Root-Locus Analysis PDF

EE2214 - BASIC
CONTROL SYSTEM
HERMINARTO NUGROHO
TEKNIK ELEKTRO – UNIVERSITAS PERTAMINA
2018
Lecture Objectives
▷ Feedback Control System

Students will be able to understand the concept of feedback
control system
▷ System Modeling
Students will be able to derive mathematical system modeling
and state-space modeling
▷ Stability and Performance Analysis

Students will be able to analyze system stability and
performance
▷ Controller Design
Students will be able to design controller to achieve stability
and desired performance
What will we learn?
WEEK 1 Intro to Control System.
WEEK 2 Mathematical System Modeling.
WEEK 3 State-space System Modeling and Linearization.
WEEK 4 Transient and Steady-state Response.
WEEK 5 System Stability and Performance Analysis.
WEEK 6 Root-locus Analysis.
WEEK 7 Control System Design: Root-locus method.
WEEK 8 Mid-term Exam.

6.
ROOT-LOCUS ANALYSIS
Analysis of Stability and Performance of a System via
Root-Locus
1. Stability 2. Root-Locus 3. Rules for 4. Root-Locus
5. Exercise
Problem Concept Sketching Plotting
Overview
1. Stability Problem in Feedback Control System
2. The Root-Locus Concept
3. Rules for Sketching Root-Locus Plot
4. Root-Locus Plotting
5. Exercise
5. Exercise
Stability Problem in
Feedback Control System
5. Exercise
Stability Problem in Feedback

Control System
▷ Closed-Loop System Stability Problem
Consider stable system as follow:
1
𝐺 𝑠 =
(𝑠 + 1)(𝑠 + 2)(𝑠 + 3)
Then, we design the closed-loop control system as follow:
+ +
𝑅 𝑠 𝐶(𝑠) 𝐺(𝑠) 𝑌(𝑠) 𝑅 𝑠 𝐺(𝑠) 𝑌(𝑠)
− −
𝐻(𝑠)
5. Exercise

Control System
Let 𝐶 𝑠 = 𝐶 and 𝐻 𝑠 = 𝐻 which are constant
𝐻2 (𝑠)
𝐻1 (𝑠) +
𝑅 𝑠 𝐺(𝑠) 𝑌(𝑠)
+ −
𝑅 𝑠 𝐶 𝐺(𝑠) 𝑌(𝑠)
−
𝐻
𝐶 𝐺(𝑠) 𝐺(𝑠)
𝑇1 𝑠 = 𝑇2 𝑠 =
1 + 𝐶 𝐺(𝑠) 1 + 𝐻 𝐺(𝑠)
Poles of both 𝑇1 𝑠 and 𝑇2 𝑠 can be found by 1 + 𝐶𝐺 𝑠 = 0 and 1 + 𝐻𝐺 𝑠 = 0

5. Exercise

Control System
𝐶 = 10 𝐶 = 200
5. Exercise

Control System
𝐶 = 10 𝐶 = 200
5. Exercise

Control System
▷ Poles-Position Shifting
𝐶 = 10
𝐶 = 20
𝐶 = 80
5. Exercise

Control System
▷ Poles-Position Shifting
Root-Locus Plot : The plot of all

position of poles when 𝐾 changes from
0 to ∞
Root → Pole
Locus → Positions
For 1 < 𝐶 < 100

5. Exercise
The Root-Locus Concept

5. Exercise
▷ The History of Root-Locus

Walter Richard Evans (Jan 15, 1920 – Jul 10, 1990),
He was an American control theorist who in 1948* (at

the age of 28) suggested to plot the locus (positions) of
all possible roots (poles) of the characteristic equation
as 𝐾 varies from zero to infinity.
The resulting root-locus plot is to be used as an aid to

select the best value of 𝐾.
What is 𝐾 actually? Is it only the controller we design?
* Evans, W. R. (1948). Graphical analysis of control systems. Transactions of the American Institute of Electrical
Engineers, 67(1), 547-551.
5. Exercise
▷ The Basic Concept of Root-Locus
The closed-loop transfer function of the control system above is:

