– The Root Locus Plot is a plot of the roots of the

characteristic equation of the closed-loop system

for all values of a system parameter, usually the
gain; however, any other variable of the open-
loop transfer function may be used.
– By using this method, the designer 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.
– A designer MUST know how to generate the
root loci of the closed-loop system BOTH by
hand and with a computer (e.g., MatLab).
Mechatronics K. Craig
Root Locus Analysis and Design 4