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characteristic
equation Magnitude
criteria
That is
Angle
criteria
Root Locus : Construction
Consider
Magnitude
criteria
Angle
criteria
Root Locus : Construction Rules
where
Characteristic Eq.
Step 1 : Pole Zero plot
Rule#5
Centroid
real axis
4
● 3 open loop zeros are at
infinity Imag Axis 2
0 conjugate
pairs
-2
matlab code
figure; -4
num = [1];
-6
-6 -5 -4 -3 -2 -1 0 1 2
denum = [1 6 8 0];
Real Axis
rlocus(num,denum);
Break away point
Example
RD = 2 – 0 = 2
2.5
rlocus(num,denum); -2
-2.5
-4 -3 -2 -1 0 1 2
Real Axis
Open Loop Response
As the values
of K changes
the transient
response
changes
Example
Given the unity feedback system
Centroid and
Asymptotes
centroid =
RD = 2
Draw the root locus obeying the rules defined
10
Imag Axis
2
-2
matlab code -4
-6
figure;
-8
num = [1 2];
-10
denum = [1 7 24 18]; -4 -3 -2 -1 0 1 2
Real Axis
rlocus(num,denum);
Example
Characteristic polynomial
RD = 4
Draw the root locus obeying the rules defined
Imag Axis
2
-2
matlab code -4
figure; -6
num = [1]; -8
-4 -3 -2 -1 0 1 2
denum = [1 9 82 192 0]; Real Axis
rlocus(num,denum);
Design using mag. and angle cond.
Characteristic polynomial
1
0.8
0.6
0.4
0.2
-0.4
-0.6
-0.8
-1
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis
Magnitude Condition
Angle condition
How to find
these points ?
Any ideas ?
Calculate the charactertic equation
Routh Table :