Thanks to visit codestin.com
Credit goes to www.scribd.com

Scribd
Upload
78 views4 pages

Root

This document discusses two methods for determining breakaway and break-in points on a root locus diagram: 1) Using calculus to differentiate the gain equation with respect to s and setting it equal to 0 to find the values of s where the root locus leaves or reaches the real axis. 2) Using a transition method that satisfies the relationship between the sum of one over the real parts of the poles and one over the real parts of the zeros. An example is provided to demonstrate finding the breakaway and break-in points of -1.45 and 3.82 using the first differentiation method. The second method is also outlined but no example is given.

Uploaded by

agung firmana
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
78 views4 pages

Root

This document discusses two methods for determining breakaway and break-in points on a root locus diagram: 1) Using calculus to differentiate the gain equation with respect to s and setting it equal to 0 to find the values of s where the root locus leaves or reaches the real axis. 2) Using a transition method that satisfies the relationship between the sum of one over the real parts of the poles and one over the real parts of the zeros. An example is provided to demonstrate finding the breakaway and break-in points of -1.45 and 3.82 using the first differentiation method. The second method is also outlined but no example is given.

Uploaded by

agung firmana
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 4

• Root locus example showing real- axis breakaway (-σ1)

and break-in points (σ2)

Variation of gain along the real


axis for the previous root locus

The previous plot show that the gain reaches a maximum


between the poles (where K starts off at 0). This occurs at
the breakaway point.

The gain is a minimum as the RL plot comes back on the


real axis and goes towards the zeros (K becomes infinite).
This occurs at the break-in point.

Therefore, we can use basic calculus to find the


breakaway and break-in points  first method.

1
Repeating part (d), Recall
1
Recall K = −
G ( s ) H ( s)
Subst s = σ in the above
1
K =−
G (σ ) H (σ )
dK (σ )
Differentiating with respect to σ , with =0
dσ
we can solve for the values of σ (or s values) where
the RL leaves and arrives on the real axis (the breakaway point
and break-in points).

K ( s − 3)( s − 5) K ( s 2 − 8s + 15)
Example KG ( s ) H ( s ) =
( s + 1)( s + 2)
=
s 2 + 3s + 2
= −1

Subst. s = σ
K (σ 2 − 8σ + 15)
= −1
σ 2 + 3σ + 2

Making K the subject of the fromula

σ 2 + 3σ + 2
K =−
σ 2 − 8σ + 15

Diff. with respect to σ and equating to 0

dK 11σ 2 − 26σ − 61
= =0
dσ (σ 2 − 8σ + 15) 2

11σ 2 − 26σ − 61 = 0

Solving for σ gives σ = −1.45 and σ =3.82


the breakaway and break-in ponts

Second method  breakaway and break-in point without


differentiation (transition method). These points satisfy
the relationship:
m n
1 1
∑1 σ + z = ∑1 σ + p
i i

where zi and pi are the negative of the zero and pole


values

From the example


1 1 1 1
+ = +
σ − 3 σ − 5 σ +1 σ + 2
11σ 2 − 26σ − 61 = 0
σ = −1.45 and σ = 3.82

2
Data for breakaway and break-in points for the root locus

• jω crossing
K ( s + 3)
CLTF T ( s) =
s 4 + 7 s 3 + 14 s 2 + (8 + K ) s + 3K

Completing the Routh array

Only s1 can from a row of zeros


Solving

-K 2 − 65 K + 720 = 0
K = 9.65

Using the auxillary equation of the s 2 term and K = 9.65


(90 − K ) + 21K = 80.35 s 2 + 202.7 = 0

s = ± j1.59

The RL crosses the imaginary axis at s = ± j1.59 at a


gain K = 9.65. At this gain, marginal stability occurs.
Also, the system is stable for 0 ≤ K ≤ 9.65

3
• Angles of departure from poles of P(s) and angles of
arrival at finite zeros of P(s) can determined by
application of the angle criterion to a point selected
arbitrarily close to the departure or arrival point

You might also like