Design via root locus elec304alper erdogan 1 18 ideal derivative compensation pd observations and facts. Nptel video lectures, iit video lectures online, nptel youtube lectures. Root locus technique in control system electrical4u. Indian institute of technology guwahati guwahati 781039, assam, india. The poles on the root locus plot are denoted by x and the zeros are denoted by o. Root locus elec304alper erdogan 1 7 real axis segments which parts of real line will be a part of root locus. Using rootlocus ideas to design controller we have seen how to draw a root locus for given plant dynamics. This is also known as root locus technique in control system and is used for determining the stability of the given system. Matlab and flywheel introduction to the class project, team arrangements.
Now in order to determine the stability of the system using the root locus technique we find the range of values of k for which the complete performance of the system will be satisfactory and the operation is stable. The roots of the characteristic equations are at s1 and s2. Root locus endpoints the locus starting point k0 are at the openloop poles and. Friends, check out the pdf ebook and notes for control system engineering for the students studying in electrical engineering branch. In control theory and stability theory, root locus analysis is a graphical method for examining how the roots of a system change with variation of a certain system parameter, commonly a gain within a feedback system. Department of mechanical engineering, university of saskatchewan, 57 campus drive, saskatoon, sk s7n 5a9, canada 7 4. Reshaping the root locus, cascade compensation in frequency domainreshaping the bode plot. Ramkrishna pasumarthy iit madras this course shall introduce the fundamentals of modeling and control of linear time invariant systems. Pdf control systems notes, ebook download for eeeee. Exam name, gate graduate aptitude test in engineering. Root locus helps engineers to predict specification of their system to meet stability criteria.
Control engineering nptel online videos, courses iit. How to draw root locus of a system with pictures wikihow. Mathematical modeling, transfer functions, linearization. Nptel mechanical engineering modeling and control of dynamic electro mechanical system. We include a variable gain k in a unityfeedback con. Although all academia are full of a plethora of software for drawing the root locus still it is fascinating for all learners of engineering to know the conceptual sketch of this method. Root locus design slide 6 specifications in the splane recall that the transient system specifications can be formulated in the splane t. Introduction the root locus technique shows graphically how the closedloop poles change as a system parameter is varied. These all control system notes pdf free download here provide also useful for the study other state and india level exams like ssc jen, bsnl je and jto exams, railways jen and section engineers, drdo, dmrc, metro, many other state level and india level engineering exams.
Root locus method part 2 engineering mathematics notes edurev is made by best teachers of engineering mathematics. The adjustment in the value of k will trace the roots a. Lec30 rootlocus method lecture series on control engineering by prof. Realaxis root locus if the total number of poles and zeros of the openloop system to the right of the spoint on the real axis is odd, then this point lies on the locus. Topics covered in the notes for control systems engineering pdf bakshi 1 introduction to control system 2 mathematical model of linear systems 3 transfer functions 4 block diagram 5 signal flow graphs 6 system stability 7 root locus plots 8 bode plots. The book pretends, above all, be a didactic text to teach and receive classes. Sketching the root locus before digital computers, sketching of the root locus was performed by taking advantage of the angle and magnitude criteria. Root locus diagram technique is used for finding the roots of characteristic equation. Early examples of control systems were developed actually before the science was fully understood. The gain, k, at any point on the root locus is given by equation 1. Compensated poles have more negative real and imaginary parts. Chapter 6 root locus notes, control system, electrical.
Control system engineering root locus technique exam study. Nyquist stability criterion, bode plots and stability margins in frequency domain. The objective of this book is to present the methodologies and techniques of modeling and control of dynamic systems. Gate preparation, nptel video lecture dvd, electronicsandcommunicationengineering, controlsystemengineering, rootlocustechnique, control system basics, elements of control system, open loop system, closed loop systems, differential equation, transfer function, electric systems, system modelling, mechanical systems, translational. Control system handwritten notes pdf free download. Prefer that they have completed a course on engineering. Root locus examples erik cheever swarthmore college. Each plot starts at a location equal to the location of a root of the plant transfer function. Pid and root locus pid control design yvery common and classical control technique ygood tools for choosing gains root locus yshow closed loop poles as function of a free parameter. Used to analyze and design systems for stability and transient response. Design via root locus elec304alper erdogan 1 1 lecture.
