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Objectives:
Understand
With feedback, the poles of the closed-loop system shift
The shift is a well defined curve, termed a root locus plot
Definitions:
Assume a feedback system of the following form:
K G
U
Y R
where
k G(s) =
kz(s)
p(s)
kG
1+kG
kz(s)
p(s)
As you vary k from 0 to infinity, the dynamics of the closed-loop system will vary. The closed-loop system will
be
.
kG
1+kG
kz(s)
p(s)+kz(s)
The roots of the closed-loop system determine how the system will behave. Hence, we are interested in the
solutions to
p(s) + k z(s) = 0
A root locus plot is a plot of the solutions to p(s)+kz(s)=0 for 0<k< .
NDSU Root Locus ECE 461
J SG 2 rev October 5, 2007
Example: Plot the root locus of
kG(s) =
k
s(s+2)(s+5)
10
s(s+2)(s+4)(s+5)