K

2) 1+ =0
s (s +1)(2 s+1)

num=[1];
>> den=[2 3 1 0];
>> HsGs=tf(num, den)

Transfer function:
1
-----------------
2 s^3 + 3 s^2 + s

>> rlocus(HsGs)
>>
TRANSFER FUNCTION INFO

 For the open loop transfer function, G(s)H(s):

n=3 poles at s=0, -1, -1/2
m=0
q= n-m

 So there exists q= 3 zeroes as s goes to infinity (q = n-m = 3 – 0 = 3)

We can rewrite the open loop transfer function as G(s) H(s)= N(s)/D(s) where
N(s) is the numerator polynomial, and D(s) is the denominator polynomial.
N(s) = 1

D(s) = 2 s 3+ 3 s 2+ s
Characteristic Equation is 1 + KG(s) H(s) = 1 + KN(s)/D(s) = 1 + K¿)]

ROOT LOCUS SYMMETRY

 The locus is symmetric about the real axis.

NUMBER OF BRANCHES

 The open loop transfer function, G(s) H(s), has 3 poles, therefore the locus has 3
branches. Each branch is display in a different color.
START/END POINTS

 Root locus starts (K = 0) at poles of open loop transfer function, G(s) H(s). These
are shown by an “x” on the diagram below.
LOCUS ON REAL AXIS

 Root locus exists on real axis between: 0, -0.5 and -1 and negative infinity
because on the real axis, we have 3 poles at s = 0, -1, -1/2 and we have no zeros.
ASYMPTOTES AS │S │GOES TO INFINITY

 In the open loop transfer function, G(s) H(s), we have n = 3 finite poles, and m =
o finite zeros, therefore we have q = n – m = 3 zeros at infinity.
180 ° 180 °
 Angle of asymptote as s goes to infinity = ± =± =± 6 0°
q 3
 There exist three poles at s=-1/2, -1, 0; so, the sum of poles= -3/2
 There exist zero zeroes; so, the sum of zeroes = 0
 Intersect of asymptote is at ((sum of poles)-(sum of zeros))/q = -1/2
BREAK-OUT AND IN POINTS ON REAL AXIS

 Break Out (or Break In) points occur where N(s) D’(s) - N’(s) D(s) = 0. This
polynomial has 2 root at s = -0.2113 and -0.7887
 From these 2 root, there exists 2 real root at s = -0.2113 and -0.7887
 These roots are all on the locus (k > 0).
 N(s) and D(s) are numerator and denominator polynomials of G(s) H(s),
and the tick mark, ‘ ,denotes differentiation.
N(s) = 1
N’(s) = 0

D(s) = 2 s 3+ 3 s 2+ s
 D’(s) = 6 s2 +6 s+1

N(s) D’(s) = (1) (6 s2 +6 s) = 6 s2 +6 s+1

N’(s) D(s) = ¿) (0) = 0

N(s) D’(s) - N’(s) D(s) = (6 s¿¿ 2+6 s+1)−( 0 )=6 s 2 +6 s +1 ¿

ANGLE OF DEPARTURE

 No complex poles in loop gain, so no angles of departure.

ANGLE OF ARRIVAL

 No complex zeros in loop gain, so no angles of arrival.

CROSS IMAGINARY AXIS

 Locus crosses imaginary axis at value of K = 8.

Locus Crossing Axis

 CHANGING K CHANGES CLOSED LOOP POLES

 Characteristic Equation is 1 + KG(s)H(s) = 0, or 1 + KN(s)/D(s) =0,

or D(s) + K N(s) = 2 s 3+ 3 s 2+ s+ ¿ K(1) = 0
 So, by choosing K we determine the characteristic equation whose roots
are the closed loop poles. For example, with K = -0.096 and 0.096, then
the characteristic equation is

6 s2 +6 s+1 = 0
s = -0.2113 and -0.7887
K = -1/G(s)

K =- 1/2 s 3+ 3 s 2+ s

K=-1¿ 2(−0.2113 )3 +3 (−0.2113)2 +(−0.2113)

K = -0.096

K=-1¿ 2(−0.7887)3 +3(−0.7887)2+(−0.7887)

K= 0.096

D(s) + K N(s) = 2 s 3+ 3 s 2+ s-0.096(1) = 0

=2 s 3+ 3 s 2+ s−0.096

This equation has 3 roots at s = 0.077, -0.7772 and -0.8

D(s) + K N(s) = 2 s 3+ 3 s 2 s+¿ 0.096(1) = 0

This equation has 3 roots at s = -1.077, -0.2 and -0.223

 Root at K =±0.096

CHOOSE POLE LOCATION AND FIND K

 Characteristic Equation is 1 + KG(s)H(s) = 0, or 1 + KN(s)/D(s) =0, or

K = - D(s)/ N(s) = - ¿)/1
 We can pick a value of s on the locus, and find K = - D(s)/ N(s).
We chooses s = 0.172-1.05j then
K = 2(0.172−1.05 j)3 +3(0.172−1.05 j)2 + 1
K = -4.174-4.729×10−3 j
Design for poles at s = -0.2113 and -0.7887