NPTEL

Control Engineering
Sept.-Dec. 2020
Assignment 5
Common data for Q1-Q5

Consider a unity feedback system with

K
G(s) =
s(s + 4)(s2 + 8s + 32)

Answer the following questions related to the root locus plot.

1. The angle of asymptotes are

(a) 90◦ , 270◦

(b) 60◦ , 180◦ , 300◦
(c) 60◦ , 120◦ , 180◦ , 240◦
(d) 45◦ , 135◦ , 225◦ , 315◦ [Correct]
(e) None of the above

Solution: The angles of the asymptotes are

(2k + 1)
φA = 180◦ , k = 0, 1, 2, 3;
4
∴ φA = 45◦ , 135◦ , 225◦ , 315◦

2. The centre of the asymptotes is . [Ans = -3; range = -3.01 to -2.99]

Solution: The center of the asymptotes is

P P
Re(pi ) − Re(zi ) (0 − 4 − 4 − 4) − (0)
σA = = = −3
#pi − #zi 4−0

3. The breakaway point is located at . [Ans = -1.577, Range = -1.677 to

-1.477]

1
 Solution: The characteristics equation is given by

s4 + 12s3 + 64s2 + 128s + K = 0

dK
The breakaway point is derived from ds
= 0.
dK
= −(4s3 + 36s2 + 128s + 128) = 0
ds
Solving, we get s = −1.5777, −3.7117 ± j2.5533. s = −3.7117 ± j2.5533 are not a
part of the root locus. Hence, the breakaway point is s = −1.5777.
4. The root locus crosses the jω-axis at K = . [Ans = 568.89, Range =
563.89 to 573.89]

Solution: Using Routh-Hurwitz criteria, the array for the polynomial is

s4 1 64 K
s3 12 128 0
160
s2 3
K 0
s1 ∗ 0 0
s0 K 0 0

Here, we will get an auxiliary polynomial A(s) = 0 only if the elements of row s1
are all zeros. To get this, we need
160
× 128 − 12K = 0 =⇒ K = 568.89
3

5. The angle of departure at the complex pole with positive imaginary part (measured
in the anticlockwise direction) in degrees is . [Ans = 225, Range = 215
to 235]

Solution: The poles are given by s(s+4)(s2 +8s+32) = 0 =⇒ s = 0, −4, −4±j4.

Let s1 = −4 + j4. Let θ1 be the angle of departure at s1 . By the angle condition,

θ1 + ∠(s1 ) + ∠(s1 − 4 − j4) + ∠(s1 − 4) = 180◦

θ1 = 180◦ − ∠(s1 ) − ∠(s1 − 4 − j4) − ∠(s1 − 4)
= 180◦ − (135◦ ) − (90◦ ) − (90◦ ) = −135◦
= −135◦ + 360◦ = 225◦ .

6. List I has the rough sketch of root locus plot of different systems. List II has the
transfer function of different systems.
Match the root locus plot from List I to the corresponding transfer function given
in List II.

2
 1. jω 2. jω 3. jω

List I σ σ σ

A. s+2 B. 1 C. 1
List II (s+1)2 (s+2)(s+1)2 (s+1)(s+2)2

(a) 1-A, 2-B, 3-C

(b) 1-A, 2-C, 3-B
(c) 1-B, 2-A, 3-C [Correct]
(d) 1-B, 2-C, 3-A
(e) 1-C, 2-B, 3-A
(f) 1-C, 2-A, 3-B

Solution: Plot root locus of each transfer function.

7. Which of the following is a valid root locus plot? (Multiple correct options possible)
j!

(a)
σ

j!

(b) [Correct]
σ

3
 j!

(c)
σ

j!

(d) [Correct]
σ

Solution:
(a) The root loci must be symmetrical with respect to the horizontal real axis.
Hence, it is not a valid root locus.
(b) It is a valid root locus.
(c) The root locus must lies to the left of an odd number of poles and zeros. Here,
we have locus in the left of an even number of poles and zeros. Hence, it is not
a valid root locus.
(d) It is a valid root locus.

