ME533 – Automatic Control

Course – M.Tech
Dept. – Mechanical Engineering
 Root locus

by
Dr. Anil C. Mahato
(Mechanical Engineering)
 Outline

• Introduction
• Angle and Magnitude Condition
• Construction of Root Loci
• Examples
 Introduction
• Consider a unity feedback control system shown
below.
K
R (s ) C (s )
s 1

• The open loop transfer function G(s) of the system

is G(s)  K
s 1

• And the closed transfer function is

C (s) G (s) K
 
R( s) 1  G ( s) s  1  K
 Introduction
• Location of closed loop Pole for different values of K
(remember K>0). C ( s) K

R( s) s  1Pole-Zero
 K Map
K Pole 1

0.5 -1.5
1 -2 0.5
Imaginary Axis

2 -3
0
3 -4
5 -6
-0.5
10 -11
15 -16
-16 -14 -12 -10 -8 -6 -4 -2
 What is Root Locus?
• The root locus is the path of the roots of the
characteristic equation traced out in the s-plane
as a system parameter varies from zero to infinity.
 How to Sketch root locus?
• One way is to compute the roots of the
characteristic equation for all possible values
of K.
K Pole
0.5 -1.5
C (s) K 1 -2
 2 -3
R( s) s  1  K
3 -4
5 -6
10 -11
15 -16
 How to Sketch root locus?
• Computing the roots for all values of K might
be tedious for higher order systems.
K Pole
0.5 ?
1 ?
C (s) K
 2 ?
R( s ) s ( s  1)( s  10)( s  20)  K
3 ?
5 ?
10 ?
15 ?
 Construction of Root Loci
• Finding the roots of the characteristic equation of degree
higher than 3 is laborious and will need computer solution.

• A simple method for finding the roots of the characteristic

equation has been developed by W. R. Evans and used
extensively in control engineering.

• This method, called the root-locus method, is one in which

the roots of the characteristic equation are plotted for all
values of a system parameter.
 Construction of Root Loci
• The roots corresponding to a particular value of this
parameter can then be located on the resulting
graph.

• By using the root-locus 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.
 Angle & Magnitude Conditions
• In constructing the root loci angle and magnitude
conditions are important.
• Consider the system shown in following figure.

• The closed loop transfer function is

C (s) G (s)

R( s) 1  G ( s) H ( s)
 Construction of Root Loci
• The characteristic equation is obtained by setting the
denominator polynomial equal to zero.
1  G (s) H (s)  0
• Or
G ( s ) H ( s )  1

• Since G(s)H(s) is a complex quantity it can be split

into angle and magnitude part.
 Angle & Magnitude Conditions
• The angle of G(s)H(s)=-1 is
G ( s ) H ( s )    1
G ( s ) H ( s )  180 (2k  1)

• Where k=1,2,3…

• The magnitude of G(s)H(s)=-1 is

G (s) H (s)   1
G (s) H (s)  1
 Angle & Magnitude Conditions
• Angle Condition
G ( s ) H ( s )  180 (2k  1) (k  1,2,3...)
• Magnitude Condition
G (s) H (s)  1
• The values of s that fulfill both the angle and
magnitude conditions are the roots of the
characteristic equation, or the closed-loop poles.
 Construction of root loci
• Step-1: The first step in constructing a root-locus plot
is to locate the open-loop poles and zeros in s-plane.
Pole-Zero Map
1

0.5

Imaginary Axis
0

K
G( s) H ( s)  -0.5

s( s  1)(s  2)
-1
-5 -4 -3 -2 -1 0 1 2

The angle is  s  ( s  1)  ( s  2) Real Axis

 Construction of root loci
• Step-2: Determine the root loci on the real axis.
• To determine the root loci Pole-Zero Map
on real axis we select some 1
test points.
• e.g: p1 (on positive real
0.5
axis).

Imaginary Axis
p1
0

• The angle condition is not

satisfied. -0.5

• Hence, there is no root

-1
locus on the positive real -5 -4 -3 -2 -1 0 1 2
axis. Real Axis
 Construction of root loci
• Step-2: Determine the root loci on the real axis.
• Next, select a test point on the
negative real axis between 0 and Pole-Zero Map
–1. 1

• Then
0.5

Imaginary Axis
• Thus p2
0

• The angle condition is satisfied. -0.5

Therefore, the portion of the
negative real axis between 0 and
–1 forms a portion of the root -1
locus. -5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-2: Determine the root loci on the real axis.
• Now, select a test point on the
negative real axis between -1 and Pole-Zero Map
1
–2.
• Then
0.5

Imaginary Axis
p3
• Thus 0

-0.5
• The angle condition is not
satisfied. Therefore, the negative
real axis between -1 and –2 is not -1
-5 -4 -3 -2 -1 0 1 2
a part of the root locus. Real Axis
 Construction of root loci
• Step-2: Determine the root loci on the realPole-Zero
axis.Map
1

• Similarly, test point on the

negative real axis between -2 0.5

and – ∞ satisfies the angle

Imaginary Axis
condition. p4
0

• Therefore, the negative real

axis between -2 and – ∞ is part -0.5

of the root locus.

