Program No.

Object-: Write a program to draw the root locus of a given transfer function.

Apparatus-: Matlab software 7.06

Theory:-
Root locus
In control theory the root locus is the locus of the poles and zeros of a transfer
function as the system gain K is varied on some interval. The root locus is a
useful tool for analyzing single input single output (SISO) linear dynamis
systems. A system is stable if all of its poles are in the left-hand side of the s-
plane (for continuous systems) or inside the unit circle of the z-plane (for discrete
systems).

Uses

In addition to determining the stability of the system, the root locus can be used
to identify the damping ratio and natural frequency of a system. Where lines of
constant damping ratio can be drawn radially from the origin and lines of constant
natural frequency can be drawn as arcs whose center points coincide with the
origin. By selecting a point along the root locus that coincides with a desired
damping ratio and natural frequency a gain can be calculated and implemented
in the controller.
RL = root locus

Example

Suppose there is a motor with a transfer function expression P(s), and a

controller with both an adjustable gain K and a transfer function expression C(s).
A unity feedback loop is constructed to complete this feedback system. For this
system, the overall transfer function is given by

.
Thus the closed loop poles (roots of the characteristic equation) of
the transfer function are the solutions to the equation 1+ KC(s)P(s) = 0. The
principal feature of this equation is that roots may be found wherever KCP =
-1. The variability of K (that's the gain you can choose for the controller)
removes amplitude from the equation, meaning the complex valued
evaluation of the polynomial in s C(s)P(s) needs to have net phase of 180
deg, wherever there is a closed loop pole. We are solving a root cracking
problem using angles alone! So there is no computation per-se, only
geometry. The geometrical construction adds angle contributions from the
vectors extending from each of the poles of KC to a prospective closed loop
root (pole) and subtracts the angle contributions from similar vectors
extending from the zeros, requiring the sum be 180. The vector formulation
arises from the fact that each polynomial term in the factored CP,(s-a) for
example, represents the vector from awhich is one of the roots, to s which is
the prospective closed loop pole we are seeking. Thus the entire polynomial
is the product of these terms, and according to vector mathematics the
angles add (or subtract, for terms in the denominator) and lengths multiply
(or divide). So to test a point for inclusion on the root locus, all you do is add
the angles to all the open loop poles and zeros. Indeed a form of protractor,
the "spirule" was once used to draw exact root loci.

From the function T(s), we can also see that the zeros of the open loop
system (CP) are also the zeros of the closed loop system. It is important to
note that the root locus only gives the location of closed loop poles as the
gain K is varied, given the open loop transfer function. The zeros of a system
can not be moved.

Using a few basic rules, the root locus method can plot the overall shape of
the path (locus) traversed by the roots as the value of K varies. The plot of
the root locus then gives an idea of the stability and dynamics of this
feedback system for different values of k.
z-plane vs. s-plane

Root locus can also be computed in the z-plane, the discrete counterpart of
the s-plane. An equation (z = esT) maps continuous s-plane poles (not zeros)
into the z-domain, where T is the sample period. The stable, left half s-plane
maps as the unit circle into the z-plane, with the s-plane origin equating
to z=1 (because e0 = 1). A diagonal line of constant damping in the s-plane
maps around a spiral from (1,0) in the z plane as it curves in toward the
origin. Note also that the Nyquist aliasing criteria is expressed graphically in
the z-plane by the -x axis, where (wn * T = pi). The line of constant damping
just described spirals in indefinitely but in sampled data systems, frequency
content is aliased down to lower frequencies by integral multiples of
the nyquist frequency. That is, the sampled response appears as a lower
frequency and better damped as well since the root in the z-plane maps
equally well to the first loop of a different, better damped spiral curve of
constant damping. Many other interesting and relevant mapping properties
can be described, not least that z-plane controllers, having the property that
they may be directly implemented from the z-plane transfer function
(zero/pole ratio of polynomials), can be imagined graphically on a z-plane
plot of the open loop transfer function, and immediately analyzed utilizing
root locus.

Since root locus is a graphical angle technique, root locus rules work the
same in the z and s planes.

The idea of a root locus can be applied to many systems where a single
parameter K is varied. For example, it is useful to sweep any system
parameter for which the exact value is uncertain, in order to determine its
behavior.
 Coding:-
num=[1 1]

den=conv([1 0 0],[1 3.6])

g=tf(num,den)

rlocus(g)

grid on

Graphs:-

Root Locus
4
4
0.64 0.5 0.38 0.28 0.17 0.08 3.5

3
3 0.8
2.5
2
2
1.5
0.94
1
1
0.5
Imaginary Axis

0.5
­1
1
0.94
1.5
­2
2
2.5
­3 0.8
3

0.64 0.5 0.38 0.28 0.17 0.08 3.5

­4
­4 ­3.5 ­3 ­2.5 ­2 ­1.5 ­1 ­0.5 40

Real Axis

Solution of the problem:

Given transfer function:

G(s)=K(s+1)/s2(s+3.6)
H(s)=1
Step1: poles and zeros
Poles S=0,0,-3.6
Zeros s=-1

The segment between s=-1 and -3,6 is the part of the locus

Centroid of the asymptotes:

Sigma= sum of poles –sum of zeros/p-z

= 0+0-3.6+1/3-1
= -1.3

Angle of asymptotes:
Ф =2K+1/p-z*180
Ф1=90
Ф2=270

Breakaway point:
1+G(s)H(s)=0
S2(s+3.6)+k(s+1)=0

K= - s3+3.6s2/s+1

Dk/ds=(s+1)(3s2+7.2s)-(s3+3.6s2)/(s+1)2

So
s=0 and s=-3.3+-√3.32-4*1*3.6/2

s=0,-1.65+j0.936

point of intersection

s3 1 K
s2 3.6 K
s1 0.72 K
s0 K

Result:- we have successfully studied and drawn the root locus a a given
transfer system.
Questions:-
1)A control system has
G(s)H(s)=K(s+1)/a(s+3)(s+4)

Root locus of the system can lie on the real axis between:
Ans) Between s=-3 and s=-4

2) For a transfer function

G(s)=k/s(s2+6s+10)
Ans) 3

3) Which of the following is not in frequency domain.

(a) bode plot
(b) nyquist plot
(c) root locus
(d) none
Ans) root locus

4) Which method is used to determine the relative stability of a control system.

Ans) Root locus method

5) the root locii method of analysis of control system gives :

Ans) Transient frequency