1. 5. Root-Locus Technique
Kuo-95 (p.470) ) s ( R
Curves of eigenvalues in the s-plane depending on K
Example 5.1
n1=[1,3];a1=conv([1,5,0],[1,6]);
a2=[1,2,2];p=roots(a2)
d1=conv(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)
k=35; a=polyadd(d1,k*n1);p=roots(a)
Breakaway points:
n1d=[1];d1d=[5,4*13,3*54,2*82,60];
a=polyadd(conv(n1d,d1),-conv(d1d,n1));roots(a)

3. ksi=0.6;wn=2;sg=-ksi*wn;w=wn*sqrt(1-ksi^2);
hold on;plot([0,sg],[0,w]);hold off;rlocfind(n1,d1)