5. Root-Locus Technique

1
Kuo-95 (p.470)
5. Root-Locus Technique
Curves of eigenvalues in the s-plane depending on
K
Example 5.1
n11,3a1conv(1,5,0,1,6) a21,2,2proot
s(a2) d1conv(a1,a2) rlocus(n1,d1)
Roots D1(s)0
Zeros N1(s)0
5 parts ( D1(s) 5. order)
Symmetrical with respect to real axis
2
Intersect of the asymptotes
Routh tabulation
(Example 3.1)
k35 apolyadd(d1,kn1)proots(a)
Breakaway points
n1d1d1d5,413,354,282,60 apolyadd(conv(
n1d,d1),-conv(d1d,n1))roots(a)
3
ksi0.6wn2sg-ksiwnwwnsqrt(1-ksi2) hold
onplot(0,sg,0,w)hold offrlocfind(n1,d1)