4/14/2017 RootLocusExamples

RootLocusExamples

Overview Why? Derivations Examples RulesTable RLocusGui Printable

Severalrootlocusexamplesareprovided.
Examples(ClickonTransferFunction)
1 2 5
3 4
AWeaknessof
therootlocus




RootLocus:Example1

Transferfunction

XferFunctionInfo
Fortheopenlooptransferfunction,G(s)H(s):
Wehaven=2polesats=0,3.Wehavem=0finitezeros.Sothereexistsq=2
zerosassgoestoinfinity(q=nm=20=2).

WecanrewritetheopenlooptransferfunctionasG(s)H(s)=N(s)/D(s)where
N(s)isthenumeratorpolynomial,andD(s)isthedenominatorpolynomial.
N(s)=1,andD(s)=s2+3s.

CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,
orD(s)+KN(s)=s2+3s+K(1)=0

CompletedRootLocus

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RootLocusSymmetry

Asyoucansee,thelocusissymmetricabouttherealaxis

NumberofBranches

Theopenlooptransferfunction,G(s)H(s),has2poles,thereforethelocus
has2branches.Eachbranchisdisplayedinadifferentcolor.

Start/EndPoints
Rootlocusstarts(K=0)atpolesofopenlooptransferfunction,G(s)H(s).
Theseareshownbyan"x"onthediagramabove

AsKthelocationofclosedlooppolesmovetothezerosoftheopenloop
transferfunction,G(s)H(s).Don'tforgetwehavewealsohaveq=nm=2zeros
atinfinity.(Wehaven=2finitepoles,andm=0finitezeros).

LocusonRealAxis

Therootlocusexistsonrealaxistoleftofanoddnumberofpolesand
zerosofopenlooptransferfunction,G(s)H(s),thatareontherealaxis.These
realpoleandzerolocationsarehighlightedondiagram,alongwiththeportionof
thelocusthatexistsontherealaxis.

Rootlocusexistsonrealaxisbetween:
0and3

...becauseontherealaxis,wehave2polesats=3,0,andwehavenozeros.
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Asymptotesas|s|goestoinfinity

Intheopenlooptransferfunction,G(s)H(s),wehaven=2finitepoles,and
m=0finitezeros,thereforewehaveq=nm=2zerosatinfinity.

Angleofasymptotesatoddmultiplesof180/q,(i.e.,90)

Thereexists2polesats=0,3,...sosumofpoles=3.
Thereexists0zeros,...sosumofzeros=0.
(Anyimaginarycomponentsofpolesandzeroscancelwhensummedbecause
theyappearascomplexconjugatepairs.)

Intersectofasymptotesisat((sumofpoles)(sumofzeros))/q=1.5.
Intersectisat((3)(0))/2=3/2=1.5(highlightedbyfivepointedstar).

BreakOutandInPointsonRealAxis

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BreakOut(orBreakIn)pointsoccurwhereN(s)D'(s)N'(s)D(s)=0,or2s+3

=0.(detailsbelow*)


Thispolynomialhas1rootats=1.5.


Fromthese1root,thereexists1realrootats=1.5.Thesearehighlightedon

thediagramabove(withsquaresordiamonds.)


Theserootsareallonthelocus(i.e.,K>0),andarehighlightedwithsquares.


*N(s)andD(s)arenumeratoranddenominatorpolynomialsofG(s)H(s),and

thetickmark,',denotesdifferentiation.

N(s)=1
N'(s)=0
D(s)=s2+3s
D'(s)=2s+3
N(s)D'(s)=2s+3
N'(s)D(s)=0
N(s)D'(s)N'(s)D(s)=2s+3

HereweusedN(s)D'(s)N'(s)D(s)=0,butwecouldmultiplyby1anduse
N'(s)D(s)N(s)D'(s)=0.

AngleofDeparture
Nocomplexpolesinloopgain,sonoanglesofdeparture.

