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The method is known as the root locus technique for solving polynomial
equations with constant or variable parameters. It was originally presented
in Ewans (1948, 1950).
The importance of the root locus method for control system theory lies
in the fact that the location of the system poles determines the system
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stability and the system transient response. In some cases, the desired
control system performance can be obtained by changing only the system
static gain
determines the errors of the system steady state response in the sense that a
bigger value for
Controller - Plant
U(s)
+
G(s)
Y(s)
H(s)
Feedback Element
where
static gains come solely from the controller-plant element. That is, the
plant
, which can be
U(s)
+
Controller
Plant
G1(s)
Y(s)
H1(s)
Feedback Element
Figure 7.2: Feedback control system with a static controller in the direct path
The question to be answered by the root locus technique is: what can
be achieved by changing the static gain
, theoretically, from
to
? The
positive answer to this question led to the development of the root locus
technique. It was discovered by W. Ewans in 1948 and was mathematically
formulated in 1950 in his famous paper (Ewans, 1950).
The main idea behind the root locus technique is hidden in equation
If we factor
as
and
The last two equations are crucial for the development of the root locus
technique.
The locations of the open-loop poles and zeros are given in Figure 7.3.
"
#
d
c
&
-4
&
3
-3
s1=-2+j2
-2
b
a
'
Im{s}
j2
&
j1
Re{s}
-1
Figure 7.3: A point in the complex plain that does not lie on the root locus
root locus, it must satisfy both equations (for the magnitude and for the
(
(
at that
we have
which leads to
*
,
+
,
,
)