Chapter 7 The Root Locus Method

e. Root locus method A method of selecting one or two parameters using

the root locus method.
f. Asymptote centroid The root locus lying in a section of the real axis to
the left of an odd number of poles and zeros.
g. Breakaway point The root locus for negative values of the parameter - - - -
of interest where -co < K 0.
h. Locus The angle at which a locus leaves a complex pole in - - -
the s-plane.
i. Angle of departure A path or trajectory that is traced out as a parameter - - -
is changed.
j. Number of separate The locus or path of the roots traced out on the
loci s-plane as a parameter is changed.
k. Asymptote The sensitivity of the roots as a parameter changes
from its normal value.
I. Negative gain root The method for determining the locus of roots of the -
locus
m. PID tuning
characteristic equation 1 + KG(s) =0 as O5 K < oo.
The process of determining the PID controller gains.
n. Quarter amplitude The point on the real axis where the locus departs
-
decay from the real axis of the s-plane.
o. Ziegler-Nichols PID Equal to the number of poles of the transfer function,
tuning method assuming that the number of poles is greater than or
equal to the number of zeros of the transfer function.

EXERCISES

E7.1 Consider a device that consists of a ball rolling on (d) Find the settling time of the system when the roots
the inside rim of a hoop [11]. This model is similar to are equal.
the pr?blem of liquid fuel sl~hing ~n a rocke_t. !he E7.2 Ataperecorderwithaunityfeedbackspeedcontrol
hoop 1S free to rotate about its honzontal prmc1pal system has the loop transfer function
axis as shown in Figure E7.1. The angular position of
the hoop may be controlled via the torque T(t) ap- K
L(s) = G 1s)G(s) = (
plied to the hoop from a torque motor attached to the C\ s(s+2) s2 +4s+5)'
hoop drive sha~ If negative feedback is used, the sys-
tem characteristic equation is a. Sketch a root locus for K, and show that the domi-
nant roots ares = -0.35 ± j0.80 when K = 6.S.
1 + &(s + 4) = 0 b. For the dominant roots of part (a), calculate the
s2 + 2s + 2 • settling time and overshoot for a step inpul
(a) Sketch the root locus. (b) Find the gain when the E7.3 A uni_ty feedback control system for an a~tomo:ile
roots are both equal. (c) Find these two equal roots. suspension tester has the loop transfer function [1 ]
K(s2 +6s+9)
L(s) = Gc(s)G(s) = sZ(s + lO) •

We desire the dominant roots to have a ( equal to0.5.

Hoop Using the root locus, show that K = 4 is requircrl
and the dominant roots are s = -0.86 ± jl.48.
Ball E7.4 Consider a unity feedback system with the loop
transfer function
K(s + 1)
FIGURE E7.1 Hoop rotated by motor. L(s) = Gc(s)G(s) = s2 + s + s'
4
 Exercises 491
f'nd the angle of departure of the root locus fro t
(a) :omplex poles. (b) Find the entry point fort(: E7,8 Sketch the root locus for a unity feedback syS em
diet locus as it enters the real axis. e with
rOO K(s + 1)
,.tnswers: ±:2250; -: 2.4 L(s) = Gc(s}G(s) = sZ(s + 9) •
consider a unity feedback system with a loop
f,7.5 sfer function (a) Find the gain when all three roots are real and
tran equal. (b) Find the roots when all the roots are equal
1
L(s) == Gc(s)G(s) = s 3 + 50s2 + 500s + 1000 • as in part (a).
Answers: K = 27; s = -3
(a) find the breakaway p_oint on. the real axis. (b) E7.9 The primary mirror of a large telescope can have a
find the asymptote ~ntro1d. (c) Fmd the value of K diameter of 10 m and a mosaic of 36 hexagonal seg-
at the breakaway point. ments with the orientation of each segment actively
one version of a space station is shown in Figure controlled. Suppose this unity feedback system for the
f,7, 6£7. 6 [28}. It is critical to keep this station in the proper mirror segments has the loop transfer function
•entation toward the Sun and the Earth for gener-
on d • • Th . K
ating power an comrnumcatlons. e. onentation L(s) = Gc(s)G(s) = s(s2 + 2s + S) •
controller may be represented by a umty feedback
system with an actuator and controller, such as
a. Find the asymptotes and sketch them in the
20K s-plane.
L(s) = Gc(s)G(s) = s(s2 + 10s + 80) • b. Find the angle of departure from the complex poles.
c. Determine the gain when two roots lie on the
Sketch the root locus of the system as K increases. imaginary axis.
Find the value of K that results in an unstable system. d. Sketch the root locus.
Answers: K = 40 E7.10 A unity feedback system has the loop transfer
function

L(s) = KG(s) = K(s + 2).

s(s + 1)
Solar power panels Rockets a. Fmd the breakaway and entry points on the real axis.
b. Find the gain and the roots when the real part of
the complex roots is located at -2.
c. Sketch the root locus.
Answen:(a)-0.59, -3.41;(b)K = 3, s = -2±j../2
E7.11 A robot force control system with unity feedback
has a loop transfer function [6]

L( )- KG()- K{s+2.5)
s - s - (s2 +2s+2)(s2 +4s+sr
Space shuttle
a. Find the gain K that results in dominant roots
FIGURE E7.6 Space station. with a damping ratio of 0.700. Sketch the root
locus.
b. Find the actual percent overshoot and peak time
E7.7 The elevator in a modern office building can travel for the gain K of part (a).
at a speed of 25 feet per second and still stop within
one-eighth of an inch of the floor outside. The loop E7.U A unity feedback system has a loop transfer function
transfer function of the unity feedback elevator po-
sition control is L(s) = KG(s) = K(s + 2) .
s2 +s+4
L(s) = Gc(s)G(s) = s(s + 4~(~: :i(s + 9} (a) Sketch the root locus for K > 0. (b) Find the roots
when K = 3 and 8. (c) Compute the rise time, per-
Determine the gain K when the complex roots have cent overshoot, and settling time (with a 2% criterion)
a ( equal to 0.8. of the system for a unit step input when K =
3 and 8.
492 Chapter 7 The Root Locus Method

