0.5
Kc
• Characteristic Equation:
1 0
or 1 + OLTF = 0
(3s 1)( s 1)
4
Determination of Roots
3s2 + 4s + (1 + Kc) = 0
4 16 12(1 K c ) 2 1
r1 , r2 1 3K c
6 3 3
5
4 16 12(1 K c ) 2 1
r1 , r2 1 3K c
6 3 3
Root Locus IMAGINARY
Kc ROOTS
0 -1; -1/3
1 -2/3 ± (2)i/3
5 -2/3 ± (14)i/3
10 -2/3 ± (29)/3 X X
-1 -2/3 -1/3 REAL
20 -2/3 ± (59)i/3
50 -2/3 ± (149)i/3
0.5
0.5s 1
Characteristic Equation :
Kc
1 0
(3s 1)( s 1)0,5s 1
7
Characteristic Equation
Kc
1 0
(3s 1)( s 1)0.5s 1
(3s 1)( s 1)0.5s 1 Kc
0
(3s 1)( s 1)0.5s 1 (3s 1)( s 1)0.5s 1
(3s 1)( s 1)0.5s 1 K c
0
(3s 1)( s 1)0.5s 1
(3s 1)( s 1)0.5s 1 K c 0
1.5s 3 5s 2 4.5s 1 K c 0
Root Locus IMAGINARY
1.5s 3 5s 2 4.5s 1 K c 0
Kc ROOTS
0 -1; -1/3; -2
1 -2.271; -0.53±0.55i
X X X
5 -2.77; -0.281±1.168i -2 -1 -1/3 REAL
14 -3.3; ± 1.732i
20 -3.586; 0.126±1.97i
30 -3.92; 0.29±2.279i
3s 1 30s 1
1
10 s 1
Characteristic Equation :
0.8K c
1 0
(3s 1)(30s 1)10s 1
900s 420s 43s 1 0.8K c 0
3 2
10
Root Locus IMAGINARY
900s 3 420s 2 43s 1 0.8K c 0
Kc ROOTS
0 -1/30; -1/10; -1/3
1 -0.35; -0.06±0.046i
X X X
5 -0.38; -0.04±0.11i -1/3 -1/10 -1/30 REAL
23.8 -0.47; ± 0.22i
30 -0.49; 0.01±0.29i
60 -0.56; 0.05±0.31i
X X X
-2 -1 -1/3 REAL
Tentukan Letak Pole/Zero
n–m= IMAJINER
2– 0 =
genap
BUKAN
tempat
kedudukan
akar
X X X
-2 -1 -1/3 REAL
Tentukan Letak Pole/Zero
IMAJINER
n–m=
1– 0 = ganjil
tempat
kedudukan
akar
X X X
-2 -1 -1/3 REAL
Tentukan Letak Pole/Zero
IMAJINER
X X X
-2 -1 -1/3 REAL
Di Antara Tempat Kedudukan
2 Pole Ada BREAKAWAY POINT
m n
1 1
i 1 s zi
j 1 s p j
1 1 1
0
s 1/ 3 s 1 s 2
s 1s 2 s 1 / 3s 2 s 1 / 3s 1 0
s 1 / 3s 1s 2
s 2 3s 2 s 2 2 13 s 23 s 2 1 13 s 13 0
3s 2 6 23 s 3 0
s1 1.5954 DI LUAR TEMPAT KEDUDUKAN
X X X
-2 -1 -0.6 -1/3 REAL
Penentuan Center of Gravity dan Sudut
Asimtot
n m
p z
j 1
j
i 1
i
13 1 2 3 13
CG 1.1
nm 30 3
1800 (3600 )k
nm
1800 (3600 )0
0 60o
30
1800 (3600 )1
1 180o
30
1800 (3600 )2
2 300o
30
Center of Gravity
dan SudutIMAJINER
Asimtot
180o
60o
X X X
-2 -1.1-1 -0.6 -1/3 REAL
300o
Titik Potong dengan Sumbu Imajiner
1.5s 5s 4.5s 1 K c 0
3 2
Substitusi dengan s i
u
1.5iu 4.5iu 0
3
5u 1 K c 0
2
iu 1.5u 4.5 0
2
5(3) 1 K c 0
u 0 dan u 2 3 K c 14
1.7
X X X
-2 -1.1-1 -0.6 -1/3 REAL
-1.7
Hasil ROOT LOCUS
IMAJINER
X X X
-2 -1.1-1 -0.6 -1/3 REAL
Contoh 3
R(s)
Kc 0.016 50 C(s)
3s 1 30s 1
1 .0
10 s 1
Persamaan karakteristik:
0.8K c
1 0
(3s 1)(30s 1)10s 1
900s 360s 17 s 1 0.8K c 0
3 2
24
Gambar Root Locus IMAJINER
900s 360s 17 s 1 0.8K c 0
3 2
Kc AKAR
0 -1/3; -0.1; +0.03
1 -0.35; -0.05; 0
X X X
1.25 -0.35; -0.03±0.01i -1/3 -0.1 1/30 REAL
7.8 -0.40; ± 0.14i
9.75 -0.41; 0.01±0.15i
30 -0.49; 0.05±0.25i
-
Sistem ADA BATAS KESTABILAN karena akar-
akarnya ada yang berada di sebelah KANAN