ay eee a im | STABILITY ANALYSIS OF LINEAR CONTROL SYSTEM bompleting this 5 ye the lability of inear feedback conto fe sh the root locus of 2 transfer function w syse the stability of linear control system 1.0 introduction acept of stability Concer xi tobe stable ifthe output ofthe contol sytem doesnot changes fora smal em input. Others, its Said tobe unstable, The defn of abily depends oe of the system. Generally, the stability of the control system can be classified as frple, unstable and marginally stable. sbi me-inariant system i sud toe table when it produces «bounded ouput fora oe pounded input. This s known as Bounded-Input Bounded Output (BIBO) stability criteria. co t 0 Figure 5.1 Consider the response of the first order control system, subjected to unit step input as shown in figure 5.1. Then the response of the system ranges from '0'to'l'. Also, we know that for the unit step signal has the input value of (one), for all positive values oft’ including zero.‘Therefore, the first order control system is stable, since both the input and > are bounded. Further, the Oy, 1, When there is no input, the system produces zero output ing Ny conditions. This state is known as asymptotic stability, PeCtiy, m3 2. Ifa bounded input is applied to the system, the system Temains st ity of input. This state is known as absolute stability. able forg 3. Ifthe stability of a system exists fora particular range of input thet Vay conditional stability. 7 NCN it is hy 4. Ifthe system produces an unbounded output fora given boundeg system is said to be unsable, Mput, The concept of stability can be well explained by considering a ball lying in a: the of surfaces, 8 in d Stable system: hey Asystem is said to be stable if it maintains its equilibrium position, initi after a small disturbance is applied to it. Consider the ball placed i ‘i 7 Bed non the, Dey in figure 5.2 below, even ifthe ball is disturbed, the equillibrium posites ue 354° co On does et henge Feces K i Hence, the system is also known as asymptotically stable. | Position Unstable system: Asystem is said to be unstable iit reaches a new equilibrium postion which dog resembles wth the ntl poston when a small disturbance is applied tot Conside st placed onthe surface as shown in igure 5.3 below, when the balls slighlydisuteg™ Will changes the initial condition and the ball willbe rolled down from the peak and itt not return to initial position. Hence the system is known as unstable. q@ 2 Figure 5.3ipo te ally stable if it reaches anew equilibria positon thet 10 be a system when @ small disturbance is applied to it. Consider re of! min figure 54 when an impulsive force is applied on face, 08 Show ill be stopped due to fet ar igance and wil be stopped de to fion of the surface. te for ie * marginally stable. 0 ct) ytcal method used for determining the sebility of a teria stability of the sytem canbe analysed based on determining nt ne characteristic equation either in left half and in right half ofthe sles OF jg is an anal y found the method for investigating the stability rwvite individuall i ez determinants and the Routh criteria is in terms itz criteria is in terms o rwitz criteria is a simple algebraic technique which can jg or Routh Hi outh os siability of @ system by formulating Routh array from the characteristic find ed loop control system. 10 rion of 4 C108 ion of the closed I trol i der the transfer function of ‘the closed loop control system given by Consi bare the constants. if the closed-loop poles of the system is equated to zero in the above equation, then we ‘where, a and can arrive at characteristic equation of the system. F@=as*t as + asst +a,=0 ‘The soos for this characteristic equation are the poles of the system onthe basis of which stability is determined. Generally Routh stability criteria can be analysed by formulating Routh aray from the coefficients of the characteristic equation of the system arranged in a specified manner as nentioned in the procedure below:ed efficients of all the ‘ sp wr he oo a Pai Step 2: Check whether the coefficients of terms are positive, j tana a the system is considered to be as unstable. han, . 