AngleofArrival
Nocomplexzerosinloopgain,sonoanglesofarrival.

CrossImag.Axis

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Locuscrossesimaginaryaxisat1valueofK.Thesevaluesarenormally

determinedbyusingRouth'smethod.Thisprogramdoesitnumerically,andso

isonlyanestimate.


LocuscrosseswhereK=0,correspondingtocrossingimaginaryaxisats=0.


Thesecrossingsareshownonplot.

ChangingKChangesClosedLoopPoles

CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,
orD(s)+KN(s)=s2+3s+K(1)=0

So,bychoosingKwedeterminethecharacteristicequationwhoserootsarethe
closedlooppoles.

ForexamplewithK=2.25225,thenthecharacteristicequationis
D(s)+KN(s)=s2+3s+2.2522(1)=0,or
s2+3s+2.2522=0

Thisequationhas2rootsats=1.50.047j.Theseareshownbythelarge
dotsontherootlocusplot

ChoosePoleLocationandFindK

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CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,or

K=D(s)/N(s)=(s2+3s)/(1)

Wecanpickavalueofsonthelocus,andfindK=D(s)/N(s).

RootLocus:Example2
Transferfunction

XferFunctionInfo
Fortheopenlooptransferfunction,G(s)H(s):
Wehaven=3polesats=0,3,2.Wehavem=0finitezeros.Sothereexists
q=3zerosassgoestoinfinity(q=nm=30=3).

WecanrewritetheopenlooptransferfunctionasG(s)H(s)=N(s)/D(s)where
N(s)isthenumeratorpolynomial,andD(s)isthedenominatorpolynomial.
N(s)=1,andD(s)=s3+5s2+6s.

CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,
orD(s)+KN(s)=s3+5s2+6s+K(1)=0

CompletedRootLocus

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RootLocusSymmetry

Asyoucansee,thelocusissymmetricabouttherealaxis.


NumberofBranches
Theopenlooptransferfunction,G(s)H(s),has3poles,thereforethelocus
has3branches.Eachbranchisdisplayedinadifferentcolor.

Start/EndPoints
Rootlocusstarts(K=0)atpolesofopenlooptransferfunction,G(s)H(s).
Theseareshownbyan"x"onthediagramabove

AsKthelocationofclosedlooppolesmovetothezerosoftheopenloop
transferfunction,G(s)H(s).Don'tforgetwehavewealsohaveq=nm=3zeros
atinfinity.(Wehaven=3finitepoles,andm=0finitezeros).

LocusonRealAxis

Therootlocusexistsonrealaxistoleftofanoddnumberofpolesand
zerosofopenlooptransferfunction,G(s)H(s),thatareontherealaxis.These
realpoleandzerolocationsarehighlightedondiagram,alongwiththeportionof
thelocusthatexistsontherealaxis.

Rootlocusexistsonrealaxisbetween:
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Rootlocusexistsonrealaxisbetween:
0and2
3andnegativeinfinity

...becauseontherealaxis,wehave3polesats=2,3,0,andwehaveno
zeros.




Asymptotesas|s|goestoinfinity

Intheopenlooptransferfunction,G(s)H(s),wehaven=3finitepoles,and
m=0finitezeros,thereforewehaveq=nm=3zerosatinfinity.

Angleofasymptotesatoddmultiplesof180/q,(i.e.,60,180)

Thereexists3polesats=0,3,2,...sosumofpoles=5.
Thereexists0zeros,...sosumofzeros=0.
(Anyimaginarycomponentsofpolesandzeroscancelwhensummedbecause
theyappearascomplexconjugatepairs.)

Intersectofasymptotesisat((sumofpoles)(sumofzeros))/q=1.67.
Intersectisat((5)(0))/3=5/3=1.67(highlightedbyfivepointedstar).

