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Root Locus Method
Root Locus Method
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446
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-
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Prof. Neil A.
Prof. Neil A.
Duffie
Duffie
University of Wisconsin
University of Wisconsin
-
-
Madison
Madison
Neil A. Neil A. Duffie Duffie, 1996 , 1996
All rights reserved All rights reserved
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Importance of Pole Location
Importance of Pole Location
Rouths
Rouths
criterion is a method for
criterion is a method for
assessing stability without finding roots.
assessing stability without finding roots.
1 1
2 2
d
d
2 2
System
System
#2
#2
d
d
1 1
System
System
#1
#1
1 1
<
<
2 2
(
(
1 1
>
>
2 2
)
)
d
d
1 1
< d
< d
2 2
System #2 is relatively more
System #2 is relatively more
stable than System #1!
stable than System #1!
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Step Response of Systems #1 and #2
Step Response of Systems #1 and #2
System #2
System #2
System #1
System #1
System #1:
System #1:
-
-
is relatively less stable than System #2
is relatively less stable than System #2
-
-
has more oscillatory step response
has more oscillatory step response
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Root Locus
Root Locus
Definition: The root locus is the path of the
Definition: The root locus is the path of the
roots of the characteristic equation
roots of the characteristic equation
plotted in the s
plotted in the s
-
-
plane as a system
plane as a system
parameter is changed.
parameter is changed.
Design: Choose a parameter value for
Design: Choose a parameter value for
which the locus lies in a good area of
which the locus lies in a good area of
the s
the s
-
-
plane (where dynamics meet specs).
plane (where dynamics meet specs).
Iteration: If no part of the root locus lies in
Iteration: If no part of the root locus lies in
a good area of the s
a good area of the s
-
-
plane, then change
plane, then change
the structure of the controller to modify
the structure of the controller to modify
the locus. Then choose parameter value.
the locus. Then choose parameter value.
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Root Locus of 3
Root Locus of 3
rd
rd
-
-
Order System
Order System
k < 2:
k < 2:
> 1
> 1
k > 2:
k > 2:
< 1
< 1
k < 30: stable
k < 30: stable
k > 30: unstable
k > 30: unstable
- -6 6 - -4 4 - -2 2 0 0 4 4 6 6
- -6 6
- -4 4
- -2 2
2 2
4 4
6 6
Re Re
Im Im
0 0
2 2
G(s) =
k
s s + 3 ( ) s + 2 ( )
C(s)
R(s)
=
k
s s + 3 ( ) s + 2 ( ) + k
0 0 0 0 0 0
30 30
30 30
30 30 2 2 2 2
300 300
300 300
300 300
3.5 3.5
3.5 3.5
3.5 3.5
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Choice of k for
Choice of k for
= 0.707
= 0.707
- -6 6 - -4 4 - -2 2 0 0 4 4 6 6
- -6 6
- -4 4
- -2 2
2 2
4 4
6 6
Re Re
Im Im
0 0
2 2
0 0 0 0 0 0
30 30
30 30
30 30 2 2 2 2
For
For
= 0.707:
= 0.707:
k 3.5
k 3.5
300 300
300 300
300 300
3.5 3.5
3.5 3.5
3.5 3.5
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G(s) =
k
s s + 3 ( ) s + 2 ( )
C(s)
R(s)
=
k
s s + 3 ( ) s + 2 ( ) + k
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Unit Step Response for k = 3.5
Unit Step Response for k = 3.5
0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10
0 0
0.2 0.2
0.4 0.4
0.6 0.6
0.8 0.8
1 1
1.2 1.2
t
t
0.707
0.707
c(t)
c(t)