2 ficients of the characteristic equation j ign Sten 3 Aneae® eh the fast row ot highes! orden, Pt rong a s" |a a a a, ti svt}a, ay as a, st? 1b, b, b &, st? ]c, Cy Cy s° ja, Step 4: The entries of the remaining rows are obtained as follows: 48 —BoAy MAL Aoly 4, _ aAg aya, SETAE bh, = OS, p, = Bis Boy a, a b . In the same way 4* row can be determined using 2™ and 3" row, The above process is continued till we obtain the coefficients of the eo is nothing but a,. the $°, whi Step 5: Check ifthe elements ofthe first column of Routh array is positive, he system is stable or it is considered as unstable. aie ty Illustration Example 1: Determine the stability of a system whose characteristic equation is given by s+ 5s) + 20s? + 40s + 50 = 0, using Routh criteria. Wee. 2011) Solution. (20%8)- (10-1) yy is! 4-20 50 hein 2 eats as (5x80)-0. oy eB 12! 50: 0 Balt cht 12x40)—(5x50) s' 1119.6! 0 (xt0)-(6*59) 196 s [50 (13.6x50)-0 _ 54 13.6 Since there is no changes in the first column of the Routh array the system is stable.negative value present in first column of routh array, the system is 103 esti equation of a system is given by a pa gstk=0 sriteria. Determine the range of "k", so that the system is stable. Forthe system to be stable k> 0 3,33-3k 3.33 >0 3.33-3k=0 k=1.1]) Therangeof kisgivenby0 Sk<1.1i :mple 4: é Exai [ Routh eriteria, determine the stability of a system, tt m) a 1 equation is s‘ + 85! + 18s? + 16s + 5=0. ta June, Solution. tn erty, Yate Since all the elements of first column of the Routh array is to be as stable. Example 5: Find the range of K for the system with characteristic equation $4459) +58? +4S+K=0. Solution. Positive, the , fi stem i, Ry | " For the system to be stable K>0 eek >0 16.8-5K>0 K<3,.36 The range of K is given by 0 < K < 3.36 cample 6: By applying Routh criterion, discuss the stability of the closed loop system a5 function of K for the following open loop transfer function. (Dec. 2014/Jan.2015) K(s+1) G(3)H(s)= s(s—1)(s? + 4s+16)pls) ae-e +48-+16) tic ovation is given by, eri s or the system 10 Be oe ‘of goo 2K 0 er xessn0rk <5? 52-K\(K-16)-3K pean (258)e-19-26>0 _K? + 68 - 832-9K>0 K?-59K + 832<0 (K~23.32) (K - 35.68) <0 2. K> 23,37 and K < 35.68mets 9332 35.8 the system is ie Tei — inally stable for K = 23. 32 and K = 35.68 ‘The system js marginally Example ation of a system is given by s‘+6s'+ I1s'+k The te fore the system £0 be stable. Use Routh’s criterion, Gun " the Solution. 7 K Bio ae 0 g] I K s/% ? For the system to be stable, K>0 Also KE >0 W To satisfy the above condition K <0; which contradicts the basic stability ie: ia, Hence, the system is unstable. Example 8: Examine the stability of using s‘ + 35) + 3s! + 85 + 2 = 0 using Routh's Hy criteria. rw Solution. airy 3s 2 sfi2is 0 sfi-li2 0 s]i42{ 0 vf 42! Since there is sign change in the first column elements of the Routh's array. The syste is unstable. 5.1.1. Special cases of Routh's criteria: Case 1: If first element of the an} Temainit y row of Routh's array is zero (0) ini elements of the same row is a non-zero element. Z Set Example: s° + 4s‘ + 3s? + 12s? + 4s + 10=0Case 2: e|! lea 12 10 é fo 3 0 s Alem suet case replace zero(0) by a small th's array: Later examine the stabilit Positive Tuber ow! IY titer and i . er sgn ona bY tking Lim nM the eft 3 4 0 10 check for al 4 ZO 3| © 13 2| ues 10 s a 26-8) 5-106 : ee 0 0 (4) | 10 To check for sign change 126-6 _ is eit ith ee cern (sign is Negative) Lin ("25 }15-1 & Hine eee seat Lig (2) 1S-O=41.5 (sgn isneai) € Since there is a change in sign in the firs unstable. colon ofthe Row eray, stems Jfall the elements of a row are zero in Routh’ Prample:s*+4s'+394 128433429009 mee (ee, 2017/5an, 2018) s'|4 12 20 s|o 0 0 Inthe above array, all the elements of 3"; need to be carried out ee a eee i) Formulate the auxilary polynominal by usi p ar ing the coefficients i row, known as Auxiliary Equation and is denoted AG, oe < A(s) =4s' + 128? +20a y It ii) Differentiate the auxiliary equation with respect tog Ry of zero's by coefficients of differentiated auxiliary Sa Ang uation fe das) =16s? + 24s is Then the Routh's array can be modified as, 3 12 20 0(24) 0 20 0 Since there is a change in sign in the first column of the Routh unstable, y, hte 4, Example 9: Using R-H criterion investigate the stability of the system s* +2334 11.9. Comment on the stability of the system. Also find the frequen, tt 8 oscillation. ‘quency of Sustain, Solution. sf{1 11 18 #/2 18 0 s?