8-1.

Find The angels of the asymtotes and the intersect of the asymtotes of the root loci
of the following equation when K varies from to
Let us consider the close-loop transfer function of a single- loop control system:
() ()
=
() 1 + ()()
The roots of the characteristic equation must satisfy,
1 + ()()
Suppose that G(s)H(s) contains a real variable parameter K as a multiplying factor, such
that the rational function can be written as,
()
()() =
()
(a) + + + ( + ) + =
Answer:
Divide both sides of the equation by the terms that do not contain K
4 + 4 3 + 4 2 + ( + 8) + = 0
4 + 4 3 + 4 2 + 8 + + = 0
4 + 4 3 + 4 2 + 8 + ( + 1) = 0
4 + 4 3 + 4 2 + 8 + ( + 1)
=0
4 + 4 3 + 4 2 + 8
4 + 4 3 + 4 2 + 8 ( + 1)
+ 4 =0
+ 4 + 4 + 8 + 4 3 + 4 2 + 8
4 3 2

and we get, the roots of the characteristic equation,

( + 1)
1 + ()() = 1 + =0
4 + 4 3 + 4 2 + 8
so,
() ( + 1)
()() = = 4
() + 4 3 + 4 2 + 8
Comparing the last equation we get,
() + 1
= 4
() + 4 + 4 2 + 8
3

now K is isolated as a multiplying factor to the function ()/().

Finite pole of ()(): 0, 3,5098, 0.2451 1.4897
Finite zero of ()(): 1
Finite pole of ()() = = 4
Finite zero of ()() = = 1
 angle of asymtotes:
2 +1 2
> 0, = || 180 < 0, = || 180
0+1 0
= 0, 0 = |41|
180 = 60 = 0, 0 = |41|
180 = 0
2+1 2
= 1, 1 = |41| 180 = 180 = 1, 1 = |41| 180 = 120
4+1 4
= 2, 2 = 180 = 300 = 2, 2 = 180 = 240
|41| |41|

Intersect of asymtotes:
real parts of poles of ( ) ( ) real parts zeros of () ()
1 =

(3.50980.24510.2451)(1) 3
= = = 1
41 3

using MATLAB:
G=tf([1,1],[1,4,4,8,0]);
rlocus(G)
axis([-5 5 -5 5])

Figure 1 Root Loci and asymtotes of 8.1.a

(b) + + ( + ) + =
Answer:
Divide both sides of the equation by the terms that do not contain K
 3 + 5 2 + ( + 1) + = 0
3 + 5 2 + + + = 0
3 + 5 2 + + ( + 1) = 0
3 + 5 2 + + ( + 1)
=0
3 + 5 2 +
3 + 5 2 + ( + 1)
+ =0
3 + 5 2 + 3 + 5 2 +
and we get, the roots of the characteristic equation,
( + 1)
1 + ()() = 1 + =0
3 + 5 2 +
so,
() ( + 1)
()() = = 3
() + 5 2 +
Comparing the last equation we get,
() + 1
= 3
() + 5 2 +
now K is isolated as a multiplying factor to the function ()/().
Finite pole of ()(): 0, 4.7913, 0.2087
Finite zero of ()(): 1
Finite pole of ()() = = 3
Finite zero of ()() = = 1
angle of asymtotes:
2 +1 2
> 0, = || 180 < 0, = || 180
0+1 0
= 0, 0 = |31|
180 = 90 = 0, 0 = |31|
180 = 0
2+1 2
= 1, 1 = |31| 180 = 270 = 1, 1 = |31| 180 = 180
4+1 4
= 2, 2 = 180 = 450 = 90 = 2, 2 = 180 = 360 = 0
|31| |31|

Intersect of asymtotes:
real parts of poles of ( ) ( ) real parts zeros of () ()
1 =

(4.79130.2087)(1) 4
= = = 2
31 2

using MATLAB:
G=tf([1,1],[1,5,1,0]);
rlocus(G)
axis([-5 5 -5 5])
Figure 2 Root Loci and asymtotes of 8.1.b