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The root locus is the locus of roots of the characteristic equation of the closed-loop system as a specific parameter(generally, gain K) is varied from zero to infinity, giving the method its name. 7.5.1 Advantages of Root-locus method This plot shows the contributions of each open-loop pole or zero to the locations of the closed-loop poles, clearly. By using the root-locus method , we can predict the effects on the location of the closed-loop poles of varying the gain value or adding open-loop poles and/or open-loop zeros In designing a linear control system, we find that the root-locus method proves quite useful as it shows the manner in which the open-loop poles and zeros should be modified so that the response meets system performance specifications. This method is particularly suited to obtaining approximate results very quickly. By using the root-locus method, it is possible to determine the value of the loop gain K that will make the damping ratio of the dominant closed-loop poles as prescribed. If the location of an open-loop pole or zero is a system variable, then the root-locus method suggests the way to choose the location of an open-loop pole or zero. 7.5.2 Basic idea The basic idea behind the root-locus method is that the values of s that make the transfer function around the loop equal -1 must satisfy the characteristic equation of the system.

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