Location of pole is clearly dependent on k. For k = 0, pole at 2 (unstable).

As k increases,
the pole moves left. Since k is the proportional gain, it will be positive.

Multiply both sides by (s - 2)

Examine denominator for new poles.

Open Loop Transfer Function:

For example, if we have a system of multiple known parameters and one varying
parameter: k. Depending on the value of k, the system may be unstable or it might not
meet the other system criteria (rise time, settling time, overshoot, steady-state error).

Root Locus Method - a graphical technique for sketching the locus of roots in the s-plane
as a parameter is varied.

G(s)

Ten rules for drawing a root locus

Rule 1: There are n lines (loci) where n is the degree of Z(s) or P(s), whichever is greater.
Rule 2: As k increases from 0 to infinity, the roots move from the poles in P(s) to the zeros
in Z(s).

Basic form of the denominator.

OL:

General idea: given a system G(s), use proportional (or PID) control and unity feedback to
alter the system.

If more poles than

If more zeros than

Won't happen!

2 poles

Rule 3: When roots are complex, they occur in complex conjugate pairs.
Rule 4: At no time will the same root cross over its own path.

If same number of poles

and zeros:

2 poles

2 poles, 1 zero

1 extra pole means one line goes off to infinity, 2 extra poles means two lines go off to
infinity. If they were zeros, they would come in from infinity.

1 pole

Rule 6: Lines leave (breakout) and enter the real axis at 90 degree angles.
Rule 7: If there are an odd number of poles/zeros, then the extra lines either go out to
infinity (pole) or come in from infinity (zero).

Rule 5: The portion of the real axis to the left of an odd number of poles and zeros are part of
the loci.

2 zeros

2 zeros, 1 pole

The Centroid of the asymptotes =

The angles of asymptotes:

1 pole

Rule 8: Lines go to infinity along asymptotes.

Let n = number of poles, m = number of zeros, q is the Set of numbers from 0 to (n - m - 1).
n - m = number of unmatched roots or number of lines that go to infinity.
In real systems, n > = m. Why? Otherwise, gain is unbounded at high frequencies.

1 zero

Given poles at -1, -2 and -3

If three lines go to infinity (3 poles)

If two lines go to infinity (two poles)

2 poles

Rule 10: k going from zero to negative infinity can be drawn by reversing Rule 5 and
adding 180 degrees to the asymptote angles.

As k increases, the complex roots are destabilizing half as fast as the root on the real
axis.

For the previous example, the sum of all the roots was -6. If we increase k, the roots move
along the locus, but the sum remains the same.

Rule 9: if there are at least two lines to infinity, then the sum of all roots (real part) stays
constant even if you move them.

G(s)

G(s)

For what values of k will this system be stable?

Adding a zero will bend the locus into the

negative half plane.

k(s+3)

What to do? Add a zero. (same as adding derivative control).

No value of k makes this system stable.

Consider the following unstable system.

k = 1 and therefore k > 1 in

order for the system to be

Examine the denominator:

Now the open loop system is:

Think in terms of the quadratic equation, the real part

of the roots must be zero for roots to intersect the
imaginary axis in the s-plane, so b must be zero.

Group like terms

Choosing b = 1.5 allows us to use the smallest, lightest damper

and still meet the system requirements.

Recall:

Sweep b from zero to infinity.

Example: a company that sells mass spring dampers. Requirement zeta > = 0.75.
Spring constant = 1, mass = 1. You only control damping constant b.

So k > 2 for system to be stable.

Example: what values of k make the system stable?

How do we know that varying k moves the poles

vertically?

As the engineer, now what do we do?

- Place temp restrictions on product.
- Add warning that performance degrades in low temps.
- Recall the product.

How sensitive is our design to this variation in k?

Hot k = 0.9 k_normal

Cold k = 1.1 k_normal

Hot temps adds damping

Suddenly, a new problem is discovered, the spring constant k varies with temperature.

Group k terms so we can put it in Basic Form

G(s) is the function used to plot the Root Locus.

Divide both sides by this term

Denominator:

Note in this example G(s) is the open loop system. We are not adding proportional control
and feedback to the system.

G(s)

Divide by this term

Examine denominator.

This is the function used to plot the Root Locus

Separate k term

Example: given a Open Loop transfer function H(s) and one varying parameter, put the
equation into Basic Form.