BreakOutandInPointsonRealAxis

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BreakOut(orBreakIn)pointsoccurwhereN(s)D'(s)N'(s)D(s)=0,or
3s2+10s+6=0.(detailsbelow*)

Thispolynomialhas2rootsats=2.5,0.78.

Fromthese2roots,thereexists2realrootsats=2.5,0.78.Theseare
highlightedonthediagramabove(withsquaresordiamonds.)

Notalloftheserootsareonthelocus.Ofthese2realroots,thereexists1root
ats=0.78onthelocus(i.e.,K>0).Breakaway(orbreakin)pointsonthe
locusareshownbysquares.

(Realbreakaway(orbreakin)withKlessthan0areshownwithdiamonds).

*N(s)andD(s)arenumeratoranddenominatorpolylnomialsofG(s)H(s),and
thetickmark,',denotesdifferentiation.
N(s)=1
N'(s)=0
D(s)=s3+5s2+6s
D'(s)=3s2+10s+6
N(s)D'(s)=3s2+10s+6
N'(s)D(s)=0
N(s)D'(s)N'(s)D(s)=3s2+10s+6

HereweusedN(s)D'(s)N'(s)D(s)=0,butwecouldmultiplyby1anduse
N'(s)D(s)N(s)D'(s)=0.

AngleofDeparture
Nocomplexpolesinloopgain,sonoanglesofdeparture.

AngleofArrival
Nocomplexzerosinloopgain,sonoanglesofarrival.

CrossImag.Axis

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Locuscrossesimaginaryaxisat2valuesofK.Thesevaluesarenormally
determinedbyusingRouth'smethod.Thisprogramdoesitnumerically,andso
isonlyanestimate.

LocuscrosseswhereK=0,30.2,correspondingtocrossingimaginaryaxisat
s=0,2.45j,respectively.

Thesecrossingsareshownonplot.

ChangingKChangesClosedLoopPoles

CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,
orD(s)+KN(s)=s3+5s2+6s+K(1)=0

So,bychoosingKwedeterminethecharacteristicequationwhoserootsarethe
closedlooppoles.

ForexamplewithK=4.00188,thenthecharacteristicequationis
D(s)+KN(s)=s3+5s2+6s+4.0019(1)=0,or
s3+5s2+6s+4.0019=0

Thisequationhas3rootsats=3.7,0.670.8j.Theseareshownbythe
largedotsontherootlocusplot

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ChoosePoleLocationandFindK

CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,or
K=D(s)/N(s)=(s3+5s2+6s)/(1)
Wecanpickavalueofsonthelocus,andfindK=D(s)/N(s).

RootLocus:Example3
Transferfunction

XferFunctionInfo
Fortheopenlooptransferfunction,G(s)H(s):
Wehaven=2polesats=2,1.Wehavem=1finitezeroats=3.Sothere
existsq=1zeroassgoestoinfinity(q=nm=21=1).

WecanrewritetheopenlooptransferfunctionasG(s)H(s)=N(s)/D(s)where
N(s)isthenumeratorpolynomial,andD(s)isthedenominatorpolynomial.
N(s)=s+3,andD(s)=s21s2.

CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,
orD(s)+KN(s)=s21s2+K(s+3)=0

CompletedRootLocus

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RootLocusSymmetry
Asyoucansee,thelocusissymmetricabouttherealaxis

NumberofBranches
Theopenlooptransferfunction,G(s)H(s),has2poles,thereforethelocus
has2branches.Eachbranchisdisplayedinadifferentcolor.

Start/EndPoints
Rootlocusstarts(K=0)atpolesofopenlooptransferfunction,G(s)H(s).
Theseareshownbyan"x"onthediagramabove

AsKthelocationofclosedlooppolesmovetothezerosoftheopenloop
transferfunction,G(s)H(s).Finitezerosareshownbya"o"onthediagram
above.Don'tforgetwehavewealsohaveq=nm=1zeroatinfinity.(Wehave
n=2finitepoles,andm=1finitezero).