𝐷 𝑠 𝐺 𝑠
𝑇 𝑠 =
1 + 𝐷 𝑠 𝐺 𝑠 𝐻(𝑠)
The characteristic equations, whose roots are the poles of this transfer
function is:
1+𝐷 𝑠 𝐺 𝑠 𝐻 𝑠 =0
5. Exercise

To put the characteristic equation in a form suitable for study of the roots as
parameter changes, it is rewritten as:
1 + 𝐷 𝑠 𝐺 𝑠 𝐻 𝑠 = 0 ⇒ 1 + 𝐾𝐿 𝑠 = 0
𝑎 𝑠
where, 𝐾𝐿 𝑠 = 𝐷 𝑠 𝐺 𝑠 𝐻 𝑠 and 𝐿 𝑠 =
𝑏 𝑠
Then, 𝑎 𝑠
1+𝐾 =0
𝑏(𝑠)
𝑏(𝑠) + 𝐾𝑎(𝑠) = 0
𝑏 𝑠 1 1
𝐾=− 𝐾=− 𝐿(𝑠) = −
𝑎 𝑠 𝐿 𝑠 and 𝐾
5. Exercise

1
𝐿 𝑠 = 𝐷 𝑠 𝐺 𝑠 𝐻(𝑠) = −
𝐾
𝑎 𝑠 𝑠 − 𝑧1 𝑠 − 𝑧2 ⋯ (𝑠 − 𝑧𝑚 ) 1
𝐿 𝑠 =𝐷 𝑠 𝐺 𝑠 𝐻 𝑠 = = =−
𝑏 𝑠 𝑠 − 𝑝1 𝑠 − 𝑝2 ⋯ (𝑠 − 𝑝_𝑛) 𝐾
If any test point 𝑠 = 𝑠0 satisfies the equation above, then 𝑠0 is said to be on the
root-locus.
We can draw the root-locus plot using MATLAB, simply by using command :
rlocus(L)
However, we want to modify the system dynamic response so that a system
can meet the specification for good control performance.
So, being able to manually sketch a root locus is very important.
5. Exercise
Rules for Sketching Root-

Locus Plot
5. Exercise

Locus Plot
▷ Guideline for Sketching Root-Locus
𝑎 𝑠 𝑠 − 𝑧1 𝑠 − 𝑧2 ⋯ (𝑠 − 𝑧𝑚 ) 1
𝐿 𝑠 =𝐷 𝑠 𝐺 𝑠 𝐻 𝑠 = = =−
𝑏 𝑠 𝑠 − 𝑝1 𝑠 − 𝑝2 ⋯ (𝑠 − 𝑝_𝑛) 𝐾
root-locus. It implies that:
( s  z1 ) ( s  z2 ) ( s  zm ) 1 1
 
( s  p1 ) ( s  p2 ) ( s  pn ) s  s0
K K
Magnitude
Condition
5. Exercise

Locus Plot
𝑎 𝑠 𝑠 − 𝑧1 𝑠 − 𝑧2 ⋯ (𝑠 − 𝑧𝑚 ) 1
𝐿 𝑠 =𝐷 𝑠 𝐺 𝑠 𝐻 𝑠 = = =−
𝑏 𝑠 𝑠 − 𝑝1 𝑠 − 𝑝2 ⋯ (𝑠 − 𝑝_𝑛) 𝐾
root-locus. It implies that:
( s  z1 )( s  z2 ) ( s  zm ) 1
     180
( s  p1 )( s  p2 ) ( s  pn ) s  s K
0
Phase
Condition
5. Exercise

Locus Plot
( s  z1 )( s  z2 ) ( s  zm ) 1
     180
( s  p1 )( s  p2 ) ( s  pn ) s  s K
0
Phase
Condition
Defining ( s  zi )   i and ( s  pi )  i , the phase

condition can be rewritten as:
m n
   
i 1
i
i 1
i  180  360(l  1), l  1, 2,3,
5. Exercise

Locus Plot
▷ Test-Point Check
Consider the following example:
𝑠+1
𝐿 𝑠 = 2
𝑠(𝑠 + 5) 𝑠 + 2 +4
Let the test-point be:
𝑠0 = −1 + 𝑗2
From the figure, we have:
𝜓1 = 90𝑜
𝜙1 = tan−1 (2/−1) = 116.6𝑜 ෍ 𝜓𝑖 − ෍ 𝜙𝑖 = 90𝑜 − 116.6𝑜 + 0𝑜 + 76𝑜 + 26.6𝑜
𝜙2 = 0𝑜
= −129.2𝑜 ≠ 180𝑜 + 360𝑜 (𝑙 − 1)
𝜙3 = tan−1 (4/1) = 76.0𝑜
𝜙4 = tan−1 (2/4) = 26.6𝑜 𝑠0 = −1 + 𝑗2 is not on the root-locus
5. Exercise

