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LAPORANROOT LOCUS Daffa

1. The document is a lab report on root locus technique in control engineering. It discusses two examples of plotting root loci by varying the parameter K and determining the stability limits of K. Poles and closed loop transfer functions are also determined. 2. The second example discusses plotting the root loci of two control systems with different open loop transfer functions G(s) and determining their stability limits and closed loop characteristics.

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Ksatria Nugraha
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26 views11 pages

LAPORANROOT LOCUS Daffa

1. The document is a lab report on root locus technique in control engineering. It discusses two examples of plotting root loci by varying the parameter K and determining the stability limits of K. Poles and closed loop transfer functions are also determined. 2. The second example discusses plotting the root loci of two control systems with different open loop transfer functions G(s) and determining their stability limits and closed loop characteristics.

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Ksatria Nugraha
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© © All Rights Reserved
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LAPORAN PRATIKUM TEKNIK KENDALI

ROOT LOCUS

Disusun oleh:

Arthoriq Daffa Oliyan

21130057

Dosen Pengampu :

Dr. Ridwan M.Sc. Ed.

PRODI D4 TEKNIK ELEKTRO INDUSTRI

DEPARTEMEN TEKNIK ELEKTRO

FAKULTAS TEKNIK

UNIVERSITAS NEGERI PADANG

2024
Contoh
1. Diketahui persamaaan loop terbuka sistem G(s) = K/[s(s+1)(s+2)}]
K = 1 numg=[K];
Deng = poly ([0 -1 -2]);
'G(s)'
printsys(numg,deng) pos
= input('Type%OS')
z = -log(pos/100)/sqrt(pi^2+[log(pos/100)]^2)
title ('Roots Locus')
[numt,dent] = cloop(K*numg,deng,-1);
rlocus(numg,deng) hold
rlocus(numt,dent) figure
'T(s)' printsys(numt,dent)
step(numt,dent) title (['step
Response for k'])
poles=roots(dent)

poles =
-2.3247
- 0.3376 + 0.5623i
- 0.3376 - 0.5623
2. % G(s) = K*(s+1.5)/(s(s+1)(s+10))
numg = [1 1.5]; deng = poly ([0 -1
-10]);
'G(s)'
printsys(numg,deng) rlocus(numg,deng) pos
= input('Type%OS') z =
-log(pos/100)/sqrt(pi^2+[log(pos/100)] ^2)
sgrid(z,0) title ('Roots Locus') [k,p] =
rlocfind(numg,deng) pause
[numt,dent] = cloop(k*numg,deng,-1);
'T(s)' printsys(numt,dent)
step(numt,dent) title (['step
Response for k’]) pause
pos =
1.5200 k
=
39.2551 p
=
-4.5992 + 3.3957i
-4.5992 - 3.3957i
-1.8016
Tugas Pratikum
1. Gambarkan root locus sistem dengan variasi nilai K dan tentukan batas kestabilan K

% G(s) = K*s^2+2s^2+4s+2/s^2(s+1)^2
numg = [2 2 4 2 ]; deng = poly ([1 -1 -
1]);
'G(s)'
printsys(numg,deng)
rlocus(numg,deng) pos
= input('Type%OS')
z = -log(pos/100)/sqrt(pi^2+[log(pos/100)]^2)
sgrid(z,0) title ('Roots Locus') [k,p] =
rlocfind(numg,deng) pause
[numt,dent] = cloop(k*numg,deng,-1);
'T(s)' printsys(numt,dent)
step(numt,dent) title (['step
Response for k'])
ans =
'G(s)'
num/den =
2 s^3 + 2 s^2 + 4 s + 2
-----------------------
s^3 + s^2 - 1 s - 1
Type%OS pos
=
[] z
=
[]
Select a point in the graphics
window selected_point = 1.0000 -
0.0155i k = 0.0062 p =
0.9846 + 0.0000i
-0.9923 + 0.0782i
-0.9923 - 0.0782i
ans =
'T(s)'
num/den =
0.012397 s^3 + 0.012397 s^2 + 0.024794 s + 0.012397
---------------------------------------------------
1.0124 s^3 + 1.0124 s^2 - 0.97521 s - 0.9876

2. Plot Root Locus system berikut ini

a. % G(s) = K*(s+1)/(s(s+2) (s+3))


numg = [1 1]; deng = poly([0 -2
-3]);
'G(s)'
printsys(numg,deng)
rlocus(numg,deng) pos
= input('Type%OS')
z = -log(pos/100)/sqrt(pi^2+[log(pos/100)]^2)
sgrid(z,0) title ('Roots Locus') [k,p] =
rlocfind(numg,deng) pause
[numt,dent] = cloop(k*numg,deng,-1);
'T(s)' printsys(numt,dent)
step(numt,dent) title (['step
Response for k'])
ans =
'G(s)'
num/den =
s+1
-----------------
s^3 + 5 s^2 + 6 s
Type%OS pos
=
[] z
=
[]
Select a point in the graphics window
selected_point = 0.4589 + 0.0165i k
= 2.6771 p =
-2.3056 + 1.2523i
-2.3056 - 1.2523i
-0.3889 + 0.0000i ans
=
'T(s)'
num/den =
2.6771 s + 2.6771
------------------------------- s^3
+ 5 s^2 + 8.6771 s + 2.6771

b. % G(s) = 10K*(s+1)/(s(s+2)(s+3))
numg = [10 1 1]; deng
= poly ([0 -2 -3]);
'G(s)' printsys(numg,deng)
rlocus(numg,deng) pos = input('Type%OS') z
= -log(pos/100)/sqrt(pi^2+[log(pos/100)]^2)
sgrid(z,0) title ('Roots Locus') [k,p] =
rlocfind(numg,deng) pause
[numt,dent] = cloop(k*numg,deng,-1);
'T(s)' printsys(numt,dent)
step(numt,dent) title (['step
Response for k']) ans =
'G(s)'
num/den =
10 s^2 + s + 1
-----------------
s^3 + 5 s^2 + 6 s

Type%OS pos
=
[] z
=
[]
Select a point in the graphics window
selected_point = 0.9834 - 0.0058i k
= 1.0028 p =
-14.5514 + 0.0000i
-0.2383 + 0.1102i
-0.2383 - 0.1102i
ans =
'T(s)'
num/den =
10.028 s^2 + 1.0028 s + 1.0028
------------------------------------ s^3
+ 15.028 s^2 + 7.0028 s + 1.0028

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