Chapter 6: Root Locus. Basic RL Facts:. Consider standard negative gain unity feedback system T R (s) = L(s)/[1+L(s)], S(s) = 1/[1+L(s)], L=G C G, L=GH, etc Characteristic equation 1+L(s) = 0 For any point s on the root locus L(s) = -1=1e +/-j(2k+1)180 ° |L(s)|=1 magnitude criterion
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For any point s in the s-Plane, (s+z) or (s+p) can be expressed in polar form (magnitude and angle, Euler identity)
For use with magnitude criterion
For use with angle criterion
Polynomial long division
New featurs: Complex roots, break-in points, departure angles.
B 1, 2, 3, 4, 5, 10, 11,