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-2: Determine the root loci on the real axis.
Pole-Zero Map
1

0.5

Imaginary Axis
0

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci. That
is, the root loci when s is far away from origin.
Asymptote is the straight line approximation of a curve
Actual Curve
Asymptotic
Approximation

𝜙
𝜎

𝜎 𝐶𝑒𝑛𝑡𝑟𝑜𝑖𝑑 𝑜𝑓 𝐴𝑠𝑦𝑚𝑝𝑡𝑜𝑡𝑒𝑠
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.
180(2k  1)
Angle of asymptotes   
nm
K
• For this Transfer Function G (s) H (s) 
s ( s  1)( s  2)

𝐾 𝐾
𝑎𝑝𝑝𝑜𝑎𝑐𝑕𝑒𝑠 𝑤𝑕𝑒𝑛 𝑠 𝑖𝑠 𝑙𝑎𝑟𝑔𝑒,
𝑠(𝑠 + 1)(𝑠 + 2) 𝑠+1 3
𝑎𝑛𝑔𝑙𝑒 𝑐𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛 𝑖𝑠 − 3∠𝑠 + 1 = ±180°(2𝑘 + 1)

180(2k  1)

30
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.
180(2k  1)
  60 when k  0 
30
 180 when k  1
 300 when k  2
 420 when k  3

• Since the angle repeats itself as k is varied, the distinct angles

for the asymptotes are determined as 60°, –60°, and 180°.
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.

• Before we can draw these asymptotes in the complex

plane, we need to find the point where they intersect the
real axis.

• Point of intersection of asymptotes on real axis (or

centroid of asymptotes) is

 poles   zeros

nm
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.
K
G( s) H ( s) 
• For s( s  1)(s  2)
𝐾 𝐾
𝑎𝑝𝑝𝑜𝑎𝑐𝑕𝑒𝑠 𝑤𝑕𝑒𝑛 𝑠 𝑖𝑠 𝑙𝑎𝑟𝑔𝑒,
𝑠(𝑠 + 1)(𝑠 + 2) 𝑠+1 3
𝑎𝑛𝑔𝑙𝑒 𝑐𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛 𝑖𝑠 − 3∠𝑠 + 1 = ±180°(2𝑘 + 1)

(0  1  2)  0

30
3
  1
3
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.
Pole-Zero Map
1

0.5

  60 ,  60 , 180

Imaginary Axis

180 60

  1
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-4: Determine the breakaway/break-in point.
Pole-Zero Map
• The breakaway/break-in 1

point is the point from

which the root locus 0.5
branches leaves/arrives
real axis. Imaginary Axis

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.

• The breakaway or break-in points can be determined from the

roots of (page 275)
dK
0
ds
• It should be noted that not all the solutions of dK/ds=0
correspond to actual breakaway points.

• If a point at which dK/ds=0 is on a root locus, it is an actual

breakaway or break-in point.
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.

• The characteristic equation of the system is

K
1  G( s) H ( s)  1  0
s( s  1)(s  2)

K
 1
s( s  1)(s  2)

K  s(s  1)(s  2)

• The breakaway point can now be determined as

  s( s  1)(s  2)
dK d
ds ds
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.
  s( s  1)(s  2)
dK d
ds ds
dK
ds

d 3
ds

s  3s 2  2s 
dK
 3s 2  6s  2
ds
• Set dK/ds=0 in order to determine breakaway point.
 3s 2  6s  2  0
3s 2  6s  2  0

s  0.4226
 1.5774
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.
s  0.4226 K
G( s) H ( s) 
 1.5774 s( s  1)(s  2)

• Since the breakaway point needs to be on a root locus

between 0 and –1, it is clear that s=–0.4226 corresponds to
the actual breakaway point.
• Point s=–1.5774 is not on the root locus. Hence, this point is
not an actual breakaway or break-in point.
 Construction of root loci
• Step-4: Determine the breakaway point.
Pole-Zero Map
1

0.5

s  0.4226
Imaginary Axis

180 60
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-4: Determine the breakawayPole-Zero
point.Map
1

0.5
Imaginary Axis

s  0.4226
0

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
• Step-5: Determine the points where root loci cross the
imaginary axis.
Pole-Zero Map
1

0.5
Imaginary Axis

180 60
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
 Construction of root loci
• Step-5: Determine the points where root loci cross the
imaginary axis.
• Let s=jω in the characteristic equation, equate both the real
part and the imaginary part to zero, and then solve for ω and K.

