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    Root Locus Analysis in Z Plane: Dr. Sadeq Al-Majidi

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    jin kazama
    The document discusses root locus analysis in the z-plane. It provides an overview of how the root locus method can be used to check stability of digital control systems based on the system's gain. Construction rules for drawing the root locus are presented, including starting points, termination points, number of loci, symmetry, and unit circle crossover. Two examples are provided to demonstrate applying the rules to draw the root locus and check stability for different systems using their characteristic equations. The key steps of determining open loop poles and zeros, finding breakaway points, and checking unit circle crossover are illustrated.

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    Root Locus Analysis in Z Plane: Dr. Sadeq Al-Majidi

    Uploaded by

    jin kazama
    67 views10 pages
    The document discusses root locus analysis in the z-plane. It provides an overview of how the root locus method can be used to check stability of digital control systems based on the system's gain. Construction rules for drawing the root locus are presented, including starting points, termination points, number of loci, symmetry, and unit circle crossover. Two examples are provided to demonstrate applying the rules to draw the root locus and check stability for different systems using their characteristic equations. The key steps of determining open loop poles and zeros, finding breakaway points, and checking unit circle crossover are illustrated.

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    lecture 9

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    The document discusses root locus analysis in the z-plane. It provides an overview of how the root locus method can be used to check stability of digital control systems based on the system's gain. Construction rules for drawing the root locus are presented, including starting points, termination points, number of loci, symmetry, and unit circle crossover. Two examples are provided to demonstrate applying the rules to draw the root locus and check stability for different systems using their characteristic equations. The key steps of determining open loop poles and zeros, finding breakaway points, and checking unit circle crossover are illustrated.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    67 views10 pages

    Root Locus Analysis in Z Plane: Dr. Sadeq Al-Majidi

    Uploaded by

    jin kazama
    The document discusses root locus analysis in the z-plane. It provides an overview of how the root locus method can be used to check stability of digital control systems based on the system's gain. Construction rules for drawing the root locus are presented, including starting points, termination points, number of loci, symmetry, and unit circle crossover. Two examples are provided to demonstrate applying the rules to draw the root locus and check stability for different systems using their characteristic equations. The key steps of determining open loop poles and zeros, finding breakaway points, and checking unit circle crossover are illustrated.

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    You are on page 1of 10

    Lecture 9

    Root Locus Analysis in Z


    plane
    Dr. Sadeq Al-Majidi

    Dept. Of Electrical Engineering/ College


    of Engineering/ Misan University
    Control Engineering
    Fourth Year
    OUTLINE

    • Overview
    • Construction Rules for Root Locus
    • Examples

    2
    Overview

    • The effect of gain on digital control system is important


    section for stability state.
    • The root locus methods is considered the most important
    method to check the stability of the system based on the
    gain controller.
    • Root locus construction rules for digital systems are same
    as that of continuous time systems.
    • we can calculate and draw the root of stability by using
    characteristic equation.
    • The system is considered stable when its root is locus
    with in unite circle

    3
    Construction Rules for Root Locus
    1. Starting points (K=0): The root loci start at the
    open-loop poles
    2. Termination points (K = ∞): The root loci
    terminate at the open-loop zeros when they
    exist, otherwise at ∞.

    where a represents zero and b represents pole


    3. Number of distinct root loci: This is equal to the order of the characteristic
    equation.
    4. Symmetry of root loci: The root loci are symmetrical about the real axis.
    5. Unit circle crossover: This can be obtained by determining the value of K
    for marginal stability using the Jury test and then substituting it in the
    characteristic equation.
    4
    6. Breakaway (Break in) points is a location on the real axis where the root
    locus branches either arrive or depart from the real axis. It is calculated by
    the following equation:

    5
    Example 1 : Draw the root locus for the
    characteristic equation:

    Solution:
    The general equation of G(z) based on zeros and
    poles is

    GH(z)= 0.368K(z+0.717)/(z-1)(z-0.368)
    NOW, the open loop poles:
    (z-1)(z-0.368) z= 1 and 0.398.
    Then , the open loop zero :

    (z+0.717) z= - 0.717. and ∞


    6
    Example 2: check the stability of the system shown in figure below by using
    root locus method when the T=0.5 second and the gain controller is
    integral?

    Solution :
    The G(z)

    7
    The controller is an integral controller: K/s =k(z/z-1)
    Now, G(z) =

    The characteristic equation :

    Now T=0.5 second:

    Now, the open loop poles: ( by comparing )


    (z-1)(z-0.6.65) z= 1 and 0.6065.
    Then , the open loop zero : z=0

    8
    Now, 1+KGH(z)=0 KGH(z) = -1
    K = -1/G(z)

    9
    Unit
    Zero circle

    Break Pole
    point Break
    point

    10

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