Beruflich Dokumente
Kultur Dokumente
Root Locus
A graphical technique that gives qualitative description of control system performance and stability Root Locus will answer questions such as:
What is the maximum Gain of the system before it becomes unstable? At a given gain K1, how would the transient response of the system look? If the system is Unstable at very low Gain, will it be stable at higher Gains?
Recall: Stability of control system depends on the location of its poles The system poles are the Roots of the Characteristic Equation (s) If (s) is a Fixed Equation (no variable coefficient) then its roots are fixed as well, so the system has fixed poles (from which stability can be determined) If (s) has parameter K in its coefficient, then its roots (system poles) will depend on the value of K. Hence, its stability will also be determined by K Parameter K may be the forward Gain of the system which can be adjusted
Cal Poly State University, San Luis Obispo
187
Root Locus is the Representation of the Path of the Closed Loop poles as Gain K is varied
Cal Poly State University, San Luis Obispo
188
Lets see how the closed loop poles change location as gain K is varied
Since this is a Second Order system, what kind of Transient Response characteristic is represented by the Yellow, Blue, and Green rows?
Cal Poly State University, San Luis Obispo
189
Will the system remain stable regardless of the K value (i.e. Gain that is put into the system)?
Cal Poly State University, San Luis Obispo
190
191
192
193
194
195
196
197
198
199
200
201
202
203