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Tutorial 5 Root Locus

The document discusses root locus techniques in control engineering, focusing on determining the maximum gain K before system oscillation and identifying closed-loop poles. It includes methods for finding breakaway points and stability conditions for unity feedback systems, along with specific calculations for damping ratios. Additionally, it provides sketches and critical points for root locus plots based on given transfer functions.

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4 views5 pages

Tutorial 5 Root Locus

The document discusses root locus techniques in control engineering, focusing on determining the maximum gain K before system oscillation and identifying closed-loop poles. It includes methods for finding breakaway points and stability conditions for unity feedback systems, along with specific calculations for damping ratios. Additionally, it provides sketches and critical points for root locus plots based on given transfer functions.

Uploaded by

Cieto Mercado
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOC, PDF, TXT or read online on Scribd

ENT385-CONTROL ENGINEERING

CHAPTER: ROOT LOCUS

1. An open-loop system has a transfer function given by:

Find the maximum value of the gain K before the system response begins to
oscillate. Determine the closed-loop system poles and the corresponding
transfer function for the condition above.

Solution:
From the open-loop TF, we obtain the poles on the s-plane. We have 3 poles on
the real-axis. The locus starting from poles at 0 and -2 will meet and
breakaway into the complex s-plane. When this happens, the closed-loop poles
will have complex values, and this will result in oscillatory process response.
This means that the maximum value of K just before the system oscillates is at
the breakaway point.
We can find this by differentiating the characteristic equation with respect to s
and equate it to zero.
For the system, the characteristic equation is given by:

Rearranging gives :

Obtain the differential of K with respect to s and determine its max value:

This gives:

Another approach is a non-differentiation method. It is given that :

where zi and pi are the negatives of the zeros and poles values respectively of
G(s)H(s). Then we have:

This will give  = -0.93 and -5.74 as before.

2. Sketch the root locus and find the range of K for stability for the unity feedback
system shown in figure P8.3 for the following conditions:
Figure P8.3

a)

b)

Solution:
a)

b)

3. For the unity feedback system the transfer function G(s) is given by:
Plot the root locus and get the critical points such as breakaways, asymptotes,
jω-axis crossing etc.

Solution:

4. The forward-path transfer function of a unity feedback system is given by:


Construct the root locus for K0. Find the value of K that makes the damping ratio of
the closed-loop system (measured by the dominant complex characteristic equation
roots) equal to 0.707 if such a solution exists.

Asymptotes: K > 0:

Intersect of Asymptotes:

Breakaway-point Equation:

Breakaway Points: -0.6325, -5.511 (on the RL)


When K = 13.07

5. The forward-path transfer function of a unity feedback system is given by:


Construct the root locus for K0. Find the value of K that makes the damping ratio of
the closed-loop system (measured by the dominant complex characteristic equation
roots) equal to 0.707 if such a solution exists.

Asymptotes: K > 0:
Intersect of Asymptotes:

Breakaway-point Equation:
When K = 61.5

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