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Complete Unit-4 Notes CONTROL SYSTEM Aktu

The document provides a detailed explanation of the Root Locus method in control systems, including angle and magnitude conditions, construction rules, and examples. It outlines the steps for determining root locus branches, asymptotes, breakaway points, and angles of departure and arrival. The content is structured to guide users through the process of analyzing and constructing root locus diagrams for open-loop transfer functions.

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Virendra Pratap Singh
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11 views59 pages

Complete Unit-4 Notes CONTROL SYSTEM Aktu

The document provides a detailed explanation of the Root Locus method in control systems, including angle and magnitude conditions, construction rules, and examples. It outlines the steps for determining root locus branches, asymptotes, breakaway points, and angles of departure and arrival. The content is structured to guide users through the process of analyzing and constructing root locus diagrams for open-loop transfer functions.

Uploaded by

Virendra Pratap Singh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Root Locus: Root Locus is a graphical method of plotting the locus of the roots
of a characteristic equation when the System Gain K is varied from 0 to ∞.

Angle and Magnitude Conditions:

The phase angle of G(s)H(s) is


0
∠G(s)H(s)= tan−1 ( )=(2q+1)π, where q = 0, 1, 2,……… (1)
−1
The angle condition is the point at which the angle of the open loop transfer
function is an odd multiple of 1800.
Magnitude of G(s)H(s) is
|G(s)H(s)|= 1 (2)
The magnitude condition is that the point (which satisfied the angle condition) at
which the magnitude of the open loop transfer function is 1.
The equations (1) and (2) are Known as Evan’s Condition. Equation (1) is
known as Angle Condition and Equation (2) is known as Magnitude Condition.

Construction Rules of Root Locus


Rule 1 − Locate the open loop poles and zeros in the ‘s’ plane.
Rule 2 − Find the number of root locus branches.
No. of Root Locus branch = No. of open loop poles
Rule 3- Root locus is symmetrical about the real axis
Rule 4- All branches of Root locus start at open loop poles (when K=0) and ends at either at
open loop Zeros or infinity (when K = ∞). The number of branches terminating at
infinity equals to the difference between the number of poles and number of Zeroes of
G(s) H(s).

Proof of Rule 4:
Rule 5: Identify and draw the real axis root locus branches.
A point on the real axis lie on the Root locus if the No. of open loop poles and open loop Zeros
on the real axis to the right of this point is odd.

Example up to Rule-5:

Rule 6: Determine No. of asymptotes.


Asymptotes: Asymptotes are the path along which root locus moves towards infinity.
Since (n-m) branches of root locus terminates at infinity.
So, No. of asymptotes = (n-m)
The angle of asymptotes with the real axis
(2𝑞 + 1)180
𝐴 =
𝑛−𝑚
here q = 0, 1, 2,…………..(n-m-1).

Rule 7: The asymptotes cross the real axis at a point known as Centroid.
∑ 𝑅𝑒𝑎𝑙 𝑃𝑎𝑟𝑡 𝑜𝑓 𝑝𝑜𝑙𝑒 − ∑ 𝑅𝑒𝑎𝑙 𝑃𝑎𝑟𝑡 𝑜𝑓 𝑍𝑒𝑟𝑜𝑒𝑠
Centroid, 𝜎𝐴 = 𝑛−𝑚

Rule 8: Find Break-away and Break-in points.