LocusonRealAxis

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Therootlocusexistsonrealaxistoleftofanoddnumberofpolesand
zerosofopenlooptransferfunction,G(s)H(s),thatareontherealaxis.These
realpoleandzerolocationsarehighlightedondiagram,alongwiththeportionof
thelocusthatexistsontherealaxis.

Rootlocusexistsonrealaxisbetween:
2and1
3andnegativeinfinity

...becauseontherealaxis,wehave2polesats=1,2,andwehave1zeroat
s=3.

Asymptotesas|s|goestoinfinity

Intheopenlooptransferfunction,G(s)H(s),wehaven=2finitepoles,and
m=1finitezero,thereforewehaveq=nm=1zeroatinfinity.

Angleofasymptotesatoddmultiplesof180/q,(i.e.,180)

Thereexists2polesats=2,1,...sosumofpoles=1.
Thereexists1zeroats=3,...sosumofzeros=3.
(Anyimaginarycomponentsofpolesandzeroscancelwhensummedbecause
theyappearascomplexconjugatepairs.)

Intersectofasymptotesisat((sumofpoles)(sumofzeros))/q=4.
Intersectisat((1)(3))/1=4/1=4(highlightedbyfivepointedstar).
Sinceq=1,thereisasingleasymptoteat180

(onnegativerealaxis),sointersectofthisasymptote
ontheaxissnotimportant(butitisshownanyway).
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ontheaxissnotimportant(butitisshownanyway).




BreakOutandInPointsonRealAxis

BreakOut(orBreakIn)pointsoccurwhereN(s)D'(s)N'(s)D(s)=0,or
s2+6s1=0.(detailsbelow*)

Thispolynomialhas2rootsats=6.2,0.16.

Fromthese2roots,thereexists2realrootsats=6.2,0.16.Theseare
highlightedonthediagramabove(withsquaresordiamonds.)

Theserootsareallonthelocus(i.e.,K>0),andarehighlightedwithsquares.

*N(s)andD(s)arenumeratoranddenominatorpolylnomialsofG(s)H(s),and
thetickmark,',denotesdifferentiation.
N(s)=s+3
N'(s)=1
D(s)=s21s2
D'(s)=2s1
N(s)D'(s)=2s2+5s3
N'(s)D(s)=s21s2
N(s)D'(s)N'(s)D(s)=s2+6s1

HereweusedN(s)D'(s)N'(s)D(s)=0,butwecouldmultiplyby1anduse
N'(s)D(s)N(s)D'(s)=0.

AngleofDeparture
Nocomplexpolesinloopgain,sonoanglesofdeparture.

AngleofArrival
Nocomplexzerosinloopgain,sonoanglesofarrival.
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Nocomplexzerosinloopgain,sonoanglesofarrival.




CrossImag.Axis

Locuscrossesimaginaryaxisat2valuesofK.Thesevaluesarenormally
determinedbyusingRouth'smethod.Thisprogramdoesitnumerically,andso
isonlyanestimate.

LocuscrosseswhereK=0.646,1,correspondingtocrossingimaginaryaxisat
s=0,0.994j,respectively.

Thesecrossingsareshownonplot.

ChangingKChangesClosedLoopPoles

CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,
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CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,

orD(s)+KN(s)=s21s2+K(s+3)=0


So,bychoosingKwedeterminethecharacteristicequationwhoserootsarethe

closedlooppoles.


ForexamplewithK=7.15931,thenthecharacteristicequationis

D(s)+KN(s)=s21s2+7.1593(s+3)=0,or
s2+6.1593s+19.4779=0

Thisequationhas2rootsats=3.13.2j.Theseareshownbythelargedots
ontherootlocusplot

ChoosePoleLocationandFindK

CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,or
K=D(s)/N(s)=(s21s2)/(s+3)
Wecanpickavalueofsonthelocus,andfindK=D(s)/N(s).