Craig 4 the root locus plot is a plot of the roots of the characteristic equation of the closedloop system for all values of a system parameter, usually the gain. Integral i and derivative d blocks, examples of pid controller design. Nptel video lectures, iit video lectures online, nptel youtube. Madan gopal, department of electrical engineering, iit delhi. Lec30 rootlocus method control systems engineering nptel. Control engineering root locus electrical engineering. Root locus starts from open loop polek0 to open loop zerokinfinity. The root locus splits up into two different parts at a pole quality factor of qp0.
Lec30 compensator design using root locus plots youtube. Note 8 rootlocus techniques college of engineering. This case applies to your example because we have a 3rdorder system with 3 poles including one pole pair real or conjugatecomplex, depending on the gain block k. The main and the foremost advantage of root locus is to check the system behaviour by adjusting the value of gain k.
Nptel mechanical engineering modeling and control of dynamic electromechanical system. This ebook is very useful and can help you score really well during your exam. Control theory is a relatively new field in engineering when compared with core topics, such as statics, dynamics, thermodynamics, etc. We have also seen that feedback can change pole locations in the system. May 18, 2020 chapter 6 root locus notes, control system, electrical engineering electrical engineering ee notes edurev is made by best teachers of electrical engineering ee. Since the pole at s1 is closer to the origin, we would expect it to dominate somewhat, giving the system behavior similar to a first order system with a. Control systems videos, control engineering video lectures, iit control systems video lectures, control engineering lecture series, nptel video lectures, nptel video courses, nptel video classes. Nptel video lecture topic list created by linuxpert. Nptel syllabus digital control system web course course outline the core course in electrical engineering introduces the fundamental concepts, principles and application of digital control system analysis and design to the postgraduate students. Prerequisite, eel 3123c, including diff equations, laplace transform techniques, circuit transfer functions, network theory. Agashe, department of electrical engineering,iit bombay. Sd agashe, department of electrical engineering,iit bombay.
This is a technique used as a stability criterion in the field of classical control theory developed by walter r. Control systems full semester course classroom notes ebook. Root locus elec304alper erdogan 1 1 lecture 1 root locus. Lecture notes control system engineeringii veer surendra sai university of technology burla, odisha, india department of electrical engineering control system engineeringii 3 10 lecture notes subject code. In each case gain k is chosen such that percent overshoot is same. This document is highly rated by electrical engineering ee students and has been viewed 1149 times.
Ramkrishna pasumarthy, department of electrical engineering, iit madras. Effect of different parameters on root locus nptel. Lec32 compensator design using root locus plots contd. Root locus sketching rules negative feedback rule 1. Nptel video course electrical engineering nonlinear dynamical systems subject coordinator prof. The course material are prepared in such a manner so that it will be very useful not only for. Rlocus analysis design nyu tandon school of engineering. This document is highly rated by engineering mathematics students and has been viewed 292 times. Sometimes, proportional control with a carefully chosen value of k is.
Nptel video lecture topics for electrical engineering new no. Root locus 2 root locus observations because we have a 3rdorder system, there are 3 separate plots on the root locus, one for each root. Lecture 30 rootlocus method lecture 31 rootlocus rules lecture 32 asymptotes of root locus lecture 33 routh array. Evans root locus method evans 1948 developed a method for plotting the variation of the roots of a polynomial equation as the value of a coefficient changes. Root locus design imag axes real axis waterbed reduced sensitivity. This is because complex roots occur in conjugate pairs. The root locus plot depicts the trajectories of closedloop poles when the feedbackgain k varies from 0 to infinity.
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