
=- [2700 tan 1 1200 tan 1 10
2( 2) tan
1 10
2( 3) ]
[2700 (26.5650 1800 ) 900 450 ] 468.4350
D 108.4350
Closed-loop characteristic equation for unity feedback
C (s) G(s) K (s + 3)
4 3
R ( s ) 1+G(s) s +6s +13s 2 +(10+K)s+3K
Closed-loop characteristic equation:
(s)=s4 +6s3 +13s2 +(10+K)s+3K

s4 1 13 3K
s3 6 (10 + K)
78 - (10 + K)
s2 6
3K
s c1
s0 3K
[ 78 - (10 + K)
] 10 K 18K
Root locus 2
(68 - K) (10+K) - 108K
6
C1
[ 78 - (10
6
+ K)
] 6
(K + 61.1248) (K - 11.1248)
Limits on K for stability:
s0 : 3K > 0 K > 0
s 2 : 68-K > 0 K < 68
s1 : c1 > 0 -61.1248 < K < 11.1248
0 < K < 11.1248
Imaginary axis crossing:

At K = 11.1248, the auxiliary equation (s2 row in Routh Array) is

68 - 11.1248 2
s 3*11.1248 0 9.4792s + 33.3744
2

6
s=j1.8764
The root locus for Example 3 is shown in Fig. below1. Each line (branch of the root locus)
represents the movement of one closed-loop pole as the gain K varies from 0 to . The dashed
lines in the figure are the two asymptotes that have angles of 600
 Complex roots locus
Rules 8 Departure angle / arrival angle n m
(s p ) (s z ) (2k 1)
(Starting angle/Stopping angle) i j
i1 j1
Example 4 Unity feedback system, K * ( s 1.5)( s 2 j)
Open-loop transfer function: G( s )
s( s 2.5)( s 0.5 j1.5)
Sketch the root-locus.

56.5 19 59 [1 90 108.5 37] 180 1 79

[117 2 90] [199 121 153 63.5] 180 2 149.5
 General Rules for Constructing a Root-locus
Example 5 Sketch the root-locus for the system shown in the figure.
Solution. 1
K s ( s 2) K Kk K 2
G( s )
s 2 s[ s 2 2 s 2] v 1
1
s( s 2)
Root-locus on the real axis [-,0]
011 2
a
Asymptotes 3 3
( 2k 1)
a 60, 180
3
Departure angle0 [ 1 90 135] 180 1 45
The crossing point with D( s ) s 3 2s 2 2s K 0
the imaginary axis
ReD( j ) 2 2 K 0 2
ImD( j ) 3 2 0 K 4
 General Rules for Constructing a Root-locus
Example 6 Sketch the RL for a unity feedback system: K*
G( s )
s( s 20)( s 2 4s 20)
Solution. K* K K * 400
G( s )
s( s 20)( s 2 j 4) v 1
Root-locus on the real axis [-20, 0]
( 2k 1)
Asymptotes a 0 20 2 2 6 a 45, 135
4 4
Departure
[ 1 90 116.5 12.5] 180 1 39
angle
1 1 1 1

Breakaway d d 20 d 2 j 4 d 2 j 4 0
point 1 1 2(d 2) Trial-and-Error:
0 d 15.1
d d 20 ( d 2) 4
2 2

d 15.1
K d d 20 (d 2) 4
*
d
2 2
13881

Intersection D( s ) s 4 24 s 3 100 s 2 400 s K * 0

point with ReD( j ) 4 100 2 K * 0 400 24 4.1
imaginary axis
ImD( j ) 24 3 400 0 K * 1389
 General Rules for Constructing a Root-locus

K*
Example 6 G( s )
s( s 20)( s 2 j 4)
K K * 400

v 1
Root-locus on the real axis [-20, 0]
a 6
Asymptotes
a 45, 135
Departure angle 39
Breakaway d 15.1
point K d* 13881
Intersection
4.1
point with
imaginary axis: K * 1389
The range of open-loop gain for stability0 < K < 3.4725
 General Rules for Constructing a Root-locus
K * ( s 1)
Example 7 Sketch the root-locus for G( s )
Determine the stable range of K. s( s 1)( s 2 4s 16)
Solution.
K * ( s 1) K K * 16
G( s )
s( s 1)( s 2 j 2 3 ) v 1
The root-locus on real axis (-,-1], [0, 1]
a (1 4 1) 3 2 3
Asymptotes
a ( 2k 1) 3 60, 180
Departure 106.1 [ 1 90 120 130.9] 180
angle 1 54.9
Breakaway 1 1 2(d 2) 1 d 1 0.49
2
point d d 1 d 4d 16 d 1 d 2 2.26
d d 1 d 2 4d 16 d 0.49 3.05
K *

d 1
d1 , 2
d 2.26
70.6
 General Rules for Constructing a Root-locus

Example 7 G( s )
K *
( s 1) K K * 16

s( s 1)( s 2 4s 16) v 1
Crossing point with imaginary axis
D( s ) s 4 3 s 3 12 s 2 ( K * 16) s K * 0
ReD( j ) 4 12 2 K * 0
ImD( j ) 3 3 ( K * 16) 0
K * 3 2 16
4 9 2 16 0
1 1.56 K 1* 19.7
*
2 2.56 K 2 35.7
The stable range of K* 19.7 K * 35.7
K*
The stable range of K 1.234 K 2.23
16
 Summary
Rule 1 The starting and ending points of the root-locus
Rule 2 Number of branch, symmetry and continuity of root-locus
Rule 3 Root-locus on the real axis
n
Rule 4 Sum of the roots i C ( nm 2 )
n m

p z
i 1
Rule 5 The asymptotes of root-locus i i ( 2k 1)
a i 1 j 1
a
nm nm
Rule 6 The breakaway point of n
1 m
1
root-locus
i 1 d p

j 1 d z j
i

Rule 7 The points where the root-locus

cross the imaginary axis ReD( j ) ImD( j ) 0

Rule 8 The angle of departure and n m

(s p ) (s z ) (2k 1)
the angle of arrival i j
i1 j1