Professional Documents
Culture Documents
Comparison
Error
signals
III.
Controller
Sensor
I.
Input
Plant /
Process
Feedback Loop
Output
+
-
G(s)
Y(s)
G (s)
1
s ( s 4)
K
s(s 4)
T (s)
K
1
s(s 4)
CE: a( s) 1
roots of a(s) = 0
K
s ( s 4)
s 2 4s K 0
Trajectories of r1, r2
4 16 4 K
as K: 0
r 1, r 2
2
How about root locus for general transfer function?
.
Branches of root locus
of closed loop system
- Generally, so complex
G(so) complex
j L G ( so )
e
Ko Ko
- Comparing the phase and magnitude on both sides:
* Phase requirement (PR):
G ( so ) 180 l 360
l = 0,1,2,3,
(M zeros, n poles)
with ( s zi ) s zi e j( s zi )
j ( s pi )
and ( s pi ) s pi e
C s z1 ... s z M
G (s)
e i 1
s p1 ... s pn
( s zi )
i 1
( s pi )
i 1
( so
zi )
( so
i 1
pi ) 180 l 360
Graphical Interpretation of PR
so+z1
- ( so zi ) is complex
number going from
zi to so
-z1
test point so
L(so+z1)
so+p1
so+p2
L(so+p1)
x-p
- ( so pi ) is complex
number going from
pi to so
so+z2
-z2
L(so+z2)
L(so+p2)
x-p
i 1
( so
zi )
(s
i 1
pi )
1
MR: G ( so )
Ko
so p1 ... so pn
1
Ko
G( so) C so z1 ... so z M
(Note: MR will produce a value of Ko even if so is not on
root locus in that case the value is meaningless)
1
- Example: G ( s )
s ( s 4)
C = 1, M = 0
n = 2, p1 = 0, p2 = 4
-p2
so
2j
-2
-p1
Ko
1
so( so 4) so ( so 4) 8
G ( so )
so
- Example:
s
G ( s)
( s 1)( s 2)
C = 1, M = 1, z1 = 0
n = 2, p1 = 1, p2 = 2
-p2
-2
-p1
-1
-z1
a(s) 1 KP(s) 1
K (s zi )
i 1
(s pi )
i 1
where
C ( s z1 )...( s z M )
P( s )
( s p1 )...( s pn )
P(s)
Y(s)
i 1
i 1
( s pi ) K ( s zi ) 0
All zeros
All poles
Asymptotes going to
M
n
pi zi
i 1
i 1
nM
Step 3: Draw asymptotes according to the computed angle A
and centroid A, to be followed by root loci when far
away from origin as K becomes large
Example:
K
0
2
s ( s 8s 32)
s 3 8s 2 32 s K 0
Method (a)
s = j
j 3 8 2 32 j K 0
Real part
Imaginary part
Crossover:
8 2 K 0
3 32 0
32
at K = 256
Method (b)
s3
32
s2
s1
s0
K = 256
1
( 256 K )
8
K
roots on imaginary axis
(Special Case II)
Axillary polynomial:
AP ( s ) 8s 2 256 0
crossover at s + j 32
p(s ) 0
Breakaway point occurs at
ds ds
1
P
(
s
)
- Example:
s ( s 1)( s 2 )
K s ( s 1)( s 2 )
* Then
dK
ds
s sb
3 s b2 6 s b 2 0 s b 1 . 58 or 0 . 423
dK
0 ? Plotting K vs s (real number)
* Why
ds
K3
Kb
x
-2
K2
K1
x
-1
s1( 2 )
s1(1)
s1( 3)
s2( 2 )
s2(1)
s2( 3)
sb( 2 ) , sb( 3)
sb(1)
s3(1)
(1)
(2)
( 3)
-- At K=K1, 3 real roots at s1 , s1 , s1
(1)
(2)
( 3)
-- At K=K2, 3 real roots at s2 , s2 , s2
(1)
-- At K=K3, only 1 real root at s3 , remaining 2 roots complex!
- Solving sb from
dK
0 analytically possible for simple
ds
1 .0
0
Again, focusing on K 0 :
* Breakaway point occurs between s = 0 and 1
dK
0, corresponding to local max. of K
ds
i 1
i 1
( so zi ) ( so pi ) 180 l 360
i 1
M
i 1
( p j zi ) ( p j pi ) 180 l 360
n
or ( p j zi ) ( p j pi ) 180 l 360
i 1
i 1
i j
i 1
i 1
i j
( p j zi ) ( p j pi ) 180 l 360
all zeros
remaining
poles
remaining
zeros