Lecture4 Root Locus Method

The Root Locus Analysis
Eng R. L. Nkumbwa MSc, MBA, BEng, REng. Copperbelt University
Stability of Control Systems

Its
all about Stability
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Eng R. L. Nkumbwa@CBU-2010
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Auto-Pilot or Fly-by-Wire Systems

Let
us consider the short period approximate model of the Fly Zambezi 727 aircraft landing at Lusaka International Airport.
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Where Take
e is the elevator input,
the output as , input is e, then form the transfer function is of the form;
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For
the Zambezi 727 (40Kft, M = 0.8) the Transfer Function reduces to:
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Such
that, the dominant roots have a frequency of approximately 1 rad/sec and damping of about 0.4 as shown on the pole-zero map below:
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As
the plane continue navigating the sky, we need to know and analyze where the poles are going as a function of the input command constant in the above pole-zero map. How do we know where the poles moves as the Zambezi 727 system gain changes? This is where Root Locus comes to address the problem and provide the solutions.
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Root Locus Analysis Intro

In
Control Systems I and other previous chapter, we have demonstrated the importance of the poles and zeros of the closed loop transfer function of the linear control system on the dynamic performance of the system. roots of the characteristic equation which are the poles of the closed loop transfer function, determine the absolute and relative stability of linear SISO Systems.
The
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Another
important study of the Control systems is the investigation of the trajectories of the roots of the characteristic equation or simply the Root Locus When certain system parameters vary. first basic properties of the root loci and the systematic construction are due to Wade R. Evans in 1948
The
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In
general, root locus may be sketched by following some simple rules and properties. plotting the root locus accurately the MATLAB root locus tool in the Control System Toolbox (control) or in the Time Response Analysis Tool (time tool) of ACSYS can be used.
For
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The
root locus technique is not confined only to the study of control systems. general, the method can be applied to study the behavior of roots of any algebraic equation with one or more variable parameters.
In
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Root Locus Example

Consider
an illustrative example for the Radio Volume control in the Course Text Book by Nkumbwa on page 75. illustrates how root locus is applied in volume control of radio systems.
It
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Root Locus Example: three poles
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General
root locus is hard to determine by hand and requires Matlab tools such as: rlocus (num,den) obtain full result, we can get some important insights by developing a short set of plotting rules.
To
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Defining Root Locus

To
start with, lets make sure were clear on exactly what we mean by the words Root Locus plot. So, what is a Root? A number that reduces an equation to an identity when it is substituted for one variable. Roots of this equation are the closed-loop poles of the feedback system.
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Defining Root Locus

Then,
what is a Locus? The set of all points whose location is determined by stated conditions. The stated conditions here are that 1 + kL (s) = 0 for some value of k, and the points whose 0 locations matter to us are points in the s-plane.
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Defining Root Locus

Now,
what is a Root Locus? The set of all points in the s-plane that satisfy the equation 1 + kL (s) = 0 for some 0 value of k. Root locus is a graphical presentation of the closed- loop poles as a system parameter is varied. Root locus is a powerful method of analysis and design for stability and transient response.
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Defining Root Locus

The
root- locus technique is a graphical method for sketching the locus of the roots in the s-plane as a parameter is varied. In fact, the root- locus method provides the engineer with a measure of the sensitivity of the roots of the system to a variation in the parameter being considered.
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Some Root Locus Basic Questions

What
points are on the root locus? Where does the root locus start? Where does the root locus end? When/where is the locus on the real line? Etc Answering these and many more questions will help us understand Root Locus technique.
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Pole and Zero Locations by R-Locus

Let's
say we have a closed-loop transfer function for a particular system:
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Where
N is the numerator polynomial and D is the denominator polynomial of the transfer functions, respectively. we know that to find the poles of the equation, we must set the denominator to 0, and solve the characteristic equation.
Now,
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In
other words, the locations of the poles of a specific equation must satisfy the following relationship:
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And
from the above equation we can manipulate an equation such as:
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And
finally by converting to polar coordinates, we get:
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Equation for all Gain Values

Now
we have 2 equations that govern the locations of the poles of a system for all gain values: Magnitude Equation
The
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Equation for all Gain Values

The
Angle Equation
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Root-Locus Design Procedure

In
laplace transform domain, when the gain is small the poles start at the poles of the open loop transfer function. When gain becomes infinity, the poles move to overlap the zeros of the system. This means that on a root-locus graph, all the poles move towards a zero.
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Only
one pole may move towards one zero and this means that there must be the same number of poles as zeros. If there are fewer zeros than poles in the transfer function, there are a number of implicit zeros located at infinity that the poles will approach.
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Note
Remember
that, Poles are marked on the graph with an 'X' and zeros are marked with an 'O by common convention.
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We
can start drawing the root-locus by first placing the roots of b(s) on the graph with an 'X'. Next, we place the roots of a(s) on the graph, and mark them with an 'O'.
Where
b(s) and a(s) are the numerator and denominator of the system transfer function.
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Next,
we examine the real-axis.
Starting
from the right-hand side of the graph and traveling to the left, we draw a root-locus line on the real-axis at every point to the left of an odd number of poles on the real-axis.
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Now,
a root-locus line starts at every pole. Therefore, any place that two poles appear to be connected by a root locus line on the real-axis, the two poles actually move towards each other, and then they "breakaway", and move off the axis. The point where the poles break off the axis is called the breakaway point.
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Note
It
is important to note that the s-plane is symmetrical about the real axis, so whatever is drawn on the top half of the S-plane, must be drawn in mirror-image on the bottom-half plane.
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Once
a pole breaks away from the real axis, they can either travel out towards infinity (to meet an implicit zero) or they can travel to meet an explicit zero, or they can re-join the real-axis to meet a zero that is located on the real-axis.
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If
a pole is traveling towards infinity, it always follows an asymptote. number of asymptotes is equal to the number of implicit zeros at infinity.
The
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Root-Locus Construction Rules