• For present system the characteristic equation is

s 3  3s 2  2s  K  0

( j )3  3( j ) 2  2 j  K  0

( K  3 2 )  j (2   3 )  0
 Construction of root loci
• Step-5: Determine the points where root loci cross the
imaginary axis.
( K  3 2 )  j (2   3 )  0
• Equating both real and imaginary parts of this equation
to zero
(2   3 )  0

( K  3 2 )  0
• Which yields
 Root Locus
5

2
Imaginary Axis

-1

-2

-3

-4

-5
-7 -6 -5 -4 -3 -2 -1 0 1 2
Real Axis
For example #1:
Example #3
Example #3
Example #3
Example #3
Root loci for positive-feedback system
• If K < 0, i.e. positive feedback system

Positive
feedback inner
loop system
Example #4
Rules
Example #4
Example #4
Example #4
Lead and Lag compensator

by
Dr. Anil C. Mahato
(Mechanical Engineering)
 Compensator
• In practice, the root-locus plot of a system may indicate that the desired
performance cannot be achieved just by the adjustment of the gain (or some
other adjustable parameter). Infect in some cases, the system may not be stable
for all values of the gain. Then it is necessary to reshape or redesign the root
loci to meet the performance specification. Such a redesign or addition of a
suitable device is called compensation.

• The device which is inserted into the system for the purpose of satisfying the
specification is known as compensator.

• Compensator is used to improve the system performance.

• Compensator reduce the design of a filter whose characteristics tend to

compensate for the undesirable and unalterable characteristics of the plant.

• Among the many kinds of compensators , widely employed compensators are

the lead compensator, lag compensators, lag-lead compensator and velocity-
feedback compensator.
 Contd…
Compensation

Series Compensation Parallel Compensation

Gc(s) is in Series with G(s). Gc(s) is in Parallel with G(s).

• Series compensation is much simpler than parallel compensation; however series
compensation frequently requires additional amplifiers to increase the gain and/or
to provide isolation.
• To avoid the power dissipation, the series compensator is installed at the lowest
energy point in the feed forward path.
• Number of the components required in parallel compensation will be less than the
number of the components in series compensation.
 Series compensation
• Lead or lag compensators can be realized in electronic networks using operational
amplifiers, electric RC network and mechanical spring-dashpot systems.
• We will design a control system
and inserted a compensator in Z1 Z2
series with an unalterable transfer
function G(s) to obtain desirable
behavior.
• Input impedance

• Feedback impedance

and
Contd…

(i)
Contd…
Contd…
Contd…
 Example #1

Solution:

G s

1 G s H s
Contd…
Contd…

-1
 Contd…

1.

2.

3.
4.

5.
 Contd…

Magnitude

or,

so, and
 Contd…

Root of the characteristics equation

1.5 + j2.5981

-2.65

1.5 - j2.5981
 Lag compensation

The system which exhibits satisfactory

transient response characteristics but Z1 Z2
unsatisfactory steady-state characteristic is
required a compensation. This
compensation essentially consists of
increasing the open-loop gain without
appreciably changing the transient-
response characteristics. This means the
root locus in the neighborhood of the
dominant closed loop poles should not be
This can be accomplished if a lag compensator
changed appreciably, but the open-loop
is put in cascade with the given feed forward
gain should be increased as much as
transfer function.
needed.
 Contd…
To avoid an appreciable change in the root loci, the angle contribution of the lag
network should be limited to a small amount, say less than 5°.
If we place the zero and pole of the lag compensator very close to each other, then at
s  s1 , where s1 is one of the dominant closed-loop poles, the magnitudes and are
almost equal, or

To make the angle contribution of the lag portion of the compensator small, we
require


Thus, if gain K c is set equal to 1, the transient-response characteristics will be very
small, despite the fact that the overall gain of the open-loop transfer function is
increased by a factor of β, where β>1. If the pole and zero are placed very close to
the origin, then the value of β can be made large.
 Contd…
An increase in the gain means an increase in the static error constants. So, is

where,

Example #2
The closed loop transfer function
G s

1 G  s H  s