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Root Locus Analysis in Digital Control

The document discusses root locus analysis in the z-plane. It provides an overview of how the root locus method can be used to check stability of digital control systems based on the system's gain. Construction rules for drawing the root locus are presented, including starting points, termination points, number of loci, symmetry, and unit circle crossover. Two examples are provided to demonstrate applying the rules to draw the root locus and check stability for different systems using their characteristic equations. The key steps of determining open loop poles and zeros, finding breakaway points, and checking unit circle crossover are illustrated.

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62 views10 pages

Root Locus Analysis in Digital Control

The document discusses root locus analysis in the z-plane. It provides an overview of how the root locus method can be used to check stability of digital control systems based on the system's gain. Construction rules for drawing the root locus are presented, including starting points, termination points, number of loci, symmetry, and unit circle crossover. Two examples are provided to demonstrate applying the rules to draw the root locus and check stability for different systems using their characteristic equations. The key steps of determining open loop poles and zeros, finding breakaway points, and checking unit circle crossover are illustrated.

Uploaded by

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

Lecture 9

Root Locus Analysis in Z


plane
Dr. Sadeq Al-Majidi

Dept. Of Electrical Engineering/ College


of Engineering/ Misan University
Control Engineering
Fourth Year
OUTLINE

• Overview
• Construction Rules for Root Locus
• Examples

2
Overview

• The effect of gain on digital control system is important


section for stability state.
• The root locus methods is considered the most important
method to check the stability of the system based on the
gain controller.
• Root locus construction rules for digital systems are same
as that of continuous time systems.
• we can calculate and draw the root of stability by using
characteristic equation.
• The system is considered stable when its root is locus
with in unite circle

3
Construction Rules for Root Locus
1. Starting points (K=0): The root loci start at the
open-loop poles
2. Termination points (K = ∞): The root loci
terminate at the open-loop zeros when they
exist, otherwise at ∞.

where a represents zero and b represents pole


3. Number of distinct root loci: This is equal to the order of the characteristic
equation.
4. Symmetry of root loci: The root loci are symmetrical about the real axis.
5. Unit circle crossover: This can be obtained by determining the value of K
for marginal stability using the Jury test and then substituting it in the
characteristic equation.
4
6. Breakaway (Break in) points is a location on the real axis where the root
locus branches either arrive or depart from the real axis. It is calculated by
the following equation:

5
Example 1 : Draw the root locus for the
characteristic equation:

Solution:
The general equation of G(z) based on zeros and
poles is

GH(z)= 0.368K(z+0.717)/(z-1)(z-0.368)
NOW, the open loop poles:
(z-1)(z-0.368) z= 1 and 0.398.
Then , the open loop zero :

(z+0.717) z= - 0.717. and ∞


6
Example 2: check the stability of the system shown in figure below by using
root locus method when the T=0.5 second and the gain controller is
integral?

Solution :
The G(z)

7
The controller is an integral controller: K/s =k(z/z-1)
Now, G(z) =

The characteristic equation :

Now T=0.5 second:

Now, the open loop poles: ( by comparing )


(z-1)(z-0.6.65) z= 1 and 0.6065.
Then , the open loop zero : z=0

8
Now, 1+KGH(z)=0 KGH(z) = -1
K = -1/G(z)

9
Unit
Zero circle

Break Pole
point Break
point

10

Common questions

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In digital systems, the characteristic equation for root locus analysis is derived from discrete-time models typically involving z-transforms, which reflect quantized time steps. In contrast, continuous systems use s-transforms for continuous-time analysis. While the fundamental process of plotting the loci based on poles and zeros remains similar, the regions of stability differ; digital systems focus on locus positions within the unit circle, unlike continuous systems which look at the left half-plane for stability .

The Jury test is used in the context of root locus to determine the conditions for which a digital control system remains stable. It is particularly applied to identify the range of gain values for which the loci of the characteristic equation exist within the unit circle, which is crucial for affirming system stability and ensuring that the roots of the system do not cross into unstable regions as gain changes .

The root locus method is primarily used to assess the stability of digital control systems based on gain controller variations. This method helps in determining how the roots of the characteristic equation change with varying system gain and ensures that the system remains stable as long as the loci of roots lie within the unit circle .

Unit circle crossover in root locus analysis represents the condition where the system transitions to marginal stability, as the root loci enter or exit the unit circle. To determine the crossover point, one must calculate the value of gain K for which the loci of characteristic roots touch the unit circle, often done by using the Jury test. The gain at this point indicates how much the system can extend its stability before becoming unstable .

Breakaway or break-in points on the root locus are the locations where root locus branches either enter or leave the real axis. These points are calculated by differentiating the characteristic equation with respect to gain K and setting the derivative equal to zero. It's a mathematical analysis to find particular points along the real axis where the slope of the root line crosses other sections of the locus .

Constructing the root locus is critical for evaluating control system performance because it provides a clear visual representation of how pole locations change with varying gain, directly affecting the system's stability and transient response. Unlike time-domain methods, which give detailed transient performance but are less intuitive for modification predictions, and frequency-domain methods, which analyze steady-state, root locus offers a dynamic perspective on the overall system behavior across different gain values .

The symmetry of root loci about the real axis is significant because it aids in the predictability and structural understanding of the root patterns, which is vital for determining stability. It simplifies the analysis by reducing the computation needed to plot the root locus, allowing the engineer to predict the behavior of all complex conjugate roots by analyzing only those on the real axis .

In root locus analysis, the loci start at open-loop poles because these are the initial roots of the system when the gain K is zero. As K increases to infinity, the influence of the system poles decreases, and the loci tend to terminate at open-loop zeros if they exist, or extend toward infinity, representing the possible locations of system roots at extreme gains .

To check the stability of a digital control system with an integral gain controller using the root locus method, one should first define the characteristic equation incorporating the integral controller’s transfer function. Then, plot the root locus diagram by following the steps of building loci from the system's open-loop poles to the open-loop zeros. Consulting this diagram with changes in gain will show if the roots remain within the unit circle, confirming stability .

The number of distinct root loci, equating to the order of the characteristic equation, implies the number of independent paths that roots can take as system gain varies. Each root locus corresponds to a potential path for poles to move as gain changes, and their configuration provides insight into the overall system stability. More loci suggest more interactions and potential stability challenges, requiring careful analysis to ensure all roots remain in stable regions .

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