Professional Documents
Culture Documents
K (s + 3)
K (s + 3)
=
,
2
s (s + 2) (s + 4s + 5)
s (s + 2) (s + 2 j) (s + 2 + j)
n = 4,
m = 1,
H(s) = 1
(1)
nm=3
(2)
s 3
(3)
Angle of asymptotes:
A =
180 (2l + 1)
,
3
l = 0, 1, 2
(4)
Center of asymptotes:
A =
0 + (2) + (2 + j) + (2 j) (3)
= 1
3
(5)
Break points:
1+
K (s + 3)
s (s + 2) (s2 + 4s + 5)
K
dK
ds
dK
ds
dK
ds
= 0
(6)
(7)
s (s + 2) s2 + 4s + 5
s4 + 6s3 + 13s2 + 10s
=
(s + 3)
s+3
4
3
2
(s + 3) 4s + 18s + 26s + 10 s + 6s3 + 13s2 + 10s (1)
2
(s + 3)
=0
(8)
(9)
(10)
(11)
Angle of departure:
D
= [180 + 90 + p3 + p4 z1 ]
10
10
10
1
1
1
= 270 + tan
+ tan
tan
2 0
2 (2)
2 (3)
D = 108.4349
(12)
(13)
(14)
(15)
G(s)
K (s + 3)
= 4
3
1 + G(s)
s + 6s + 13s2 + (10 + K) s + 3K
(16)
(17)
Routh Array:
s4 :
s3 :
s2 :
1
s :
s0 :
c1
1
6
78 (10 + K)
6
c1
3K
78 (10 + K)
(10 + K) 18K
6
78 (10 + K)
6
(K + 61.1248) (K 11.1248)
13
(10 + K)
3K
3K
c1 =
(18)
(19)
:
:
:
3K > 0
K>0
68 K > 0
K < 68
c1 > 0
68 11.1248 2
s + 3 11.1248 = 0 = 9.4792s2 + 33.3744
6
s = j1.8764
(20)
(21)
(22)
(23)
(24)
(25)
The root locus for Example 4a is shown in Fig. 1. Each line (branch of the root locus) represents the movement of
one closed-loop pole as the gain K varies from 0 to . The dashed lines in the figure are the two asymptotes that have
angles of 60 . They are not part of the root locus, but act as guide lines for the root locus branches for large K. The
third asymptote coincides with the negative real axis. Note that the root locus branches do cross the asymptotes for
this system.
Imag Axis
-2
-4
-6
-6
-4
-2
0
Real Axis
B. Example #4b
G(s) =
K (s + 3)
K (s + 3)
=
,
2
s (s + 2) (s + 4s + 13)
s (s + 2) (s + 2 j3) (s + 2 + j3)
n = 4,
m = 1,
H(s) = 1
nm=3
(26)
(27)
s 3
(28)
Angle of asymptotes:
A =
180 (2l + 1)
,
3
l = 0, 1, 2
(29)
Center of asymptotes:
A =
(30)
Break points:
1+
K (s + 3)
s (s + 2) (s2 + 4s + 13)
K
dK
ds
dK
ds
dK
ds
= 0
s (s + 2) s2 + 4s + 13
s4 + 6s3 + 21s2 + 26s
=
(s + 3)
s+3
4
3
2
(s + 3) 4s + 18s + 42s + 26 s + 6s3 + 21s2 + 26s (1)
(31)
(32)
(s + 3)2
=0
(33)
(34)
(35)
B = 1.1845, 3.9293
(36)
Angle of departure:
D
= [180 + 90 + p3 + p4 z1 ]
30
30
30
= 270 + tan1
+ tan1
tan1
2 0
2 (2)
2 (3)
D = 52.125
(37)
(38)
(39)
(40)
G(s)
K (s + 3)
= 4
1 + G(s)
s + 6s3 + 21s2 + (26 + K) s + 3K
(41)
(42)
Routh Array:
s4 :
s3 :
s2 :
1
s :
s0 :
c1
1
6
126 (26 + K)
6
c1
3K
126 (26 + K)
(26 + K) 18K
6
126 (26 + K)
6
(K + 70.7494) (K 36.7494)
21
(26 + K)
3K
3K
c1 =
(43)
(44)
:
:
:
3K > 0
100 K > 0
c1 > 0
K>0
K < 100
70.7494 < K < 36.7494
(45)
(46)
(47)
Imag Axis
-2
-4
-6
-6
-4
-2
0
Real Axis
100 36.7494 2
s + 3 36.7494 = 0 = 10.5418s2 + 110.2483
6
s = j3.2339
(48)
(49)
(50)
The root locus for Example 4b is shown in Fig. 2. Note the similarities and dierences between Fig. 1 and Fig. 2.
The root locus branches begin and end at the same points, but the branches that follow the 60 asymptotes are now
coming from the complex conjugate poles rather from the break point in the interval (0, 2) . The values for the angle
of departure D and the j axis crossing are good guides for determining this change to the root locus.