/2 18 s']0 0 Since all the elements ofa row are zero in Routh's array develop an Auxili lary equati - AG) = 2s? + 18 enh Differentiating with respect to 'S' BOs sil 111 18 eyhe2 re glia! 18 s'|' 04)! 0 ° ‘as!: 40° ability of the system given by the characte visti 2 ae oe SS Oaydee a en 201150. 240 in Routh's array is ze ents ofarow In 0. Develop an anil Ary equatio ion AG), 3 4 141.33 o| 4 . ce there is n0 Sign change in the first column elements of the Routh S array, the gsi stable. jvantages of Routh’s criterion: A j, The stability of the system can be easily analyses without solving the characteristic equation, 2. Easy to determine the relative stability of the system. 3, By this method, it is easy to determine the range of K for: stability. 4, Ithelps to determine the point of intersection for root locus with imaginary axis, Limitations of Routh's criterion: $ ei a s 1, This criteria is applicable only for a linear control system. 2, Itdoes not provide the exact location of poles in right or left half of the s-plane. 3, Itis valid only for the real coefficients of the characteristic equation.» 2 ocus Teo od used for analyzing the sbi, e ical ee d movement of pol o " joven poles in th or, location of poles a” ei 5 © Splat 1K! of the system known as ‘Root Locus’, ewig is by WR. Evans’ in 1948. roots of the characteristic equati ; ion location of the closedjor® Le trol system. Also, the closedeto~ USed ability peer about the stability of the closed loop coe Pole, the s-plane 8 ique helps in determining the movement of ‘ root locus technia closed-loop control system, the eh eet variation of system gain ina 4) iy the Poly i 5.2.1 Concept of Root Jocus : sed loop control system, below. RG) with gain factor'K' which is a variable - Consider a clo: ‘as shown in figure Then the transfer function for the above system can be given as KG(s) 1(9)*7KG(s)HS) haracteristic equation of a closed loop control system can be obtainey tem to '0'. There characteristic equation can be given as 1+ G(s) H(s) = The above equation gives a clear indication that the roots of characteristic equation fg a system depends on the variable K, which is gain in forward path. This gives a conclusion that if value of system gain 'K' is varied from '-20' to '+00' then for each value of 'K' we wil be able to obtain different set of location of poles in the S-plane. If all such locations ar joined, then the resulting locus is called Root locus. This clearly shows that the nature of the transient response of the closed-loop conto system shows the dependency on the location of poles in the s-plane. Hence, root locus is defined as the graph plotted for the locus of roots for a characteristi ‘equation by varying the system parameter (Gain, K) from - © to». However it is generall assumed to be between '0' to ‘a’. We know that the cl by equating the poles of the sys 5.2.2 Angle and Magnitude condition : Consider a negative feedback closed-loop control system, equation is given by 1+G()H(s)=0 or — G(s) H(s)=-1 then the characteristJex in nature (ie., consisting of both i ora be reps 3; one c! magninary ais) is jane” SF tio” 6 Arts isal . gn, G(s) H(S) is also complex in nature jon, He oon "inorder to be present onthe rot egy BH equation 1 : ¥ a any major conditions, ish two pave we a angles O” both sides, we get, -quating ea(Ort 1)180° 5) = the condition of angle, the value of 2G(s) HOY ye pation isan od ripen of ane theron tude condition: a : Lae io identify the condition of magnitude, magnitude of the valu i taken, oft j0)|= 7 0 ON aae vs is unknown and cannot be ies ion, the val ‘and cannot be abl re equation, t (Cannot be able to determine from pyat mah atany point on s-plane Ifthe value of’ fora given point whichis rsent (ts HOO 4s determined by the angle condo, then alo ) ond by the magnitude condition. r construction of Root Locus: can be 23 ules for ; Joous plots can be completed using following steps: a 1: The root locus begins at open loop Poles (P); ser gach branch of the root locus originates from open lop pole with K=0, Locate the open-loop poles on s-plane by using "X’ symbol, in the guaph, ‘The root locus terminates at open loop Zero’s (Z) Each branch of the root locus terminates either at open loop zero or at infinity as the value of 'K' ranges from'0' to's’, Locate the open-loop zero on s-plane by using @' symbol, in the guaph. Step 3: Number of branches (N) Number of branches is dependent on presence of number of Poles (P) and Lero's (Z). (i) Number of branches is equals to number of poles N=Pwhen P>Z Step 2:Step 4: Step 5: Step 6: Step 7: Step 8: When the number of poles (P) is greater than numise Branches will start from open loop poles. Some part of Tor, will be terminated at open loop zero's (based on preseng, oles ty mbes? , erp remaining poles (P-Z branches) will terminate at ‘oy. Gi) Number of branches is equals to number of zero's oy N=ZwhenZ>P When the number of Zero's (Z) are greater than the my Ne {All branches of open loop poles will terminate at zeny tf po branches) will originate from infinity and reaches fining, Wainy." ( nite 2ergy ing i " Number of branches terminating at infinity: The number of branches terminating at infinity can be foung between the number of poles and zero's i.e., (P-Z). by the dit, Root locus is symmetrical about the real axis, The root locus must be symmetrical about the real axis as the appear in pairs. Root locus lies on real axis. Any point of root locus lies on the real axis, ifthe sum of number poles and zero’s present on the real axis tothe right ofthe poin jc 1°? Angle of asymptotes (8) S"oda', We know that P-Z branches terminates at infinity. Angle of reference for movement of branches terminating at infinity with axis. Therefore angle of asymptote is given by, - 2q+1)180° P-Z Compley vy 4 Bi Tespect to rs where, q=0, 1, 2 ......+.(P-Z—1) Centroid (c): The asymptotic straight line will intersect on the real axis at the point known as centre Step 9: BAP: BIP: xP-XZ Z Break away point (BAP) and break in point (BIP): The point at which two root locus leaves the real axis and enters the comp region of the "s-plane", in order to terminate at zero's. Such point occ between the adjacent poles when the root - locus exist between them. Br away point can be determined by characteristic equation i.e., * =0 s It is the point on the real axis at which two root-locus enters the real axis’ the pole in the complex region. Such a point occurs between two adj:over point of the root-locus with the Imaginary ay i IS; 40 ros - paint where the root-locus intersect Wilh he ina get i8 ! ye other side of the complex plane, can be eal ain axis and 1 istic equation and by using "Routh criteria", oe Considering the wo yt and "0". , 50 find the val /hich the root locus fK, for w ; 18 CFOS the j Pe ‘fhe ee the auxilary equation to zero, maginary axis calcula ‘ ju ed e of departures are of complex conjugate, wehaveto find thea Tr les gteP when the po em recta, f departure, % Angle > syheres = 2 sum * which a & um of angles m le by vectors drawn from the zera's r & a calculated. Stothe pleat which 1b, Dh of angles made by vectors drawn from the other 6,18 calculated. Doles tothe pole at in: gle of arrival : : steP when the zero's are complex conjugate we have to fine the angle of ari to ively = 180° +9 winere, 9 Dh Eby val, Illustration ye A: : eal root - locus for the following function G()H()= Gy a(or Alor O(s+8) (5+2)(5+4)(s+9)(s+8) ution. ; sonny Root locus begins at open loop poles. Number of poles, P=4 §,=-2,5, =A 8,=-6,5,2-8 2, Root locus terminates at open loop zeros ‘Number of poles, Z = 0 {Since there are no co-efficient in numerator} 3, Number of branches (N) Since number of poles > number of zero's4. Number of ranches terminating a infinity ber of branches in difference betwe; we zed On4 en number Of Poles an, Four branches terminates at 'o' 5. Root locus is symmetrical about the real axis, 6. Root locus branch present on the real axis, 7. Angle of asymptotes (8,): =45° 2x 0+1)180° 14 (2x1+1)180° a= 0ae _ (2x2+1)180° 7 420 | 9, -(2x3+1)180° 4-0 =135° = 225° =315° B Centroid (0) : aC 6-8)-0 P-EZ P-Z 2-4- 4-0 o=—5] 9. Break away point : Consider the characteristic equation 1+ G(s) H(s)=0 From given a ‘Tae k aes, (5 +(8 +6s+8)(s? +14s+48)=0ecu 3 Is‘ +205? +1405 +4005 +0384 ne aracteristiceguation - ee 4420s! + 140s? + 4005+ 384) ke so fin ad Break away point apply, x as. 460s? + 2805+ 400=0 of the equation , s, = -2.76, ‘rhe ere the roots\ 7.24,8, = ‘the root locus with the ae _over pot oF masa: A i ie ig" and "o" using routh criteria consider chara i wg + 40s + (384+) = : ; 140 G84) 20 400 . 120 GBH. teristic equation, 120 34+) : : condition, k> 0 _ 9520=20k 5 20 120 gor tii ‘The value of K is given by 0Sk <2016 dering auxiliary equation (8 terms) 120s" +(384+K)=0 120s? +384 + 2016=0 120s? + 2400=0 Consi s'=-20Note : Steps to draw root locus: 1. 2. Locate the poles by 'x' symbol on the graph. Mark 'K=0" at poles. 33 4. Identify Root locus region (RL) if the summation of number of poles and Zero’ . Hf angle of asymptotes are 30° and 270°, then root locus does not Comment : The value of "k" ranges between 0 and 2016 the system will be upto k = 2016 and becomes unstable for the values greater than 2016. The tinal of the sustained oscillation is = 4.47 rad/s ney Develop 's-plane'’, i.e., mark real values on x-axis and ii imaginary eae Locate the zero's by '@' on the graph. Mark 'K = 00! at zero's. present on the right side of the point under consideration is "odd", else mak Nd Root Locus region (NRL). eS the imaginary axis. Hence ther is no need to apply Routh criteria to identify cro point,the system 2 yot Jocus for s(s+ 8) o(e" ‘ jo i sal 7 oot Jocus begins at open loop poles uber of poles, P=? 05,78 Root Joous terminates at open loop zero' umber of 2210'S, Z=0 3 umber of branches W): since »P NeP=2 er of | branches terminatit infinit p-)=2-9=2 - ‘Two branches terminat ; tes at infinit cus 1s symmetrical about or ae us is present on the real axis, - 4 Numb 5, Root Lo 6, Root lo 7, Angle of ‘asymptotes 2 2q+1)180 P-Z | q=0,1 ayo lexoeie” 2-0 10, = 90"(2x1+1)180° Pensa =—3=0 id (9): 8. comrid Sp EZ p-Z Consider characteristic equation 1+G() H@)= From given data —k_-0 15648) eo +8s+k=0 k=-(s*+8s) Tofind Break away point apply. s 2s+8=0 s=—4] 10. Cross over point ‘Apply Routh criteria for the characteristic equation s?+8st+k=0 By using Routhcriteria, s 1 k st 8 0 s k 0 For stability condition, k > 0‘Comment: System is stable for all values of "k" as the plot lies int the left side of ‘sample 13: ‘ketch the root locus for the system. k(s+2) H(s)e— G)HG) = 6)(6+8) Solution. 1. Number of poles (P) P=3 5,=0,8,=-6,s=-8s=— 2 3, Number of ranches (N) poz : i 4, Number of! a ya at infinity re terminates at infinity. 5, Root locus is symmetrical about real axis is Root locus is present an real axis. 7. Angle of ‘assymptotes @) ao (24+1)180' (2) q=0,1,2. q=0,1 where q=0,1,2. (2x0+1)180° aor 3-1 (2x1+1)180° 4=-— 3-1 fa, =180° 8. Centroid (0): z oF PHZ _(0-6-8)-(22) 3-1 [s=-4] 9. Break away point Consider a characteristic equation 1+ G(s) H(s)=0 from given data k(s+2) pee s(s+6)(s+8) s(s+6)(s+8)+k(s+2)=0 s*+14s? + 488+ k(s+2)=0| characteristic equationTob rc : 414s? +485] Ker (s + 2) : &k qo fi nd break away point apply —=0 er +288+48)-(s+ e +485)() (s+2) 4-205? +565+96=0 ‘pherofore the roots of above equation 2-69 8) cos over wef of xympfotes are 90° and 270°, root locus scott @ a erefore no need to find cross-over oes not roses the 3 js. The Point, Comment : System is stable for all values of "k", Because plot lies inthe left half of the "s-plane".Example 14: Sketch the root locus ofthe system whose open 0p transfer ~ Mnetion SOHO IGT nae Solution. Qu 1, Number of poles (P) me P=3 4 s,=0,8,=-2,8,-—4 2. Number of Zero’s (2) z=0 3. Number of branches (N) P>Z; Number of branches terminating at infinity (@P-Z)=G-0)=3 Three branches terminates at infinity. 5. Root locus is symmetrical about real axis. 6. Root locus lies on the real axis. 7. Angle of Asymptotes (0,) (2q+1)180° cea where q = AO” 2x1+1)180° 3-0 _ (2x2+1)180° “3-0 8. Centroid (a) P-DZ ont (0-2-4)- 3-0 =180° =300°4) net 07 ic eat! ation g? + 6s? +88+K =0) is po oe gt 694854) away point any 4 a E0 nd jot ast a0 ts of at above equation are zs over point we south oni criteria for th echaracteristic equation ost 88 +K=0 sorsatilityconition K> 0 . 48-K 59 6 K<48 ‘The value of K is given by 0S KS 48 Consider auxiliary equatior Sree yn for Routh aay, 68+48=0 6g=-48 s=-8 Cross over point at [s= 22.83]Comment: The system is stable for values of K, 0 < KS 48 for values of K > 48 system becomes unsable in nature.loots of unity feedback syster : fe mM Whos th K red 25(8 +58 6) ied range of K for the system to be stable, pec neP=3 fb anches terminating a infinity pee i eg es terminates at infinity. cus i8 . symmetrical about real axis. oot ous Ties ae of asymptote ) eae 0° 3-0 (2x1+1)180° i? 1-3-0 ° (2x2+1)180° - e a9. 10. Break away point (BAP) Consider the characteristic equation 1+G(s) H(s) = From data, fo *S[s 455+) s(t 58+6) +K=0 Characteristic equation [s° + 5s* + 6s+K 2 Kas) + 5s? + 68) SK 29 To find Break away point, apply “4 1 3st+ 58+ 6=0 ‘Then the roots of above equation are 0.785 5, =-2.55 (Cross over point Apply Routh criteria for the characteristic equation s+ 5s?+6s+K=0 @ 1 6 ise 5 K ’ 30-K 0 iz SY K for stability condition, K > 0 30-K >0 5 “K<30 The value of K is given by 0< K $30 Consider auxiliary equation for Routh array, 5s°+K=0 5s°+30=0 5s*=-30 S=-6 Cross over point S=12.45] ay,eeu Comment: The system is stable for values of K, 0 < K'< 30. The system becomes unstable for values of K > 30.Example 16: ‘The open transfer function of a unity feedback, ‘System is given by Sketeh where, H(s)= 1, Number of poles (P) P=2 $,=0 &S,=0 2. Number of zero's (Z) : Z=1 S=-1 3. Number of branches (N) P>Z N=P=2 4. Number of branches terminating at infinity @-Z)=@-1)=1 One branch terminates at infinity. 5. Root locus is symmetrical about real axis 6. Root locus is present or real axis. 7. Angle of asymptotes @) 9, -(24+!)180 = P-Z o, = (2x0+1)180° (ee 2-1 1:8, =180° 8. Centroid (c) : xP-EZ 2 9-(-1) 2-1 o= o= o=lj away per ba EO et haracteristic equation ie % jder ® cos Ges) HES) = 9 the date fom” (stl) oe =! hrmeteristic equation ETD Is +k i (s+)=0 2) k (s+ 1) | To find break away point apply | a ers) ¢ [ene (s+!) gs? +28- s'=0 g+28=0 s(s+2)=9 ‘Therefore roots of abov e equatic 5-0 & = 2 coe sp. coas over DO Apply Routh criteria for the characteristic equati eli K equation S?+ KS +K = s|k ° ‘ g\k For stability condition K > 0. since, the angle of asymptote i ofpoles and zero's are nea present in left half of: ee 180° line. Also, va sd coteve poor wer point,Comment: The system is stable for all values of K > 0 and also Root locus half of 's-plane.' Example 17: Sketch root locus of the system. k(s+4)(s+6) G(s)H(s)=—" (642) Solution. 1. Number of poles (P) P=2 s,=0,8,=-2 2. Number of zero's (Z) 2-2 s,=-4 & s,=-6 3. Number of branches (N) N=P=2 4. Number of branches terminating at infinity (P-Z)=(2-2)=0 No branches terminates at "oo" 5. Root locus is symmetrical about real axis 6. Root locus is present on real axisje of asymtote (0,) “i - ' 4,An6 (2q+1)180 Break in point and break away point: "Consider a characteristic equation, 1+G(s)H(s)=0 k(s+4)(s+6) s(s+2) Characteristic equation [s(s.4 2)+k(ss dex 5 -s(s+2) —4 kG ae+6) To find Break away point and Bek in pig nig feriereea- ny 2S? +208? + 489428? +2084 48—-foe 88? +488 +48 =0 Therefore roots of above equation are $,=-127=-13 $,=-4.73=-47 +43" +108! +203} <0 10. Cross over point: Since angle of asymptote is not present, no need to find cross-over point as Root locus does not crosses the imaginary axis,“all values of} zai pay ale 2 Je forall values ofk. Since plot lies lfthalfof thes Comment: System is stabl Example 18 : Sketch root locus for the system. k G(5)H(s)= ae) sien $(S+3)(s*+28+2) 1. Number of poles (P) p=4 s,=0,s,=-3,s,=-I-js,=-1+j 2. Number of zero's (Z) z=0 3. Number of branches (N) P>Z N=P=4 4. Number of branches terminating at infinity (P-Z)=(4-0)=4 Four branches terminates at infinity. ak1)180° _ goo (2x0+ =45 ae) (2148035 0,7 (4-0) (2x 2+1)180° _ nose 0;:=" (4-0) 180° (2x3+1)180" _ 359 a= (6-0) point (BAP) away Be . Es 9. ate ‘a characteristic equation 1+G(s)H(s)=0 From data a 14 (o43)(s +2542) (8° +35)(s°+2s+2)+k=0 Characteristic equation |s* +5s° + 8s? +65+K =0] k=-[s' +58" +85" +65] To find Break away point apply, feo 4s’ +15s? +168 +6=0 Therefore the roots of above equation are 8 =-2.29, s, =-0.73-0.35j, s, =-0.73+0.35)ae . 0. Cross over point: - “Apply Routh criteria forthe characteristic equation git gore seit Ost k=0 s 1 38k 2 5 6 0 vs} 68 * ? | aos-sk 9° ° 68 ° k For stability condition, k> © 40.8-5k . 9 68 40.8—5k 68 5k = 40.8 ok <8.16] quation of Routh array Consider auxiliary € 6.85? +k=0 6.85? + 8.16=0 6.85? =-8.16 s=+1.0945j=> |] cross over point 11. Angle of departure :E t : Comment : System is stable for values of k range from 0 to 8.16, The locus crosses the imaginary axis at frequency 'o = 1.1 rad/s" Example 19 : Sketch root locus of the system. G(s)H(s)= 7 s(s-+2)(s +65+25) (Dec. 2014/an, 2015)a —_ Solution... of poles (P) p=4 520687 5 = 3th 5, = 344) 2. No. of zer0's (2) z=0 4, Number of branches (N) p>Z N=P=4 ches terminating at infinity 4, Number of bran @-are-97* Four branches terminates at infinity 5, Root locus is symmetrical about real axis 6. Root locus lies on real axis 7. Angle of asymptote (°,) (2q+1)180° ee “(P-2Z) Where, q = 0,1,2,3 (2x0+1)180° 6 =? = —T4=0) 45 (2x1+1)180° 6, = 0) (2x2+1)180° oy, 222 HBO” pau 2 —T5-0) 225 (2x3+1)180° 9, -C (6-0) 8. Centroid (0): xrP-XZ P-Z 4-0 =135° =31S° o= o= jo=-2 9. Break away point (BAP) : Consider the characteristic equation 1+G(s)H(s)=0gat fs0 k =0 ee) (5 5)+k=0 ae 46842: ) a ei equation s* +88 +375" +5054 | ie get 318° + 50s} s Ke oint ay a) Break away P 1 24 149+50=0 ast soots of the above equation are, ere 2-2.542.75 ie 87 rer point 49, 010889 sh ete ‘forthe characteristic equation any vy7se + 50s+k=0 8 1 37k f ; 8 50 0 s 2 | 30.75 k 0 si | 15375-8k o 1537.58 30.75 g ko For stability condition, k20 15375-8k 5 9 30.75 8k =1537.5 =192.187 > [k= 192.2 The value of K is given by 0Z; of branches terminating at infinity . Number @P-2)=G-D=?2 ‘Two branches terminates at infinity. . Root locus is symmetrical about real axis. Root locus lies on the real axis. Angle of Asymptotes (0,) (2q+1)180° a Paz where q=0, 1,2... q=0, 1,2.. q=0,1 _(2x0+1)180° rege ee ‘2x1+1)180° 90° =270° . Centroid (0) o= Ske P-Z alse) 3-1 c=] Break away point (BAP) and Break in point (BIP) Consider the characteristic equation 1+G(s) H(s)=0abel 0” yer 20 to we 44-0 pr k ; ge auation s+ 2s" +28+K(s+4)=9] & esse ast aac aK i Break in point == spor! ae 1 gd 2)-[s +28 +25) (era) =0 2+ 163+8 ' yet o oot of Ab0¥e equation are for 5m | 20.644 0.54) 53 over point ces nth criteria for the characteristic equation a ast «&t 2)s+ 4K= 0 3 1 (K+2) : 2 4K 2)-4K ¢| « forstability condition, K > 0 24K? 0 Is, 2fg2) . K+2)-4K=0 IK=J The value of K is given by 0 2,t feedback control A si secol poles @) 1. 2 el 7058 : ; Spc 17208) ze? i celta) 4 Number of branches rn) ss s : =p=Z=2. foe number of ‘pranches, N p Z oa of branches terminating at infinity 4 p-9-0-279 «infinity, Since number of open loop po branches terminates al | 7 er nee me of pn oop za (2) ROME locus originates from poles and tem zer0's. Root locus is 0 Root locus lies on the real axIs- Angle of Asymprotes (8,)? (2q+1)180° Aa PZ symmetrical about real axis. where q=0, 1, 2... (-z- Since the number of poles is equal to number of zero's, no branches ‘emia, infinity, Therefore angle of asymptote does not follows. 