Common data for Q8-Q10

Consider the unity feedback system with
K(s + 5)
G(s) =
(s − 1)(s − 2)

The root locus consist of a circle.

8. The center of the circle is at s = . [Answer: -5; Range: -5.25 to -4.75 ]
9. The diameter of the circle is units. [Answer: 12.98 ; Range: 12.48 to
13.48 ]

4
 Solution: The angle condition is

∠G(s)H(s) = ∠(s + 5) − ∠(s − 1) − ∠(s − 2) = ±180o (2k + 1)

If s = σ + jω is substituted in the above equation, we obtain

ω
ω
ω

tan−1 − tan−1 − tan−1 = ±180o (2k + 1)
σ+5 σ−1 σ−2
ω
ω
ω

tan−1 − tan−1 = ±180o (2k + 1) + tan−1
σ+5 σ−1 σ−2
 −6ω  ω

tan−1 = ±180o
(2k + 1) + tan−1
(σ + 5)(σ − 1) + ω 2 σ−2

h  −6ω i h ω
i
tan tan−1 = tan ± 180o
(2k + 1) + tan−1
(σ + 5)(σ − 1) + ω 2 σ−2
−6ω ω
2
=
(σ + 5)(σ − 1) + ω σ−2
ω[(σ + 5)(σ − 1) + ω 2 + 6σ − 12] = 0
ω[(σ + 5)2 + ω 2 − 42] = 0
The last line is equivalent to
√
ω = 0 or (σ + 5)2 + ω 2 = ( 42)2
√
Based on above steps, the root locus contains a circle of radius 42 with center
Therefore, the center of the circle is at s = −5. The diameter of the circle is
(-5,0). √
= 2 × 42 = 12.96

10. The gain at the point where the locus crosses the 0.5 damping ratio line is .
[Answer: 10.3 ; Range: 10 to 10.6 ]

Solution: The characteristic equation is given by

s2 + (K − 3) + (5K + 2) = 0

Comparing it with standard second order equation with ζ = 0.5, i.e., s2 + ωn s + ωn2 ,
we get
ωn = K − 3; ωn2 = 5K + 2
∴ (K − 3)2 = 5K + 2 =⇒ K = 10.32, 0.678
For K = 0.678, the root locus is in RHP. Hence, K = 10.32 is gain at the point
where the locus crosses the 0.5 damping ratio line.

5
 Common data for Q11-Q12
Consider the unity feedback system with

(α − 1)s + (α − 2)
G(s) =
(s + 1)(s + 2)

The root-locus is plotted by considering α as the varying parameter.

11. The centre of the asymptotes is . [Ans = -1; range = -1.05 to -0.95]

Solution: Given that

(α − 1)s + (α − 2)
G(s) = and H(s) = 1.
(s + 1)(s + 2)

The closed loop transfer function is given by

G(s) (α − 1)s + (α − 2)
= 2
1 + G(s)H(s) s + 2s + α(s + 1)
Characteristic equation of the system is

s2 + 2s + α(s + 1) = 0
An equivalent system with the same characteristic equation and p as the gain is

α(s + 1)
1+ =0
s(s + 2)

So, the root locus of an equivalent unity feedback system with open-loop transfer
function α(s+1)
s(s+2)
is to be considered.

The centre of the asymptotes is

(−0 − 2) − (−1)
σ= = −1
2−1

12. The root locus plot is

6
(a)

(b)

7
 (c) [Correct]

(d)

Solution: There are 2 open-loop poles at s = 0, −2 and one open-loop zero at

s = −1. Hence, the root-loci has two branches originating at the open-loop poles
and terminating at zero and infinity. All points on the real axis lying between 0 and
−1 & −2 to ∞ are part of the root locus.

8
9