DEPARTMENT OF ELECTRICAL &ELCTRONICS ENGINEERING
EXPERIMENT NO. 7
STABILITY ANALYSIS OF LINEAR SYSTEMS
(Root Locus Plot)
AIM
To obtain the Root locus plot for the given system whose transfer function is given as
G(S)= K
s(s+3)(s2+3s+11.25)
APPARATUS REQUIRED
Mat lab Software
THEORY
ROOT LOCUS PLOT :
The characteristic of the transient response of a closed-loop system is related to the location of
the closed loop poles. If the system has a variable loop gain, then the location of the closed-loop
poles depend on the value of the loop gain chosen. A simple technique known as “Root Locus
Technique” used for studying linear control systems in the investigation of the trajectories of the
roots of the characteristic equation.
This technique provides a graphical method of plotting the locus of the roots in the s-plane as a
given system parameter is varied over the complete range of values(may be from zero to
infinity). The roots corresponding to a particular value of the system parameter can then be
located on the locus or the value of the parameter for a desired root location can be determined
form the locus. The root locus is a powerful technique as it brings into focus the complete
dynamic response of the system . The root locus also provides a measure of sensitivity of roots
to the variation in the parameter being considered. This technique is applicable to both single as
well as multiple-loop systems.
PROCEDURE:
1. Write a Program to (or using SIMULINK) obtain the Root locus plot for the given
system.
2. Access the stability of given system using the plots obtained.
PROGRAM
%ROOT LOCUS OF THE SYSTEM%
num=[0 0 0 0 1]
DEPARTMENT OF ELECTRICAL &ELCTRONICS ENGINEERING
den=[1 6 20.25 33.75 0]
sys=tf(num,den)
rlocus(sys)
v=[-10,10,-8,8];
axis(v)
xlabel('Real Axis')
ylabel('Imaginary Axis')
title('Root Locus of the sytem ')
title('Root Locus Plot of the system K/s(s+3)(s^2+3s+11.25))')
MANUAL CALCULATIONS
1. Number of poles =4, zeros = 0, number of root locus branches =4. Starting points s=0, -3
& 1.5+ j3.
2. Pole – zero plot is as follows
Section between 0 and -3 is part of root locus. One breakway point is between s=0 and
s=-3.
3. Angle of asymptotes are 45,135,225 and 315 degrees
4. Centroid = -1.5
5. Three Breakway points are -1.5,-1.5 + j 1.8371
6. Intersection with imaginary axis s= + j2.37.
7. Angle of departure -90, +90.
8. Root locus is plotted.
9. Stability for 0< K<82.26 system is stable.
K=82.26 system is marginally stable.
K>82.26 system is unstable
OUTPUT
num =
0 0 0 0 1
den =
1.0000 6.0000 20.2500 33.7500 0
Transfer function:
1
---------------------------------
DEPARTMENT OF ELECTRICAL &ELCTRONICS ENGINEERING
s^4 + 6 s^3 + 20.25 s^2 + 33.75 s
GRAPH(from Simulation)
DEPARTMENT OF ELECTRICAL &ELCTRONICS ENGINEERING
VIVA QUESTIONS
1. Define root locus technique.
2. What are the conditions of stability in root locus criteria.
3. What is the advantage of root locus technique.
4. Which method of stability analysis is more advantageous?
5. How the stability of unstable is improved?
6. What are the methods to improve the stability.
7. What is the use of compensators.
8. What do you mean by Root-Loci?
9. What is complementary Root Loci?
10. What are contours?
11. State the basic properties of Root Locus.
12. How would you find the number of branches of Root Loci?
13. How are the break away points of the root locus determined?
14. How is the point of intersection of the asymptotes with real axis found out.
REFERENCE
1. NAGRATH & GOPAL,” Control Systems”.
2. MATLAB User Manual .
3. Control Systems by Nagoor gani
4. Control system Engineering by S .P .Eugene Xavier and J.Joseph Cyril babu.
5. Control system Engineering by R.Ananda Natarajan and P.Ramesh babu.
RESULT:
Thus the Root Locus plot is drawn for the given transfer function using matlab and verified
manually.
DEPARTMENT OF ELECTRICAL &ELCTRONICS ENGINEERING