E7.13 A unity feedback system has a loop transfer R(s)

function
4(s + z)
L(s) = Gc(s)G(s) = s(s + l)(s + J) •
FIGURE E7.17 Feedback system.
(a) Draw the root locus as z varies from O to 100.
(b) Using the root locus, estimate the percent overshoot
and settling time (with a 2% criterion) of th~ system at (a) When Gc(s) = K, show that the s
z = 0.6, 2, and 4 for a step input. (c) Determme the ac- unstable by sketching the root locus. (~)t~~e~ ai,
tual overshoot and settling time at z = 0.6, 2, and 4.
E7.14 A unity feedback system has the loop transfer • Gc(s) = K(s + 32
function s+lO '
K(s+ 10) sketch the root locus and determine th
L(s) = Gc(s)G(s) = s(s + S) • for which the system is stable. Determin: t~angc Oft

(a) Determine the breakaway and entry points of

K and the complex roots when two roots Yal11eGf
jw-axis.
t on It
te
the root locus and sketch the root locus for K > 0. E7.18 A closed-loop negative unity feedback
(b) Determine the gain K when the two characteristic used to control the yaw of an aircraft Wh 8Ystc111 i
roots have a ( of 1/..fi. (c) Calculate the roots. transfer function is • en tbc
E7.15 (a) Plot the root locus for a unity feedback system
with loop transfer function L(s) = Gc(s)G(s) = ( (K
s s + 3) s2 + 2s +i)'
L(s) = Gc(s)G(s) = K(s + l~)(s + 2) •
s determine (a) the root locus breakaway point
(b) the value of the roots on the jw-axis and the~
(b) Calculate the range of K for which the system is required for those roots. Sketch the root locus. &ain
stable. (c) Predict the steady-state error of the system
for a ramp input =
Answen: (a) Breakaway: s -2.29; (b) jw-azi:
s = ±jl.09, K = 8
Answe,s: (a) K > 1.67; (b) ess = 0
E7.19 A unity feedback system has a loop transferfullClion
E7.16 A negative unity feedback system has a loop trans-
fer function K
L(s) = Gc(s)G(s) = s(s + 3)(s2 + 6s + 64)'
Ke-sT
L(s) = Gc(s)G(s) = - -,
s+ 1 (a) Determine the angle of departure of the root
locus at the complex poles. (b) Sketch the root locus.
where T = 0.1 s. Show that an approximation for the (c) Determine the gain K when the roots are on the
time delay is jw-axis and determine the location of these roots.
2· E7.20 A unity feedback system has a loop transfer function
--s
e -sT ~-T-
~ 2
-+s
• K(s + 1)
T L(s) = Gc(s)G(s) = s(s _ 2)(s + 6)'
Using (a) Determine the range of K for stability. (b) Sketch
20-s
e-D.ls - - - the root locus. (c) Determine the maximum ( of the
- 20+s' stable complex roots.
obtain the root locus for the system for K > 0. Answen: (a) K > 16; (b) ( = 0.25 .
Determine the range of K for which the system is E7.21 A unity feedback system has a loop tran sfer functton
stable.
E7.17 A control system, as shown in Figure E7.17, has a Ks
process L(s) = Gc(s)G(s) = s3 + 8s2 + lz"
• Kwhen the
1 Sketch the root locus. Determine the gamt·on have a
• • equa 1
complex roots of the characteristic
G(s) = s(s - 2)
( = 0.6.
 Exercises 493
A high-~rformance missile for_launching a sate)- E7,25 A closed-loop feedback system is shown in Figure
f,,7,Z7jte has a unity feedback system wtth a loop transfer E7.25. For what range of K is the system stable? Sketch
function K(s2 + tS)(s + 2) the root locus as O < K < oo. .
L(s) = Gc(s)G(s) = (s2 _ )(
2 s + 12
) . E7.26 Consider the single-input, single-output sySt em
15

described by
Sketch the root locus as K varies from o < K < oo. i(t) = Ax(t) + Bu(t)
A unity feedback system has a loop transfer function y(t) = Cx(t)
t 7.23 + 1)
4(s2
L(s) = Gc,{s)G(s) = __.___....._ where
s(s + a)
Sketch the root locus for O a < oo.
,.,4 Consider the system represented in state variable
A -l O
3-K -2-K
1 l· = l 1·
B O
1 C = [ 1 -1 ].
'f,7.vw
forrn
Compute the characteristic polynomial and plot the
i(t) = Ax(t) + Bu(t) root locus as O K < 00. For what values of K is the
y(t) = Cx(t) + Du(t), system stable?
where E7.r1 Consider the unity feedback system in Figure E7.27.
Sketch the root locus as O p < oo. For what values
A = [ ~4 !k B = [ ]. l· of pis the closed loop system stable?
C = [ 1 0 ], and D = (O]. E7.28 Consider the feedback system in Figure E7.28.
Obtain the negative gain root locus as -oo < K 0.
Determine the characteristic equation and then sketch For what values of K is the system stable? •
the root locus as O < k < oo.

R(s)

FIGURE E7.25
Nonunity feedback
system with
parameter K.

R(s)

FIGURE E7.27
Unity feedback system
with parameter p.

~er

R(s)
FIGURE E7.28
Feed~ack system for
negative gain root
locus.

1111111 4