APPENDIX L: ROOT LOCUS RULES: DERIVATIONS

L.1

DERIVATION OF THE BEHAVIOR OF THE ROOT LOCUS AT INFINITY (KUO, 1987)

Ksm a1 sm1 am b1 smn1 bmn K smn b1 bmn sm a1 sm1 am smn1

Let the open-loop transfer function be represented as follows: KGsHs or KGsHs smn (L.1)

(L.2)

Performing the indicated division in the denominator, we obtain K KGsHs n s b1 a1 sn1 In order for a pole of the closed-loop transfer function to exist, KGsHs 1

(L.3)

(L.4)

Assuming large values of s that would exist as the locus moves toward innity, Eq. (L.3) becomes sn b1 a1 sn1 K (L.5) Factoring out sn, Eq. (L.5) becomes   b1 a1 n s 1 K s

(L.6)

Appendix L: Root Locus Rules: Derivations

Taking the nth root of both sides, we have   b1 a1 1=n s 1 K 1=n s If the term   b1 a1 1=n 1 s

(L.7)

(L.8)

is expanded into an innite series where only the rst two terms are signicant,1 we obtain   b1 a1 K1=n (L.9) s 1 ns Distributing the factor S on the left-hand side yields b1 a1 K1=n n Now, letting s s jv and K1=n jK 1=n je j2k1p=n , where     2k 1p 2k 1p j sin 11=n e j2k1p=n cos n n s Eq. (L.10) becomes   b1 a1  1=n  2k 1p 2k 1p   s jv j sin K  cos n n n (L.12) (L.10)

(L.11)

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  2k 1p   s (L.13a) K cos n n   2k 1p   v k1=n sin n Dividing the two equations to eliminate jK 1=n j, we obtain s b1 a1 cos 2k1p n n 2k1p v sin n Finally, solving for v, we nd    2k 1p b1 a1 s v tan n n The form of this equation is that of a straight line, v Ms s 0 where the slope of the line, M, is M tan
1

(L.13b)

(L.14)

(L.15)

(L.16)

2k 1p n

(L.17)

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

L.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 finite poles a1 finite zeros Also, from Eq. (L.1), n number of finite poles number of finite zeros #finite poles #finite zeros (L.21) (L.20a) (L.20b) (L.19) 2k 1p n (L.18)

By examining Eq. (L.16), we conclude that the root locus approaches a straight line as the locus approaches innity. Further, this straight line intersects the s axis at s0 finite poles finite zeros #finite poles #finite zeros (L.22)

which is obtained by substituting Eqs. (L.20) Let us summarize the results: The root locus approaches straight lines as asymptotes as the locus approaches innity. Further, the equation of the asymptotes is given by the real-axis intercept and the angle with respect to the real axis as follows: s0 finite poles finite zeros #finite poles #finite zeros 2k 1p #finite poles #finite zeros (L.23)

(L.24)

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

L.2

DERIVATION OF TRANSITION METHOD FOR BREAKAWAY AND BREAK-IN POINTS

The transition method for nding real-breakaway and break-in points without differentiating can be derived by showing that the natural log of 1=GsHs has a zero derivative at the same value of s as 1=GsHs (Franklin, 1991). We now show that if we work with the natural log we can eliminate the step of differentiation.
Given an nth-order polynomial of the form sn an1 sn1 , the coefcient, an1 , is the negative sum of the roots of the polynomial.
2

Appendix L: Root Locus Rules: Derivations

First nd the derivative of the natural log of 1=GsHs and set it equal to zero. Thus,     d 1 d 1 ln GsHs 0 (L.25) ds GsHs ds GsHs Since GsHs 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 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 pn s z1 s z2 1 0 (L.28) s zm
m 1 1 i1 s pi i1 s zi n

(L.26)

(L.27)

or (L.29)

where zi and pi are the negatives of the zero and pole values of G(s)H(s), respectively. Equation (L.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.