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Ghose/2012 127
Note: Dierent books give these set of steps dierently. We will follow something that
is simple and works in most cases. You can take a look at DAzzo and Houpis for a
complete set of steps.
G1 (s)
Gc (s) =
1 + kG2 (s)
(a) Locate the open loop poles and zeros. Let there be n open loop poles and m
open loop zeros.
(b) Identify the number of loci. (n poles n loci).
(c) Now the starting and ending points of the loci:
(i) As k 0, the loci approach the open loop poles.
Proof: 1 + kG(s) = 0 |kG(s)| = 1, for all s on the root locus.
G(s) as k 0.
If s0 is on the root locus as k 0 then s0 must be a pole of G(s).
(ii) As k , m of the loci approach the open loop zeros, and the rest go
to .
Proof: 1 + kG(s) = 0 |kG(s)| = 1, for all s on the root locus.
G(s) 0 as k .
(s) m +b m1 ++b s+b
Now, G(s) = N D(s)
= ssn +am1 s
n1 s
1
n1 ++a s+a
1
0
0
and, m n.
So, for G(s) 0
Either N (s) = 0 s is a zero of G(s).
Or, D(s) s .
Step 3: Find the real axis segments. That is, on the real axis, draw the root locus to the
left of the odd number of open loop poles and zeros.
Proof. As s ,
Lecture Notes on Control Systems/D. Ghose/2012 128
sm + + b1 s + b0 sm k
kG(s) = k = k = nm
s + + a1 s + a0
n s n s
Now, 1 + kG(s) = 0 for all s on the root locus, so,
k
kG(s)
= = 1
snm
1
s = (k) nm
k = kej(+2) , = 0, 1, 2, . . .
So,
1
1 +2
s = kej(+2) nm
= k nm ej ( nm ) , = 0, 1, 2, . . . , n m 1
An Example:
Let
s+a
kG(s) = k
(s2 + 2n s + n2 )(s + b)2
Here, n = 4, m = 1.
As k , n m = 3 of the closed loop poles will go to . Only one of
them will approach the zero s = a.
The asymptotes are given by,
180o + 360o
= , = 0, 1, 2
nm
1800 1800 + 360o 1800 + 720o
= , ,
3 3 3
= 60o , 180o , 300o
Lecture Notes on Control Systems/D. Ghose/2012 129
Figure 13.16: Open loop poles and zeros and the asymptotic centroid
n
pi m
i=1 zi
= i=1
nm
where, pi and zi are the open loop poles and zeros.
Proof.
sm + bm1 sm1 + + b1 s + b0
kG(s) = k
sn + an1 sn1 + + a1 s + a0
(s z1 )(s z2 ) (s zm )
= k
(s p1 )(s p2 ) (s pn )
Note that,
m
bm1 = zk
k=1
Lecture Notes on Control Systems/D. Ghose/2012 130
m
an1 = pj
j=1
Insert
Inse
se
er
rtt th
the figure
e fig
figur
igur
u 6-eqn
re 6-eqn
-eqn here
n he
ere
e
1
kG(s) = k = 1
snm
+ (an1 bm1 )snm1 +
snm + (an1 bm1 )snm1 + + k = 0
Then,
nm
an1 bm1 = i
i=1
nm
But, note that (an1 bm1 ) = i=1 i is the sum of the poles going to .
But,
n
an1 = pj
j=1
Note that the centroid has to be real since complex conjugate poles or zeros
cancel the imaginary parts.
Also note that the whole proof depends on the fact that,
and
n
gn1 = fi
i=1
1
G(s) =
s( s + 1)
Asymptotic angles:
m = 0, n = 2, n m = 2.
So there are two asymptotes.
180o + 360o
= = , = 0, 1
nm
1800 1800 + 360o
= ,
2 2
= 90o , 270o
Asymptotic centroid:
Lecture Notes on Control Systems/D. Ghose/2012 132
pi 1/ 1
= = =
nm 2 2
1
G(s) =
(s + 4)2 + 16
With an integral control K(s) = k/s, the closed-loop transfer function is,
1
k
s
(s+4)2 +16
Gc (s) = 1
1+ k
s (s+4)2 +16
where zk is the angle made by a vector drawn from the zero zk to the pole
pi , and pj is the angle made by a vector drawn from pole pj to pole pi . See
the gure given below for illustration.
Let the angle made by the vector from the pole pi to the point si be pi . The
angle made by the vectors from the other poles and zeros to si is almost the
same as the angles made by vectors from other poles and zeros to pi (since si
and pi are close). Now apply the angle criterion.
m
n
z k pj pi = 180o + l 360o , l = 0, 1, 2,
k=1 j=1, j=i
where, zk is the angle made by a vector drawn from zero zk to zero zi and pj
is the angle made by a vector drawn from pole pj to zero zi . See the gure
below for illustration.
(s 4)2 + 16 k
G(s) = , K(s) =
(s + 4)2 + 16 s
Then,
Note that
p1 = 0, p2,3 = 4 j4, z1,2 = 4 j4.
Step 7: Use the Routh-Hurwitz criterion judiciously to identify the gain values for which
poles cross from stable to unstable region. But remember that this may not always
work, especially if there are poles already existing in the unstable region and you
are trying to nd out the value of k for which some stable pole migrates to the
unstable region. Some times the auxiliary equations and its roots help in this.