Simple pivoting algorithm for root-locus method of linear systems with delay (Q3978348)

Consider the linear feedback control system whose closed-loop transfer function is \(Y(s)/X(s)=G(s)/(1+G(s)H(s))\). Suppose that \(G(s)H(s)=k(Q(s)/P(s))\exp(-us)\) is the open-loop transfer function. Here \(u\) is a delay time and \(P(s)\) and \(Q(s)\) are polynomials of degree \(n\) and \(r\), respectively, where \(n>r\). The purpose of this paper is to extend the pivoting method to the root loci problem for the system. A method for computing root loci is proposed. The method solves characteristic equations by pivoting procedures. Some theoretical results are given to validate the algorithm, and numerical examples are given to illustrate the efficiency of the method.