RootLocus:Example4
Transferfunction

XferFunctionInfo
Fortheopenlooptransferfunction,G(s)H(s):
Wehaven=3polesats=2,11j.Wehavem=1finitezeroats=1.So
thereexistsq=2zerosassgoestoinfinity(q=nm=31=2).

WecanrewritetheopenlooptransferfunctionasG(s)H(s)=N(s)/D(s)where
N(s)isthenumeratorpolynomial,andD(s)isthedenominatorpolynomial.
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N(s)isthenumeratorpolynomial,andD(s)isthedenominatorpolynomial.

N(s)=s+1,andD(s)=s3+4s2+6s+4.


CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,


orD(s)+KN(s)=s3+4s2+6s+4+K(s+1)=0

CompletedRootLocus

RootLocusSymmetry
Asyoucansee,thelocusissymmetricabouttherealaxis

NumberofBranches
Theopenlooptransferfunction,G(s)H(s),has3poles,thereforethelocus
has3branches.Eachbranchisdisplayedinadifferentcolor.

Start/EndPoints
Rootlocusstarts(K=0)atpolesofopenlooptransferfunction,G(s)H(s).
Theseareshownbyan"x"onthediagramabove

AsKthelocationofclosedlooppolesmovetothezerosoftheopenloop
transferfunction,G(s)H(s).Finitezerosareshownbya"o"onthediagram
above.Don'tforgetwehavewealsohaveq=nm=2zerosatinfinity.(Wehave
n=3finitepoles,andm=1finitezero).

LocusonRealAxis
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Therootlocusexistsonrealaxistoleftofanoddnumberofpolesand
zerosofopenlooptransferfunction,G(s)H(s),thatareontherealaxis.These
realpoleandzerolocationsarehighlightedondiagram,alongwiththeportionof
thelocusthatexistsontherealaxis.

Rootlocusexistsonrealaxisbetween:
1and2

...becauseontherealaxis,wehave1poleats=2,andwehave1zeroats=
1.

Asymptotesas|s|goestoinfinity

Intheopenlooptransferfunction,G(s)H(s),wehaven=3finitepoles,and
m=1finitezero,thereforewehaveq=nm=2zerosatinfinity.

Angleofasymptotesatoddmultiplesof180/q,(i.e.,90)

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Thereexists3polesats=2,11j,...sosumofpoles=4.
Thereexists1zeroats=1,...sosumofzeros=1.
(Anyimaginarycomponentsofpolesandzeroscancelwhensummedbecause
theyappearascomplexconjugatepairs.)

Intersectofasymptotesisat((sumofpoles)(sumofzeros))/q=1.5.
Intersectisat((4)(1))/2=3/2=1.5(highlightedbyfivepointedstar).


BreakOutandInPointsonRealAxis

BreakOut(orBreakIn)pointsoccurwhereN(s)D'(s)N'(s)D(s)=0,or
2s3+7s2+8s+2=0.(detailsbelow*)

Thispolynomialhas3rootsats=1.60.65j,0.34.

Fromthese3roots,thereexists1realrootats=0.34.Thesearehighlighted
onthediagramabove(withsquaresordiamonds.)

Noneoftherootsareonthelocus.

*N(s)andD(s)arenumeratoranddenominatorpolylnomialsofG(s)H(s),and
thetickmark,',denotesdifferentiation.
N(s)=s+1
N'(s)=1
D(s)=s3+4s2+6s+4
D'(s)=3s2+8s+6
N(s)D'(s)=3s3+11s2+14s+6
N'(s)D(s)=s3+4s2+6s+4
N(s)D'(s)N'(s)D(s)=2s3+7s2+8s+2

HereweusedN(s)D'(s)N'(s)D(s)=0,butwecouldmultiplyby1anduse
N'(s)D(s)N(s)D'(s)=0.

