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    Homework 9 TC

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    Sebastián Torres
    This document discusses the root locus technique in control systems. Some key points: 1. The root locus technique was introduced in 1948 and allows analyzing how the poles of a system's transfer function move in the complex plane with changes to certain parameters like gain (K). 2. Important aspects like stability, transient response, and error analysis can be evaluated from the location of poles and zeros. 3. The root locus technique has advantages over other methods like being easier to implement and providing insights into how the whole system will perform. 4. Procedures are described for determining breakaway points, calculating the center of gravity, plotting asymptotes, and evaluating stability based on the root locus diagram.

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    Homework 9 TC

    Uploaded by

    Sebastián Torres
    19 views6 pages
    This document discusses the root locus technique in control systems. Some key points: 1. The root locus technique was introduced in 1948 and allows analyzing how the poles of a system's transfer function move in the complex plane with changes to certain parameters like gain (K). 2. Important aspects like stability, transient response, and error analysis can be evaluated from the location of poles and zeros. 3. The root locus technique has advantages over other methods like being easier to implement and providing insights into how the whole system will perform. 4. Procedures are described for determining breakaway points, calculating the center of gravity, plotting asymptotes, and evaluating stability based on the root locus diagram.

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    This document discusses the root locus technique in control systems. Some key points: 1. The root locus technique was introduced in 1948 and allows analyzing how the poles of a system's transfer function move in the complex plane with changes to certain parameters like gain (K). 2. Important aspects like stability, transient response, and error analysis can be evaluated from the location of poles and zeros. 3. The root locus technique has advantages over other methods like being easier to implement and providing insights into how the whole system will perform. 4. Procedures are described for determining breakaway points, calculating the center of gravity, plotting asymptotes, and evaluating stability based on the root locus diagram.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    19 views6 pages

    Homework 9 TC

    Uploaded by

    Sebastián Torres
    This document discusses the root locus technique in control systems. Some key points: 1. The root locus technique was introduced in 1948 and allows analyzing how the poles of a system's transfer function move in the complex plane with changes to certain parameters like gain (K). 2. Important aspects like stability, transient response, and error analysis can be evaluated from the location of poles and zeros. 3. The root locus technique has advantages over other methods like being easier to implement and providing insights into how the whole system will perform. 4. Procedures are described for determining breakaway points, calculating the center of gravity, plotting asymptotes, and evaluating stability based on the root locus diagram.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 6

    Universidad Autónoma de Guadalajara

    Teoria de control
    Homework 9: Root locus technique

    Alumno: Sebastián Torres García


    Carrera: Ing. Mecánica Eléctrica
    Registro: 4735601

    Zapopan, Jalisco 2 de marzo de 2023


    The root locus technique in control system was first introduced in the year
    1948 by Evans. Any physical system is represented by a transfer function
    in the form of

    We can find poles and zeros from G(s). The location of poles and zeros are
    crucial keeping view stability, relative stability, transient response and
    error analysis. When the system is put to service stray inductance and
    capacitance get into the system, thus changes the location of poles and
    zeros. In root locus technique in control system we will evaluate the
    position of the roots, their locus of movement and associated information.
    These information will be used to comment upon the system performance.
    Now before I introduce what is a root locus technique, it is very essential
    here to discuss a few of the advantages of this technique over other stability
    criteria. Some of the advantages of root locus technique are written below.

    Advantages of Root Locus Technique


    1. Root locus technique in control system is easy to implement as
    compared to other methods.
    2. With the help of root locus we can easily predict the
    performance of the whole system.
    3. Root locus provides the better way to indicate the parameters.
    Now there are various terms related to root locus technique that we will
    use frequently in this article.