7 . Centroid (0) qebP 32 P-Z Since, number of poles is equal to number of zero's, centroid does not exist. . Break away point (BAP) and Break in point (BIP) Consider the characteristic equation 1+G() H@)=0nt and Break in point apply a ds preak away PO! y )-(s41.55-1)28-2) : . ys+1.5 - Ge 53 eed 24384 oes jus band is betwen 0S and-2 nthe as -041 steak ay int. a [ oo for the characteristic equation Pa set =2545)=0 Geet O52) 94 OK-D-0 2] (Ke) GK} $ (15-2) 0 ¢| (6K-) For stability condition, K> 0 _ (K-1)20 SK=1 Also, (1.5- 2K) 20is given by 02 SK $0.75 For maximum value of K=9, 15, _(5x0.15-! (5x0.75-1) 1574 (0751) Cross over point 1 Angle of arrival In this problem complex zero's are present, Hence we'need need to id lentif fY angle ota 4,790" Ae | 59 4-0" (B)3 —tan!( 2 )=33.69° 4,= 100 )-3° =180°+ {5p -36,} = 180° + (75.96° + 33.69° - 90°) (§,=199.65° Then aeComment: The system is stable for values of K, 0.2 Z N=P=4 4, Number of ‘branches terminating at infinity. e-2=4-)=3 Three branches terminates at infinity. s symmetrical about real axis. i 5, Root locus it al axis 6. Root locus lies on res 7. Angle of ‘asymptote 6) . (2q+1)180° 1 P=2) q=0,1,2,3..(4-1-1) ( q=0,1,2 2x0+1)180° (2x0 BD og: 6= 4-1 : === 180° oe =300° 8 Centroid (c) : fe P-Z gx (Oti-2-346)-2+3.46))-(-1) (4-1) o=-0.667 jo=-0.7eee int (BA! (P) or break in point (BIP); pint (7 uation: v0 PO teristic equation: grees charact 1+G(s)H(s)=0 com K(s+) It se=(eH45416) s(s-1)(s° +48+16)+k(s4+1)=9 ‘atic equation eters [s‘+3s" +12s" -16s-+k(s+1)=9 __[st +35 412s? ~165 a (s+1) away point and Break in point apply _ find 3 a : (s+i){4s +98 4 240-16)-(0 430 0916). (s+) 3s +10s? + 21s" + 248-16 =0 -ceor method first root can be found as, py saildeerTor™ = 045 penbysyneiometiod q Fo al ase IG e045 | 55 5.10_11.74 +16 11.35 26.10 35.74 0 ‘Therefore the ‘equation can be obtained as, 3s! + 11.358" +26.10s+35.74=0 now rootscan be obtained as 8, =-2.26,8,, = 0.62.16] Here Breakaway pointareS = 0.45 &s=~2.26 (0, Cross over points : Consider the characteristic equation, 43s + 128? + (K-16) +K=0 By Routh criteria S|!For stability condition K 20 », ($2-K “(Pa (K-16)-3K =0 K+ 68K -832-3K=0 K?- 59K + 832=0 “1, K= 35.68, 23.21 Also, 22K >0 3 52-K>0 K<52 ‘Therefore the value of K range between 0 to 52 cronss tne imaginary axis at K™= 23.20 and K = 3, fn + Considering auxiliary equation, 68, (258)s+K-0 3 Ks 5p 3 Then, for K = 23.31, 8= £1.56) for K = 35.68, s = £2.56) So, the crossover, oint: + i P ints are £1.56j and +2.56j eo A a es ). Also the rypeo ee 54.81"Comment: The system is stable for the values of K, 23.31 < K< 35.68. Rog crosses the imaginary axis at K = 23.21 and K'= 35.68 with values ofs=44; S= 4 2.56j respectively. The system is unstable for values of 0 < K<23.31 and K > 35,68,ca gle ein ton G6 sr inci 7 nthe the ight hal ofthe "5 ina este ™ effectin, = fe sto i us 7 108 h ards lf of the *s4 ys Joo" s FP moves towards righ Plane”, the system meet 8 io" 1 the fi il in the function G t nie a es : act Fe) noe left half of the "s pr 'splane” tends to fi 00 01 . graph moves towards left half of the"s plane’, plane”, relative stability 1 ne SY ie range for te values of K’ increasesREVIEW QUESTIONS The characteristic equation ofa system is piven p the range ofk forthe system t0 be stable tise eg Os < By applying Routh criterion discuss the stabigpe Stilerigg! ty ity oF ee TKK NO characteristic equation is 7 a shes’ + 4s°+6s' + Ss? +3s4+2=0 Seq a da Using Routh criterion, design the stabitit » ‘ ‘ characteristic equation: sf +80? +188" +1684 Determine the range of k for which system ig sie3s'+3s' +s+k=0 s for unity feedback system Y Of the 8 ‘Ystem rep, ‘ Stable ys; “= ° Sing Ry crit ion Draw root loci s+2s+3 Sketch root locus for the system G(s)14(s) —_K(s~2) $4255, 2 k Sketch root locus for G(s)=——*___ (¢ +10s +100) The open loop transfer function of a unity feedback Qu k(s+9) SYStEM is given yy G(s)=—-——*_ s(s'+4s+11) Sketch root locus of the system. The open loop transfer function of a unity feedback system ji Kk is S(s)= 3) (5) s(s+2)(s? +2s+2) Sketch the root locus plot and determine the limitin; “ 8 Value Of ¥ for stati ; Sketch the root locus for the system having (Mayle k OHO) yee 11. Explain the effect of addition of Poles and Zero's in the system, (Deo, 2017Man 12. Sketch the root locus plot for the system whose open loop transfer function is i _ k CONES sie20) (one oo000