AngleofDeparture
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AngleofDeparture RootLocusExamples

Findangleofdeparturefrompoleat1+1j

z1=angle((Departingpole)(zeroat1)).
z1=angle((1+1j)(1))=angle(0+1j)=90

p1=angle((Departingpole)(poleat2)).
p1=angle((1+1j)(2))=angle(1+1j)=45
p3=angle((1+1j)(11j))=angle(0+2j)=90

AngleofDepartureisequalto:
depart=180+sum(angletozeros)sum(angletopoles).
depart=180+90135.
depart=135

Thisangleisshowningray.
Itmaybehardtoseeifitisnear0.

AngleofArrival
Nocomplexzerosinloopgain,sonoanglesofarrival.

CrossImag.Axis
Locusdoesnotcrossimaginaryaxis.

ChangingKChangesClosedLoopPoles

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CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,
orD(s)+KN(s)=s3+4s2+6s+4+K(s+1)=0

So,bychoosingKwedeterminethecharacteristicequationwhoserootsarethe
closedlooppoles.

ForexamplewithK=2.60256,thenthecharacteristicequationis
D(s)+KN(s)=s3+4s2+6s+4+2.6026(s+1)=0,or
s3+4s2+8.6026s+6.6026=0

Thisequationhas3rootsats=1.41.8j,1.3.Theseareshownbythelarge
dotsontherootlocusplot

ChoosePoleLocationandFindK

CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,or
K=D(s)/N(s)=(s3+4s2+6s+4)/(s+1)
Wecanpickavalueofsonthelocus,andfindK=D(s)/N(s).

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RootLocus:Example5

Transferfunction






XferFunctionInfo
Fortheopenlooptransferfunction,G(s)H(s):
Wehaven=5polesats=0,32j,2,1.Wehavem=2finitezerosats=1
1j.Sothereexistsq=3zerosassgoestoinfinity(q=nm=52=3).

WecanrewritetheopenlooptransferfunctionasG(s)H(s)=N(s)/D(s)where
N(s)isthenumeratorpolynomial,andD(s)isthedenominatorpolynomial.
N(s)=s2+2s+2,and
D(s)=s5+9s4+33s3+51s2+26s.

CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,
orD(s)+KN(s)=s5+9s4+33s3+51s2+26s+K(s2+2s+2)=0

CompletedRootLocus

RootLocusSymmetry
Asyoucansee,thelocusissymmetricabouttherealaxis

NumberofBranches
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NumberofBranches

Theopenlooptransferfunction,G(s)H(s),has5poles,thereforethelocus
has5branches.Eachbranchisdisplayedinadifferentcolor.


Start/EndPoints

Rootlocusstarts(K=0)atpolesofopenlooptransferfunction,G(s)H(s).
Theseareshownbyan"x"onthediagramabove

AsKthelocationofclosedlooppolesmovetothezerosoftheopenloop
transferfunction,G(s)H(s).Finitezerosareshownbya"o"onthediagram
above.Don'tforgetwehavewealsohaveq=nm=3zerosatinfinity.(Wehave
n=5finitepoles,andm=2finitezeros).

LocusonRealAxis

Therootlocusexistsonrealaxistoleftofanoddnumberofpolesand
zerosofopenlooptransferfunction,G(s)H(s),thatareontherealaxis.These
realpoleandzerolocationsarehighlightedondiagram,alongwiththeportionof
thelocusthatexistsontherealaxis.

Rootlocusexistsonrealaxisbetween:
0and1
2andnegativeinfinity

...becauseontherealaxis,wehave3polesats=1,2,0,andwehaveno
zeros.

Asymptotesas|s|goestoinfinity

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Intheopenlooptransferfunction,G(s)H(s),wehaven=5finitepoles,and
m=2finitezeros,thereforewehaveq=nm=3zerosatinfinity.

Angleofasymptotesatoddmultiplesof180/q,(i.e.,60,180)

Thereexists5polesats=0,32j,2,1,...sosumofpoles=9.
Thereexists2zerosats=11j,...sosumofzeros=2.
(Anyimaginarycomponentsofpolesandzeroscancelwhensummedbecause
theyappearascomplexconjugatepairs.)