➢ If there exists a real axis root locus branch between two open loop poles, then
there will be a break-away point in between these two open loop poles.
➢ If there exists a real axis root locus branch between two open loop zeros, then
there will be a break-in point in between these two open loop zeros.
Note − Break-away and break-in points exist only on the real axis root locus branches.
Follow these steps to find break-away and break-in points.
• Write K in terms of s from the characteristic equation 1+G(s)H(s)=0
𝑑𝐾
• Differentiate K with respect to s and make it equal to zero (i.e = 0).
𝑑𝑠

• The value of s obtained by solving above equation is break away/ break in point, keeping
in mind that Break-away and break-in points exist only on the real axis of root locus
branches
Rule-9: Determine the points where root locus intersects Imaginary axis (i.e. jw axis)
We can calculate the point at which the root locus branch intersects the imaginary axis and the
value of K at that point by using the Routh array method and special case (ii).
• If all elements of any row of the Routh array are zero, then the root locus branch intersects
the imaginary axis and vice-versa.
• Identify the row in such a way that if we make the first element as zero, then the elements
of the entire row are zero. Find the value of K for this combination.
• Substitute this K value in the auxiliary equation. You will get the intersection point of the
root locus branch with an imaginary axis.
Rule-10: Determine the angle of Departure from Complex Poles and angle of Arrival from
Complex Zeros.
The Angle of departure and the angle of arrival can be calculated at complex conjugate open loop
poles and complex conjugate open loop zeros respectively.
The formula for the angle of departure ϕd is - ϕ𝐝 = 𝟏𝟖𝟎𝟎 − ϕ

The formula for the angle of arrival ϕa is - ϕ𝒂 = 𝟏𝟖𝟎𝟎 + ϕ

Where, ϕ = ∑ ϕ𝑷 − ∑ ϕ𝒁
ϕ𝑷 is the angle contribution by all poles to that poles or Zeroes from which angle of departure or
angle of arrival has to determined
ϕ𝒁 is the angle contribution by all Zeroes to that poles or Zeroes from which angle of departure
or angle of arrival has to determined.
Method to find Argument or Phase of Complex Number
For a Complex Number x+iy, the phase is determined as follows:

If x=0 & y> 0, then phase of x + iy is 900.


If x=0 & y< 0, then phase of x + iy is -900.
Ex3. Determine angle of departure and angle of arrival for following open loop transfer function.

Solution: For the open loop transfer function, G(s)H(s):


We have n=5 poles at s = 0, -3 ± 2j, -2, -1 and m=2 finite zeros at s = -1 ± 1j.
Angle of Departure:
Angle of Arrival:
Ex: Draw the root locus of a control system having a open-loop transfer function

Solution :- Let NP be representing number of open-loop (OL) poles and NZ the number of open-
loop (OL) zeros.
The characteristic equation will be S(S+3)(S2+2S+2)+Ka =0
1) Find OL poles and OL zeros from the OLTF
OL poles are S=0,-3,(-1+j1) and (-1-j1) There are no finite OL zeros.
Mark OL pole with cross and OL zero with circle in S-plane as shown.
2) Find the parts of the real axis at which root locus lies.
A point on real axis lies on root locus if the number of OL poles and OL zeros on the real axis to
the right of the point is odd.
Therefore, root-locus lies between 0 and -3 on the real axis.

3) Find number of asymptotes


Number of asymptotes = No of root locus branches tending to infinity = n-m = 4
Find centroid (common point on real axis at which asymptotes cut the real axis) as
Find asymptote angles (angles that asymptotes make with the real axis in the counter clock wise
direction)

4) Find the breakaway points (points at which two or more root locus branches meet)
Breakaway points are the solutions of (dKa/ds)=0
From the characteristic equation,
Ka = -S(S+3)(S2+2S+2) = -(S4+5S3+8S2+6S)

We get, S = -2.3 , (-0.725±j0.365)


Not all values obtained as solutions of (dKa/ds)=0 need to be necessarily the breakaway points.
Out of the obtained s values only those values of S which satisfy angle condition are the actual
breakaway points.
On checking angle condition we find that (-0.725±j0.365) do not satisfy it. Therefore, only S= -
2.3 is the only breakaway point.
The number of branches approaching breakdown point (r) = number of branches leaving the
breakdown point (r) = 2
The leaving branches make ±1800/r = ±900 angles with the approaching branches

5) Find angles of departure (angle which a root locus branch starting from an open loop pole, makes
with a line parallel to the real axis, in the counter clockwise direction).
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