E352 Lecture 13: Root-locus techniques, sketching rules spring 2014

3 Rules for sketching the root locus K > 0

assume F (s) is not improper ⇐⇒ # of OL poles ≥ # of OL zeros.

3.1 Number of root locus branches

Rule 1. The number of root locus branches n (separate loci SL) equals the number of CL poles and
equals the number OL poles (poles of F (s))
see example 3.

3.2 Symmetry
A complex closed-loop pole implies its complex conjugate is also a pole.
Rule 2. The root locus is symmetric about the real axis

3.3 Root locus segments on the real axis

Rule 3. There is a root locus segment to the left of an odd number of poles and zeros of F (s) on
the real axis

Example
jω

−4 −3 σ
−2 −1

3.4 Starting and ending points of the root locus

s+1
finite and infinite zeros Consider F (s) = (s+5)(s+7)(s+3) , F (s) has two finite poles −3, −5−,
−7, and one finite zero −1
Rule 4. IF we include infinite zero, F (s) has the same number of poles and zeros
F (s) has two additional zeros at infinity (infinite zeros).
• if we let s = ∞, F (s) = 0, means that there one or more zeros at infinity

• F (s) = (1+x 1 s)(1+x2 s)(s+1)

(s+5)(s+7)(s+3) with x1 = x2 = 0, then F (s) has three zeros, −1, and −1/x1 =
∞,−1/x2 = ∞
What are the starting point of the root locus (K → 0), and the ending points of the root locus
(as K → +∞)?
• Staring points of the root locus
Q
(s − zi ) Y Y
1 + KF (s) = 0 ⇐⇒ 1 + K Q i = 0 ⇐⇒ (s − pj ) + K (s − zi ) = 0
j (s − pj ) j i
Y
K→0 (s − pj ) = 0
j

The root locus branches starts at the poles of F (s)

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E352 Lecture 13: Root-locus techniques, sketching rules spring 2014

• Ending points of the root locus

Q
(s − zi ) 1 Y Y
1 + KF (s) = 0 ⇐⇒ 1 + K Q i = 0 ⇐⇒ (s − pj ) + (s − zi ) = 0
j (s − pj ) K
j i
Y
As K → +∞ (s − zi ) = 0
i

The root locus branches ends at the (finite and infinite) zeros of F (s)

(s+3)(s+4)
Example: F (s) = (s+1)(s+2) , the root locus has two branches, they start at −1, and −2, and end
−3, and −4
jω
break-in point breakaway point

K = +∞ K = +∞ K=0 K=0

−4 −3 σ
−2 −1

Rule 5. Every root locus branches starts at a pole of F (s) and ends at a (finite or infinite) zero of
F (s)

3.5 Behavior at infinity

What is the asymptotic direction at infinite zero

Rule 6. The root locus approaches straight lines as asymptotic as the locus approaches infinity.
The equation of the line asymptote is given by the real-axis intersection point σa , and angle φa with
respect to positive real-axis
P P
finite poles − finite zeros
σa = (IV.3)
n−m
(2k + 1)
φa = 180◦ k = 0 , 1 , . . . (n − m − 1) (IV.4)
n−m

Example:

1
R(s) K s+3
s (s+1)(s+2)(s+4)
b
Y (s)
−

Three zeros at infinity,

−4 − 2 − 1 − 0 + 3
φa = = −4/3
3
φa = 60◦ , 180◦ , −60◦

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E352 Lecture 13: Root-locus techniques, sketching rules spring 2014

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