Intersectofasymptotesisat((sumofpoles)(sumofzeros))/q=2.33.
Intersectisat((9)(2))/3=7/3=2.33(highlightedbyfivepointedstar).

BreakOutandInPointsonRealAxis

BreakOut(orBreakIn)pointsoccurwhereN(s)D'(s)N'(s)D(s)=0,or
33s6+26s5+97s4+204s3+274s2+204s+52=0.(detailsbelow*)

Thispolynomialhas6rootsats=2.71.1j,0.651.6j,1.4,0.46.

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Fromthese6roots,thereexists2realrootsats=1.4,0.46.Theseare

highlightedonthediagramabove(withsquaresordiamonds.)


Notalloftheserootsareonthelocus.Ofthese2realroots,thereexists1root

ats=0.46onthelocus(i.e.,K>0).Breakaway(orbreakin)pointsonthe

locusareshownbysquares.


(Realbreakaway(orbreakin)withKlessthan0areshownwithdiamonds).


*N(s)andD(s)arenumeratoranddenominatorpolylnomialsofG(s)H(s),and

thetickmark,',denotesdifferentiation.
N(s)=s2+2s+2
N'(s)=2s+2
D(s)=s5+9s4+33s3+51s2+26s
D'(s)=5s4+36s3+99s2+102s+26
N(s)D'(s)=5s6+46s5+181s4+372s3+428s2+256s+52
N'(s)D(s)=2s6+20s5+84s4+168s3+154s2+52s
N(s)D'(s)N'(s)D(s)=3s6+26s5+97s4+204s3+274s2+204s+52

HereweusedN(s)D'(s)N'(s)D(s)=0,butwecouldmultiplyby1anduse
N'(s)D(s)N(s)D'(s)=0.

AngleofDeparture

Findangleofdeparturefrompoleat3+2j

z1=angle((Departingpole)(zeroat1+1j)).
z1=angle((3+2j)(1+1j))=angle(2+1j)=153.4349
z2=angle((3+2j)(11j))=angle(2+3j)=123.6901

p1=angle((Departingpole)(poleat0)).
p1=angle((3+2j)(0))=angle(3+2j)=146.3099
p3=angle((3+2j)(32j))=angle(0+4j)=90
p4=angle((3+2j)(2))=angle(1+2j)=116.5651

=angle((3+2j)(1))=angle(2+2j)=135
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p5=angle((3+2j)(1))=angle(2+2j)=135



AngleofDepartureisequalto:

depart=180+sum(angletozeros)sum(angletopoles).
depart=180+277.125487.875.
depart=30.7.
Thisangleisshowningray.Itmaybehardtoseeifitisnear0.




AngleofArrival

Findangleofarrivaltozeroat1+1j

z2=angle((Arrivingzero)(zeroat3+2j)).
z2=angle((1+1j)(11j))=angle(0+2j)=90

p1=angle((Arrivingzero)(poleat0)).
p1=angle((1+1j)(0))=angle(1+1j)=135
p2=angle((1+1j)(3+2j))=angle(21j)=26.5651
p3=angle((1+1j)(32j))=angle(2+3j)=56.3099
p4=angle((1+1j)(2))=angle(1+1j)=45
p5=angle((1+1j)(1))=angle(0+1j)=90

Angleofarrivalisequalto:
arrive=180sum(angletozeros)+sum(angletopoles).
arrive=18090+299.7449.
arrive=390

Thisisequivalentto30.
Thisangleisshowningray.Itmaybehardtoseeifitisnear0.

CrossImag.Axis
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Locuscrossesimaginaryaxisat2valuesofK.Thesevaluesarenormally
determinedbyusingRouth'smethod.Thisprogramdoesitnumerically,andso
isonlyanestimate.

