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American International University Bangladesh (AIUB)

EEE 4101: Control Systems Laboratory Experiment # 6. Study of the Root Locus of a system simulated on a pc using the MATLAB software. Objectives: 1. To draw the root locus of a given system for a specified range of gain. 2. To analyze the system stability from the root locus with the variation of gain.

Introduction: The overall transfer function of a closed loop system is The stability of the system and the response depend upon the poles of which are

the roots or zeros of the characteristic equation The root locus of the system is a plot of these roots as a function of the gain. To work with the MATLAB the product is to be expressed as where the variable k represent gain, P(s) and Q(s) are functions of s either in a single polynomial or in a factored form. Procedures: A closed-loop system that has an open-loop gain

By using the following MATLAB codes draw the corresponding figures. MATLAB Codes: clc; clear all; close all; num=1; den=[1 12 64 128 0]; figure(1) rlocus(num,den) grid k=0:1:1000; figure(2) rlocus(num,den,k) grid Prepared by Rinku Basak and Shahriyar Masud Rizvi

2/2 r=rlocus(num,den,k); figure(3) plot(r,'x') grid k=568; figure(4) rlocus(num,den,k) grid After getting the plots, you can find breakaway point, imaginary axis crossing points, center of asymptotes and critical value of K by using rlocfind command. To do this, type rlocfind (num, den) in command window and a cursor will appear in the figure (containing root locus). Now in the figure, if you click on, say imaginary axis crossing point, it will give you the location (say, 3+j4) and value of K (say 570) in the command window. In command window the K value is given like this "ans = 570". These two values will be imaginary axis crossing point and critical value of K. Similarly if you click on the location where the asymptotes meet x-axis in the same manner, you will get its location in the command window and that location is the breakaway point. Then, you can find out the center of asymptotes by drawing slopes along the asymptotes. The point where the slopes intersect x-axis is the center of asymptotes. This location can also be found in a similar manner. To draw the slopes, use the "add line"or "insert line icon in the figure. You can find the angle of asymptotes also by drawing a triangle (and by using tan inverse). Note down values of each parameter in your notes so that you can compare them later with theoretical (calculated) values. Report: Show the root locus for each system and find the range of gain which will produce system-instability. Find the above-mentioned parameters theoretically (through calculation) and compare them with the values found in MATLAB.

Prepared by Rinku Basak and Shahriyar Masud Rizvi