how
changes in one of a systems
parameter
(usually the controller gain, K)
will modify the location of the closedloop poles
in the s-domain.
1 KG s H s 0
The
KG(s)H(s)
KG s H s 1
KG s H s 1
KG s H s 1800 2l 1
l 0 , 1, 2 ,
G s H s 1 K
G s H s 180 o 2l 1
l 0 , 1, 2 ,
Independent of K
Relationship
( s z ) ( s p ) (2k 1)
j 1
i 1
s p
i 1
m
sz
j 1
( k 0, 1, 2 )
How
Step
1 F ( s) 0
Step
j 1
n
(s p )
i 1
Step
Step
Step
p z
i 1
j 1
nm
( 2k 1)
a
nm
( k 0,1, 2, n m 1)
Step
j 1 d z j
i 1 d pi
Step
j 1
zi 1800 (
j 1, j i
j 1, j i
n
z j zi
p j pi
p j zi )
j 1
Step
K1
(s p )
i 1
m
(s z )
j 1
s s1
1)
3 poles:
p1 = 0; p2 = -1; p3 = -2
No zeros
3 poles:
p1 = 0; p2 = -1; p3 = -2
No zeros
The
Choose a arbitrary
test point.
If the TOTAL number
of both real poles
and zeros is to the
RIGHT of this point is
ODD, then this point
is on the root locus
Choose a arbitrary
test point.
If the TOTAL number
of both real poles
and zeros is to the
RIGHT of this point is
ODD, then this point
is on the root locus
180o 2l 1
l
nm
Determine the n - m
asymptotes:
Locate s = on the real
p p2 p3 0 1 2
saxis:
1
1
30
Compute
180 2land
1 draw
l 0, 1, 2 ,
l
angles:
nm
1800 2 0 1
0
600
30
1800 2 1 1
1
1800
30
Determine the n - m
asymptotes:
Locate s = on the real
p p2 p3 0 1 2
saxis:
1
1
30
Compute
180 2land
1 draw
l 0, 1, 2 ,
l
angles:
nm
1800 2 0 1
0
600
30
1800 2 1 1
1
1800
30
The
These
points correspond to
intersection points on the root locus.
dK
0
ds
for
1 the poles.
Set dK/ds = 0 and
solve
K
.
G s H s
1
K
s s 1 s 2
G( s )H ( s )
K s 3 3s 2 2 s
3s 2 6 s 2 0
s1 1.5774, s2 0.4226
1
K
s s 1 s 2
G( s )H ( s )
K s 3 3s 2 2 s
3s 2 6 s 2 0
s1 1.5774, s2 0.4226