LocuscrosseswhereK=0,123,correspondingtocrossingimaginaryaxisat
s=0,4.21j,respectively.

Thesecrossingsareshownonplot.

ChangingKChangesClosedLoopPoles

CharacteristicEquationis1+KG(s)H(s)=0,or1+KN(s)/D(s)=0,
orD(s)+KN(s)=s5+9s4+33s3+51s2+26s+K(s2+2s+2)=0


So,bychoosingKwedeterminethecharacteristicequationwhoserootsarethe
closedlooppoles.
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closedlooppoles.


ForexamplewithK=20.3683,thenthecharacteristicequationis

D(s)+KN(s)=s5+9s4+33s3+51s2+26s+20.3683(s2+2s+2)=0,or
s5+9s4+33s3+71.3683s2+66.7365s+40.7365=0

Thisequationhas5rootsats=4.6,1.62.3j,0.560.89j.Theseareshown
bythelargedotsontherootlocusplot.


ChoosePoleLocationandFindK

AWeaknessoftheRootLocus
Therootlocusisobviouslyaverypowerfultechniquefordesignandanalysisofcontrolsystems,butitmust
beusedwithsomecare,andresultsobtainedwithitshouldalwaysbechecked.Toshowpotentialpitfallsof
thismethod,considerthetwosystemsG1(s)andG2(s).
G1(s) G2(s)

Ifwecontrolthesesystemswithasimpleproportionalcontroller,asshown,

wecanexaminetherootlocusofeachofthem.
RootLocuswithG1(s) RootLocuswithG2(s)

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Thetworootlociareclearlyverydifferent,butitturnsout(becauseofthewaythatIchosethesystems)that
ifwechooseK=40,wegettwoclosedloopsystemswithidenticalcharacteristicequations.
ClosedloopsystemwithG1(s) ClosedloopsystemwithG2(s)

Therootsofthecharacteristicequationsareats=1ands=2.5j5.8(i.e.,therootsofthecharacteristic
equations 3+6s 2+45s+40),sowemightexpectthebehaviorofthesystemstobesimilar.Sincethepoleats=1
isclosertotheorigin,wewouldexpectittodominatesomewhat,givingthesystembehaviorsimilartoafirst
ordersystemwithatimeconstantof1second,andasettlingtimeof4seconds.However,ifweplotthetwo
responses,wegetsomethingquitedifferent.

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T1(s)resembles(somewhat)afirstordersystem,andhasnoovershoot,anditssettlingtimeisalmostexactly4
seconds,aspredicted.However,T2(s)behavesverydifferently,itismuchfasterandmoreoscillatorythan
expected.Howcanweexplainthis?

IfwelookmorecloselyatT1(s)andT2(s),wecanunderstandwhathappened.Inparticular,letslookatpole
zeroplotsofbothclosedlooptransferfunctions.
PoleZeroPlotofT1(s) PoleZeroPlotofT2(s)

T1(s)haspolesats=1ands=2.5j5.8,andnozeros.T2(s)haspolesats=1ands=2.5j5.8andzerosat
12.2and1.1.Thezeroats=1.1isalmostdirectlyontopofthepoleats=1,andsolargelynegatesits
effect.Theclosedloopsystem,T2(s),thereforebehavesverymuchlikeasecondordersystemwith
s=2.5j5.8(n=6.3rad/sec,and=0.4).

Thelessonhereisthatwhilethepolesofasystem(therootsofthedenominatorpolynomial)arevery
importantindeterminingthebehaviorofasystem,thezerosofthesystem(therootsofthenumerator

polynomial)canalsobeimportant.Afterperformingarootlocusdesign,itiscriticaltogobackandtestthe
closedloopsystemtoensurethatitbehavesasexpected.



References
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References


Copyright2005to2015ErikCheeverThispagemaybefreelyusedforeducationalpurposes.
Comments?Questions?Suggestions?Corrections?
ErikCheeverDepartmentofEngineeringSwarthmoreCollege

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