“Polen + ems of closed-log danse fh. alfect the dynamic "Roots cf eboracticcsie = polee of closed-loop tamer fr. + oot loc = trajectories of roots of eharoetermre 4 when o paremete: ViALze. WG) disturbance), Controller] UG) + Tonk. e 6 ne 6h Ve Sensor (Sensor noise) ts) CLesed-loo tf * M(s) Yo _ dé RG 1+ DG H Chr. 4: 1+ Dis G@HO=0 Suppose tet DEH cortare a Parenter KER and Come be wrbiom aa DOG HG) = Kae = LY) Pld= SF AnaSP'+ HAS +O QAb=s™+ bmaiS™' + .-+bs+b, ai, bceR ie foc of oboe. 27-7 9+ KQH)=O Ir KQR =0 [+ KLi-0 Mom me“K may be He gas of te conboller-plant Comlarnaticn “TF not, duvtde by terms thet don't have K te get tee Toot -locus form. fd Chocsetorishe equation : 3(s+is+2) + s2+(Bt2K)c 4520 > [+ aks (st 1Xst2) 8743545 > Qis)= 2s, Pls) = 53 +45 +55 45 * Tho root locus (RL) can be drawn based on tee prpertes of Lis)= Oe Whe RL is the sot of aff s Hat sotishy Pa RL form of He characteristic equation. -Each s correaponds te different value of HH. K>0: positive or 180° loeus Kpoles of Lbs) TPyl IKI =e K-> 400, ss eevee of Llc) = Qs) = [+ K-53 =0 Lls)= ¢ > ® The locus ison dhe reel axis to fle left of an odd Gor K20) or even. Cfor K<0) number of f poles + eeros }. s x3 2 r x= pole v O = 2e0Root Locus Aealysie © i large Sand K, n-m & le loci are asymptote ty |inee Ok nglen f radiottig out from a. pointe S=ol on Ye real axis, p eng -e ” he Cacrim {20,9 N-m-1, K20 n-™ del 4)... h-™ ame ree t=0) I,..-) n-m-l, d= Zp se, FRelpid- 2 Rela) nm h-m @D ~The Rl crosses the yw-anis at points ohsce, breseties Hie Routh-turwite criterion shows tranathion fom roots in Hee LHP to roots inthe RHP. Alteraatvey, lek sayw inten Charactertte eapnation, tgatn fle veal puk + imped pert + 0, amb solve _ w ad KT atin ot oressing potty There ane other vulea for Finduirp He dongle of departure of a brarch fom a pole, He angle of Acrivall of & brenk pa zero, and the existence of roots where multiple branehee meet and depart (breakin/ brtaleturtes prints).boca s L@® = } a s[eearrigy — Porime RL Cee) oO poles of LG: s=0, s= -4t ty pees of Lls): S = 00, ®, 08 n= 3, m=0 2 n=3 branches Start at He poler aud go off te infinity , ® he veal axis to the lepe of S=0 6 Me RL. —t- x @ pn-m=3 > atl bci ae asympboive to Lunia at angles: - oH yr _ a _ (alten d- Grrr a de aicwaan ps 5 ase ae sr Hat radiate out from a point: Sx ol = Onteage ttf = ~ B. ® “ek Charactonste eguatian: ee § | SLCs+)+ 16} > s(s*4¥stlo+rlo)+kK-0 > a Routh array: 3 | 32 6 bie S3EE bo > KO 2 TE K Sash, Hue ore 2 roots in he COs.Lowe. is K= dSb corceeponda fo & Solucion ot S feds for Comme bas - 4 (jv)? + 8 (jtr.)* + BYju,)eK=0 =. ~ ge? - Su, + 4 Baud, + 256 =O DB =? +32, =0 dud — Bl.” +S =O > wo 2 tise= £566 Skeetole? Plot waing MATLAB! rloews (num, den);Root Locus Analysis |Ex |} A negatie RL (K<0) L[somotimes K<0 stabilizes a System] Altihade eortot of a plane: ty make He plane climb, Hie upuarcl daftection of te. olevetors inthe ly causes it to drop Boring T4F in His mode: (ya So I+KLG)=0 SCS? +45+13) Oo poles of Us): S=0, sz -at3y Bers of Lis): S= 6, 08, 00 n= 3, mel > ve-m=22 branehes stort at poles and go ofP to infinity 5 m=] brane sttrts at « pole and ends on fle 200 s=6. ® Be om real axis is to He left of On wen # of Eprles t dere > the real avis te Hee right of S=6 anh t the loft of sod is om tHe KL. @ n-m=2 danches are asymptotic h Leica at angles: $i= 2M 0, dye MOL Hat radieke out fom & point: S= of = O72 43g-2-3y-6 = -5. Zz © Charactorishe aguacion: [+ K(s-6) =0 s(s*+45+13) > sht4t4(B4K)s—6K=0 6s | [aK oO 7 s* 4 -6K oO Kowt Aarrag: s! bbz 0 S°> G C,20Root hecus Analysis b= A(BEKFGK yD gy i 7 loK>o = [K>-s. _ > <0 cLosed-loe: ' by 4 TRO] Br etagetes t closed At K= -5.2, He poles Omss over to tangle alps, (the closed loop system become 2) Ke -S-2 corceoprrde to a Solution at 5+ 4Wo hr Soma. We . > (yoo? + ‘4(jtoe)” + (3+K)Gee)- GK =O > -jue ea te [3 ro 5-2 joe + 312-0 > yoke Fowo2 0 awd — Huse? 31-2 =O > Woe ote * £2.74Rloot ho cus Arabysis What Dappens in He Cee? We can poe a 5% vate fhe shetohuy Ha RL: © The Rb will fave rook at poink on Ha locus where Qte) AD 7 PCy ARG) =0. Stemi paints" The Fangents bh te locy ah Ma breakawey point are equally spreeh over 300°. "Note: Not all Solutions s of QP'-PQ'=0 ara breale duro points The solution must also be on Hu root locus. Dn the example: © P(s)= 534 4s*4138 QG&)= S-6 Me) 3c*4 Bs tid Bo = I > QP! -PQ’= (s-bX35*+ Bs +13) —(s34+45>4 1359) =O => 357+ 65° e13s5- 18s*— 485-78 =8* H5*-135=0 > as? —I4s* -49s-}%9=0 52 9.84, -142 41.39 4 on RE not on RL > Breakaway point at S= 4.84