Automatic Control

Root Locus

Dr. Aly
l Mousaad
d Aly
l

Effect of pole position on the transient

response
X (s)
K
T .F . =
=
U ( s ) ( s + 1 )( s + 2 )( s + 3 ) ( s + 4 )2 + 2

under unit impulse of input

X ( t ) = a1e 1t + a2 e 2t + a3e 3t + c e 4t sin ( t )

Root Locus
Dr. Aly Mousaad Aly

General case for an underdamped

second order system

ch. eqn., s 2 + 2n s + n2 = 0
OP =
cos =

( n )
n

Root Locus
Dr. Aly Mousaad Aly

+ n 1

s1 , s2 = n jn 1 2

OP = n

Notes
The basic characteristic of the transient response
of a closed-loop system is closely related to the
location of the closed-loop poles.
If the system has a variable loop gain, then the
location of the closed-loop poles depends on the
value of the loop gain chosen
chosen.
It is important, therefore, that the designer know
h the
how
h closed-loop
l dl
poles
l move iin the
h s-plane
l
as
the loop gain is varied.
Root Locus
Dr. Aly Mousaad Aly

Root Locus
A simple method for finding the roots of the
q
has been developed
p byy
characteristic equation
W. R. Evans and used extensively in control
engineering This method
engineering.
method, called the root
rootlocus method, is one in which the roots of the
characteristic equation are plotted for all
values of a system parameter.

Root Locus
Dr. Aly Mousaad Aly

Root Locus method

R (s) +

G (s )
H (s )

Y (s)

G (s)
Closed loop T .F . =
1+ G ( s) H ( s)

Characteristic eqn, 1 + G ( s ) H ( s ) = 0
1 + open loop T .F . = 0

K ( s + z1 )( s + z2 ) .... ( s + zm )
G (s) H (s) =
( s + p1 )( s + p2 ) ..... ( s + pn )
By using the root-locus method the designer can
predict the effects on the location of the closedl
loop
poles
l by
b varying
i th
the gain
i value
l (K)
(K).
Root Locus
Dr. Aly Mousaad Aly

Example
open loop T .F ., G ( s ) H ( s ) =

K
s ( s + 1)

Ch. eqn., 1 + G ( s ) H ( s ) = 0
1+

K
=0
s ( s + 1)

1 1
s=
1 4K
2 2
K
0
0.25
>0.25

s
0

-1
1
-0.5

-0.5
0.5

Root Locus
Dr. Aly Mousaad Aly

j..
7

Sketching root locus,

locus example 1
K
open loop T .F ., G ( s ) H ( s ) =
s ( s + 4 )( s + 16 )

1. Mark open-loop
p
p poles
p
and zeros.
Number of poles, n = 3; s= 0, -4, -16
Number
b off zeros, m = 0
2.. Find
d asymptotes
asy ptotes
n m = number of asymptotes
The asymptotes intersect the real axis at A
and depart
p at angle
g A ggiven byy
Root Locus
Dr. Aly Mousaad Aly

P Z ( 0 4 16 ) ( 0 )

=
=
= 6.6

30
nm
180o + (l 1)360o
l =
, l = 1, 2,... n m
nm
1 = 60o ; 2 = 180o ; 3 = 300o

where:
P is the sum of all the locations of the poles,
Z is the sum of all the locations of the explicit
zeros.
Root Locus
Dr. Aly Mousaad Aly

Root Locus
Dr. Aly Mousaad Aly

10

3. Compute breakaway/break-in
3
breakaway/break in points
The breakaway points are located at the roots
of the following equation:
ch. eqn. 1 + G ( s ) H ( s ) = 0;

K
1+
=0
s ( s + 4 )( s + 16 )

K = s 3 20s 2 64s
dK
= 0; 3s 2 40s 64 = 0
ds
s = 1.86,
1 86 11
11.47
47

3s 2 + 40s + 64 = 0

take only the value that exist on the root locus; i.e. s = 1.86
Root Locus
Dr. Aly Mousaad Aly

11

Notes:
The break-awayy (break-in)
(
)p
points are obtained
by solving a polynomial equation.
Once
O
you solve
l ffor s, the
th reall roots
t give
i you
the breakaway/reentry points. Complex roots
correspond to a lack of breakaway/reentry.
4. Intersection of the root locus with the
imaginary axis
ch. eqn. 1 + G ( s ) H ( s ) = 0;
s 3 + 20s 2 + 64s + K = 0
Root Locus
Dr. Aly Mousaad Aly

12

 Routh method

s 3 + 20s 2 + 64s + K = 0

s3

64

s2

20

s1
s0

20 64 K
20

20 64 K
= 0 K = 1280
20
auxiliary equation,
Root Locus
Dr. Aly Mousaad Aly

20 s 2 + 1280 = 0 s = j8

13

HW (submit to aly.mousaad@pua.edu.eg )
1. Solve using MATLAB one item of problems 1
and 2 of Sheet 1
1. (according to your ID)
2. Solve using MATLAB problem 3 of Sheet 1.
3. Solve using MATLAB one of problems 4, 5 of
Sheet 2. (assume H1 = 1; H2 = 1/s; G1 =
1/(2s+1); G2=(s+3)/(s2+5); G3=s/(s2+3s); H3
= H1; G4 = G2. (according to your ID)
4. Solve using MATLAB problems 7 of Sheet 5.
5 Solve using MATLAB one of problems 3 and 4
5.
of Sheet 7. (according to your ID)
6 Solve
6.
S l problems,
bl
2
2,4,5,6
4 5 6 off Sheet
Sh
8
8.
Root Locus
Dr. Aly Mousaad Aly

14