Fall 2001 16.31159 Figure 1: Example #1: G(s) s+8)(s+14)(S+20) Symmetric root locus 10 30 10 Real Axis 2042 9408 0676Fall 2001 16.31 15—9 Figure 1: Example #1: G(s) = 8·14·20 (s+8)(s+14)(s+20) −30 −20 −10 0 10 20 30 −50 −40 −30 −20 −10 0 10 20 30 40 50 Real Axis Imag Axis Symmetric root locus 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0 0.2 0.4 0.6 0.8 1 1.2 time (sec) Y output Step Response 2.042 2.9408 5.0676 3.3166 u=r−Kx u=Nbar r−Kx 10−1 100 101 102 10−3 10−2 10−1 100 Freq (rad/sec) Gcl Closed−loop Freq Response u=r−Kx u=Nbar r−Kx