Rule
1: Starting Point (K=0)
The root locus starts at open loop poles. Or there is one branch of the root-locus for every root of b(s).
Rule
2: Terminating Point (K=infinity)
The root locus terminates at open loop zeros which include those at infinity.
Rule
3: Number of Distinct Root Loci
There will be as many root loci as the highest number of finite open loop poles or zeros.
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Rule
4: Symmetry of the Root Loci
The root loci are symmetrical with respect to the real axis and all complex roots are conjugate.
Rule
5: Angle of Asymptotes
The root loci are asymptotic to straight lines at large values and the angle of asymptotes is given by
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Rule
6: Asymptotic Intersection
The asymptotes intersects the real axis at the point given by
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Rule
7: Root Locus Location on the Real
Axis
The root loci may be found on portions of the real axis to the left of an old number of open loop poles and zeros.
Rule
8: Locus Breakaway Point
The points at which the root locus break away can be calculated by the following:
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Rule
9: Angle of Departure and Arrival
Find the formula
Rule
10: Point of Intersection with the Imaginary Axis

Find the formula
Rule

11: Determination of K
Find the formula And many more rules and equations

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Root Locus Example

A
single- loop feedback system has a characteristic equation as follows:
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Root Locus Example

We
wish to sketch the root locus in order to determine the effect of the gain K. The poles and the zeros are located in the s-plane as:
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Root Locus Example
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Root Locus Example

The
root loci on the real axis must be located to the left of an odd number of poles and zeros and are therefore located as shown on the figure above in heavy lines.
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Root Locus Example

The
intersection of the asymptotes is:
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Root Locus Example

The
angles of the asymptotes are:
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Root Locus Example

There
are three asymptotes, since the number of poles minus the number of zeros, n m = 3. Also, we note that the root loci must begin at poles, and therefore two loci must leave the double pole at s = - 4. Then, with the asymptotes as sketched below, we may sketch the form of the root locus:
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Root Locus Example
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Compensator design using the root locus

The
root locus graphically displays both transient response and stability information. The locus can be sketched quickly to get a general idea of the changes in transient response generated by changes in gain. Specific points on the locus can also be found accurately to give quantitative design information.
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Compensator design using the root locus

The
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root locus typically allows us to choose the proper loop gain to meet a transient response specification. As the gain is varied, we move through different regions of response. Setting the gain at a particular value yields the transient response dictated by the poles at that point on the root locus. Thus, we are limited to those responses that exist along the root locus.
Possible Root Locus
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Possible Response Options
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Wrap Up
Root
Locus is a very important techniques that can be used for compensation design of various control systems Do further research on this topic
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Lecture4 Root Locus Method

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The Root Locus Analysis

Eng R. L. Nkumbwa MSc, MBA, BEng, REng. Copperbelt University

Stability of Control Systems

all about Stability

Auto-Pilot or Fly-by-Wire Systems

Auto-Pilot or Fly-by-Wire Systems

e is the elevator input,

Auto-Pilot or Fly-by-Wire Systems

Auto-Pilot or Fly-by-Wire Systems

Auto-Pilot or Fly-by-Wire Systems

Root Locus Analysis Intro

Root Locus Analysis Intro

Root Locus Analysis Intro

Root Locus Analysis Intro

Root Locus Example

Root Locus Example: three poles

Root Locus Analysis Intro

Defining Root Locus

Defining Root Locus

Defining Root Locus

Defining Root Locus

Some Root Locus Basic Questions

Pole and Zero Locations by R-Locus

say we have a closed-loop transfer function for a particular system:

Pole and Zero Locations by R-Locus

Pole and Zero Locations by R-Locus

Pole and Zero Locations by R-Locus

from the above equation we can manipulate an equation such as:

Pole and Zero Locations by R-Locus

finally by converting to polar coordinates, we get:

Equation for all Gain Values

Equation for all Gain Values

Root-Locus Design Procedure

Root-Locus Design Procedure

Root-Locus Design Procedure

Root-Locus Design Procedure

we examine the real-axis.

Root-Locus Design Procedure

Root-Locus Design Procedure

Root-Locus Design Procedure

Root-Locus Construction Rules

1: Starting Point (K=0)

2: Terminating Point (K=infinity)

3: Number of Distinct Root Loci

Root-Locus Construction Rules

4: Symmetry of the Root Loci

Root-Locus Construction Rules

The asymptotes intersects the real axis at the point given by

Root-Locus Construction Rules

7: Root Locus Location on the Real

8: Locus Breakaway Point

Root-Locus Construction Rules

9: Angle of Departure and Arrival

Find the formula

10: Point of Intersection with the Imaginary Axis

Find the formula And many more rules and equations

Root Locus Example

single- loop feedback system has a characteristic equation as follows:

Root Locus Example

Root Locus Example

Root Locus Example

Root Locus Example

intersection of the asymptotes is: