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    A M Root L R: Ppendix: Ocus Ules: Derivations

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    Akshay Agrawal
    The Behavior of the Root Locus at infinity can be deduced from a closed-loop transfer function. The form of this equation is that of a straight line, dM:16th. Page 4 M. Derivation of Transition Method for Breakaway and Breakdown Functions.

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    A M Root L R: Ppendix: Ocus Ules: Derivations

    Uploaded by

    Akshay Agrawal
    28 views5 pages
    The Behavior of the Root Locus at infinity can be deduced from a closed-loop transfer function. The form of this equation is that of a straight line, dM:16th. Page 4 M. Derivation of Transition Method for Breakaway and Breakdown Functions.

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    appendixM

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    The Behavior of the Root Locus at infinity can be deduced from a closed-loop transfer function. The form of this equation is that of a straight line, dM:16th. Page 4 M. Derivation of Transition Method for Breakaway and Breakdown Functions.

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    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    28 views5 pages

    A M Root L R: Ppendix: Ocus Ules: Derivations

    Uploaded by

    Akshay Agrawal
    The Behavior of the Root Locus at infinity can be deduced from a closed-loop transfer function. The form of this equation is that of a straight line, dM:16th. Page 4 M. Derivation of Transition Method for Breakaway and Breakdown Functions.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 5

    E1BAPP13

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    Page 1

    Appendix M: Root Locus Rules: Derivations

    M.1 Derivation of the Behavior of the Root Locus at Innity (Kuo, 1987)
    Let the open-loop transfer function be represented as follows: KGsHs or KGsHs K s
    mn

    smn

    Ksm a1 sm1 am b1 smn1 bmn

    M:1

    b1 s bmn sm a1 sm1 am
    mn1

    M:2

    Performing the indicated division in the denominator, we obtain KGsHs sn K b1 a1 sn1 M:3

    In order for a pole of the closed-loop transfer function to exist, KGsHs 1 M:4

    Assuming large values of s that would exist as the locus moves toward infinity, Eq. (M.3) becomes sn b1 a1 sn1 K Factoring out sn, Eq. (M.5) becomes   b1 a1 sn 1 K s Taking the nth root of both sides, we have   b1 a1 1=n K 1=n s 1 s M:7 1 M:5

    M:6

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    Appendix M: Root Locus Rules: Derivations

    If the term  b 1 a1 1 s 1=n M:8

    is expanded into an infinite series where only the first two terms are significant,1 we obtain   b1 a1 s 1 M:9 K1=n ns Distributing the factor S on the left-hand side yields s b1 a1 K1=n n M:10

    Now, letting s s + jv and K1=n jK1=n je j2k1p=n , where     2k 1p 2k 1p 1=n j2k1p=n 1 e cos j sin n n Eq. (M.10) becomes s jv   ! b1 a1  1=n  2k 1p 2k 1p j sin K  cos   n n n

    M:11

    M:12

    where k 0, 1, 2, 3, . . . Setting the real and imaginary parts of both sides equal to each other, we obtain   b1 a1  1=n  K cos 2k 1p M:13a s   n n v jk1=n jsin 2k 1p n M:13b

    Dividing the two equations to eliminate jK1/nj, we obtain s b1 a1 2k 1p cos n n 2k 1p v sin n ! ! 2k 1p b1 a1 s n n v Ms s 0 where the slope of the line, M, is M tan
    1

    M:14

    Finally, solving for v, we find v tan

    M:15

    The form of this equation is that of a straight line, M:16

    2k 1p n

    M:17

    This is a good approximation since s is approaching infinity for the region applicable to the derivation.

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    M.2 Derivation of Transition Method for Breakaway and Break-in Points

    Thus, the angle of the line in radians with respect to the positive extension of the real axis is u and the s intercept is b1 a1 s0 n From the theory of equations,2 b1 a1 Also, from Eq. (M.1), n number of finite poles number of finite zeros #finite poles #finite zeros M:21 P P finite poles finite zeros M:20a M:20b 2k 1p n ! M:19 M:18

    By examining Eq. (M.16), we conclude that the root locus approaches a straight line as the locus approaches infinity. Further, this straight line intersects the s axis at
    P

    s0

    finite poles finite zeros #finite poles #finite zeros

    M:22

    which is obtained by substituting Eqs. (M.20) Let us summarize the results: The root locus approaches straight lines as asymptotes as the locus approaches infinity. Further, the equation of the asymptotes is given by the real-axis intercept and the angle with respect to the real axis as follows:
    P

    s0 u

    finite poles finite zeros #finite poles #finite zeros

    M:23 M:24

    2k 1p #finite poles #finite zeros

    where k 0, 1, 2, 3, . . . Notice that the running index, k, in Eq. (M.24) yields a multiplicity of lines that account for the many branches of a root locus that approach infinity.

    M.2 Derivation of Transition Method for Breakaway and Break-in Points


    The transition method for finding real-breakaway and break-in points without differentiating can be derived by showing that the natural log of 1/[G(s)H(s)] has a zero derivative at the same value of s as 1/[G(s)H(s)] (Franklin, 1991).

    Given an nth-order polynomial of the form sn + an1sn1 + , the coefficient, an1, is the negative sum of the roots of the polynomial.
    2

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    Appendix M: Root Locus Rules: Derivations

    We now show that if we work with the natural log we can eliminate the step of differentiation. First find the derivative of the natural log of 1=[G(s)H(s)] and set it equal to zero. Thus, ! ! d 1 d 1 ln GsHs 0 M:25 ds GsHs ds GsHs Since G(s)H(s) is not zero at the breakaway or break-in points, letting ! d 1 ln 0 ds GsHs will thus yield the same value of s as letting ! d 1 0 ds GsHs

    M:26

    M:27

    Hence, ! ! d 1 d s p1 s p2 s pn ln ln ds GsHs ds s z1 s z2 s zm d lns p1 lns p2 lns pn ds lns z1 lns z2 lns zm

    1 1 1 1 1 s p1 s p2 s p n s z1 s z 2 1 0 s zm
    m P 1 1 i1 s pi i1 s zi n P

    M:28

    or M:29

    where zi and pi are the negatives of the zero and pole values of G(s)H(s), respectively. Equation (M.29) can be solved for s, the real axis values that minimize or maximize K, yielding the breakaway and break-in points without differentiating.

    Bibliography
    Franklin, G. F.; Powell, J. D.; and Emami-Naeini, A. Feedback Control of Dynamic Systems, 2d ed. Addison-Wesley, Reading, Mass., 1991. Kuo, B. Automatic Control Systems, 5th ed. Prentice-Hall, Englewood Cliffs, N.J., 1987.

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