272 Chapter 7

rise time ¼ 0:12

peak value ¼ 1:186
peak time ¼ 0:26
settling time ¼ 0:61
final value ¼ 1

7.12 ROOT LOCUS EXAMPLE WITH AN RH PLANE ZERO

Many aircraft flight control systems use an adjustable gain in the feedback
path. Also, the forward transfer function may be nonminimum phase (nmp;
see Sec. 8.11) and have a negative gain. This is illustrated by the control
system shown in Fig. 7.20, where
2ðs þ 6Þðs  6Þ
GðsÞ ¼ H ðsÞ ¼ Kh > 0
sðs þ 3Þðs þ 4  j4Þðs þ 4 þ j4Þ
Thus the open-loop transfer function is
Kðs þ 6Þðs  6Þ
GðsÞH ðsÞ ¼ ð7:73Þ
sðs þ 3Þðs þ 4  j4Þðs þ 4 þ j4Þ
where K ¼ 2Kh :The root-locus characteristics are summarized as follows:
1. GðsÞH ðsÞ has zeros located at s ¼ 6 and þ6.The zero at s ¼ 6 means
that this transfer function is nonminimum phase. The poles are
located at s ¼ 0, 3, 4 þ j4 and 4 j4.
2. There are four branches of the root locus.
3. For positive values of K, a branch of the root locus is located on the
positive real axis from s ¼ 0 to s ¼ 6.Thus, there is a positive real root
and the system is unstable. For K < 0 (the values of Kh are positive),
the root locus must satisfy the 360 angle condition given in
Eq. (7.26). The root locus is shown in Fig. 7.21. This plot is readily
obtained using a CAD program.
4. The closed-loop transfer function is
CðsÞ 2ðs þ 6Þðs  6Þ
¼ ð7:74Þ
RðsÞ s 4 þ 11s 3 þ ð56 þ KÞs2 þ 96s  36K

FIGURE 7.20 Nonunity-feedback control system.

Copyright © 2003 Marcel Dekker, Inc.