    1. Characteristic Equation Related to Root Locus Technique : 1 +


    G(s)H(s) = 0 is known as characteristic equation. Now on
    differentiating the characteristic equation and on equating
    dk/ds equals to zero, we can get break away points.
    2. Break away Points : Suppose two root loci which start from
    pole and moves in opposite direction collide with each other
    such that after collision they start moving in different
    directions in the symmetrical way. Or the breakaway points at
    which multiple roots of the characteristic equation 1 + G(s)H(s)
    = 0 occur. The value of K is maximum at the points where the
    branches of root loci break away. Break away points may be
    real, imaginary or complex.
    3. Break in Point : Condition of break in to be there on the plot is
    written below : Root locus must be present between two
    adjacent zeros on the real axis.
    4. Centre of Gravity : It is also known centroid and is defined as
    the point on the plot from where all the asymptotes start.
    Mathematically, it is calculated by the difference of summation
    of poles and zeros in the transfer function when divided by the
    difference of total number of poles and total number of zeros.
    Centre of gravity is always real and it is denoted by σA.

    Where, N is number of poles and M is number of zeros.


    5. Asymptotes of Root Loci : Asymptote originates from the
    center of gravity or centroid and goes to infinity at definite
    some angle. Asymptotes provide direction to the root locus
    when they depart break away points.

    7. Angle of Arrival or Departure : We calculate angle of


    departure when there exists complex poles in the system.
    Angle of departure can be calculated as 180-{(sum of angles to
    a complex pole from the other poles)-(sum of angle to a
    complex pole from the zeros)}.
    8. Intersection of Root Locus with the Imaginary Axis : In order
    to find out the point of intersection root locus with imaginary
    axis, we have to use Routh Hurwitz criterion. First, we find the
    auxiliary equation then the corresponding value of K will give
    the value of the point of intersection.
    9. Gain Margin : We define gain margin by which the design
    value of the gain factor can be multiplied before the system
    becomes unstable. Mathematically it is given by the formula

    10. Phase Margin : Phase margin can be calculated from the


    given formula:

    11. Symmetry of Root Locus : Root locus is symmetric about the


    x axis or the real axis.
    How to determine the value of K at any point on the root loci? Now there
    are two ways of determining the value of K, each way is described below.

    1. Magnitude Criteria : At any points on the root locus we can


    apply magnitude criteria as,

    Using this formula we can calculate the value of K at any


    desired point.
    2. Using Root Locus Plot : The value of K at any s on the root
    locus is given by

    Root Locus Plot


    This is also known as root locus technique in control system and is used
    for determining the stability of the given system. Now in order to
    determine the stability of the system using the root locus technique we find
    the range of values of K for which the complete performance of the system
    will be satisfactory and the operation is stable.
    Now there are some results that one should remember in order to plot the
    root locus. These results are written below:

    1. Region where root locus exists : After plotting all the poles
    and zeros on the plane, we can easily find out the region of
    existence of the root locus by using one simple rule which is
    written below,
    Only that segment will be considered in making root locus if
    the total number of poles and zeros at the right hand side of
    the segment is odd.
    2. How to calculate the number of separate root loci ? : A
    number of separate root loci are equal to the total number of
    roots if number of roots are greater than the number of poles
    otherwise number of separate root loci is equal to the total
    number of poles if number of roots are greater than the number
    of zeros.

    Procedure to Plot Root Locus


    Keeping all these points in mind we are able to draw the root locus plot
    for any kind of system. Now let us discuss the procedure of making a root
    locus.
    1. Find out all the roots and poles from the open loop transfer
    function and then plot them on the complex plane.
    2. All the root loci starts from the poles where k = 0 and
    terminates at the zeros where K tends to infinity. The number
    of branches terminating at infinity equals to the difference
    between the number of poles & number of zeros of G(s)H(s).
    3. Find the region of existence of the root loci from the method
    described above after finding the values of M and N.
    4. Calculate break away points and break in points if any.
    5. Plot the asymptotes and centroid point on the complex plane
    for the root loci by calculating the slope of the asymptotes.
    6. Now calculate angle of departure and the intersection of root
    loci with imaginary axis.
    7. Now determine the value of K by using any one method that I
    have described above.
    By following above procedure you can easily draw the root
    locus plot for any open loop transfer function.
    8. Calculate the gain margin.
    9. Calculate the phase margin.
    10. You can easily comment on the stability of the system by using
    Routh Array.

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