Root Locus

Definition
RL and its relation to poles of a closed
loop system
RL and its relation to transient response
and stability
RL to design a parameter (such as K) to
meet transient response specifications
a. Closed-loop system; b. equivalent
transfer function
 NG (s) N H ( s)
If G ( s ) = and H ( s ) =
DG ( s ) DH ( s )

Then the CLTF T ( s ) is

KN G ( s ) DH ( s )
T ( s) =
DG ( s ) DH ( s ) + KN G ( s ) N H ( s )

The zeros of T ( s ) are from N G ( s ) DH ( s ) and

the poles of T ( s) are from a contribution from a
lot factors. Also the transient response is affected
by the poles and zeros of G ( s) and H ( s ).
The RL give a good representaion of the poles
of T ( s ) as K varies.
Vector
representation
of complex
numbers:
a. s = + j;
b. (s + a);
c. alternate
representation
of (s + a);
d. (s + 7)|s5 + j2
Consider a function of the form

m
( s + zi )
F ( s) = i =1
n
( s + pi )
i =1

The parameter m is the number of zeros

and
n is the number of poles which are complex factors.

The magnitude M of F ( s) to any point s is

m
( s + zi )
M = i =1
n
( s + pi )
i =1
The term ( s + zi ) is the magnitude of the vector
from the zeros of F ( s ) at zi to the point s.
Similarly, ( s + pi ) is the magnitude of the vector
from the poles of F ( s ) at p j to the point s.

The angle of F ( s ) to any point s is

= zero angles - poles angles

= ( s + zi ) ( s + pi )
The zero angle is measured in the positive sense
from the vector starting at the zero at -zi on the s plane
to the s point in question.

The pole angle is measured in the positive sense

from the vector starting at the pole - p j on the s plane
to the s point in question.
Find the vector
representation
M of F(s)
to the point -3+j4

( s + 1)
F ( s) =
s ( s + 2)
The vector from zero at -1 to the s point is
4
22 + 42 (180 tan 1 ) = 20116.6
2

The vector from pole at 0 to the s point is

4
32 + 42 (180 tan 1 ) = 5126.9
3

The vector from pole at -2 to the s point is

4
32 + 12 (180 tan 1 ) = 17104.0
1

Using the Eq.

m
( s + zi )
M = i =1
n
( s + zi ) ( s + pi )
( s + pi )
i =1

20
M = 116.6 126.9 104 = 0.22 114.3
5 17

which is evaluating F ( s ) at the point -3+j 4

 Courtesy of ParkerVision.

a. CameraMan
Presenter Camera
System automatically
follows a subject who
wears infrared
sensors on their front
and back (the front
sensor is also a
microphone); tracking
commands and audio
are relayed to
CameraMan via a
radio frequency link
from a unit worn by
the subject.
b. block diagram.
c. closed-loop transfer
function.
Pole location as a function of gain for the
system
a. Pole plot from Table
b. root locus
Root Locus
 Definition of the RL

The root locus of a closed loop TF is a

representation of a continuous path of the
closed loop poles on the s-plane as the
gain or other parameter is varied from -
to +.

For this course, the parameter is 0