Lecture 10

example of root-locus

The forward-path transfer function of a negative unity feedback system is :

G( s)

K
s( S 1)(0.5s 1)

1. Sketch the root-loci of the system.

2. Analysis the stability of the system using the root-loci.
3. Determine the range of K value for which the response has no overshoot to
step input.
Solution:
Open loop poles P1 0, P2 1, P3 2 .

No open loop zeros.

The asymptotes:

1
The intersection of the asymptotes is a (0 1 2) 1
3
The angles of the asymptotes are

3 (k 0)
(2k 1)

(k 1)
3

(k 1)
3

60

3
1
3

Breakaway points on the root loci sd

Intersection of the root loci with the imaginary axis.

1 GH s( s 1)(0.5s 1) K 0.5s 3 1.5s 2 s K 0
0.5( j )3 1.5( j ) 2 j K 0

2, K 3
So, when
When sd

0<K<3the system is stable.

3
1 ,
3

Kd

3
3
3
3
1
1 1 0.5 (
1) 1
3
3
3
9

So, the range of K value for which the response has no overshoot to step input
0 K

3
0.1925
9

Lecture 10

example of root-locus

Known :

when 0.5 ,

Another root:

s1,2 0.33 j 0.58

s1 s2 s3 p1 p2 p3 s3 2.34

The magnitude of the real part of the pole

s3

is about 7 times that of the poles

s1,2 . so the pair of complex poles s1,2 are regarded as dominant poles.
The system is approximately regarded as the second-order system.

( s)

n2
s1s2
0.445

2
2
2
s 2n s n ( s s1 )( s s 2) s 0.667 s 0.445

0.5 n 0.667
% 16.3% ts

3.5

10.5 s