Locus Plot
▷ Rules for Root-Locus Plot
RULE 1:
The n branches of the locus start at the poles of L(s)
and m of these branches end on the zeros of L(s), while
n–m branches terminate at infinity along asymptotes.
Example:
1 Root-locus start at those 2 poles
𝐿 𝑠 = 𝑛 = 2, 𝑚 = 0
(𝑠 + 1)(𝑠 + 2) and terminate at infinity
(𝑠 + 5) Root-locus start at those 2 poles

𝐿 𝑠 = 𝑛 = 2, 𝑚 = 1 and 1 terminate at zeros, the
(𝑠 + 1)(𝑠 + 2)
other terminate at infinity
5. Exercise

Locus Plot
RULE 2:
On the real axis, the loci (plural of locus) are to the left
of an odd number of poles and zeros.
5 4 3 2 1
4 3 2 1
5. Exercise

Locus Plot
RULE 3:
For large 𝐾 and 𝑠, 𝑛 − 𝑚 of the loci are asymptotic to
lines at angles 𝜙𝑙 radiating out from the point 𝑠 = 𝛼 on
the real axis, where:
180𝑜 + 360𝑜 𝑙 − 1
Angles of Asymptotes 𝜙𝑙 = , 𝑙 = 1,2,3, ⋯
𝑛−𝑚
σ 𝑝𝑖 − σ 𝑧𝑖
Center of Asymptotes 𝛼=
𝑛−𝑚
5. Exercise

Locus Plot
RULE 3:
𝜙2
𝜙1
𝜙3 𝛼
5. Exercise

Locus Plot
RULE 4:
The angle of departure of a branch of a locus from a
pole is given by:
Angle of Departure 𝜙𝑙,𝑑𝑒𝑝 = ෍ 𝜓𝑖 − ෍ 𝜙𝑖 − 180𝑜 − 360𝑜 (𝑙 − 1)
𝑖≠𝑙
The angle of departure of a branch of a locus from a

pole is given by:
Angle of Arrival 𝜙𝑙,𝑎𝑟𝑟 = ෍ 𝜙𝑖 − ෍ 𝜓𝑖 + 180𝑜 + 360𝑜 (𝑙 − 1)
𝑖≠𝑙
5. Exercise

Locus Plot
RULE 4:
𝜙2,𝑑𝑒𝑝
𝜙3,𝑑𝑒𝑝
5. Exercise

Locus Plot
RULE 5:
The locus crossed the imaginary axis at points where:
▪ The Routh criterion shows a transition of signs.
▪ The values of 𝑠 = ±𝑗𝜔0 are the solution of the
equation:
1+𝐾𝐿 𝑠 =0
The points ±𝑗𝜔0 are the points of cross-over on the
imaginary axis.
5. Exercise

Locus Plot
RULE 5:
Example: 𝑠3 1 32
1 + 𝐾𝐿 𝑠 = 0 𝑠2 8 𝐾
1 𝑠1 8 × 32 − 𝐾 0
1+𝐾 =0 8
𝑠 𝑠 + 4 2 + 16
𝑠0 𝐾 0
𝑠3 + 8𝑠 2 + 32𝑠 + 𝐾 = 0
• The closed-loop system is stable for 0 < K < 256.

• For K > 256 there are 2 roots in the RHP (two sign changes
in the first column).
• For K = 256 the roots must be on the imaginary axis.
5. Exercise

Locus Plot
RULE 5:
The characteristic equation is now solved using 𝐾 = 256
𝑠 3 + 8𝑠 2 + 32𝑠 + 256 = 0 5.66

5.66
𝑠1 = −8 𝑠2,3 = ±𝑗5,66
–5.66
–5.66
5. Exercise

Locus Plot
RULE 6:
𝑎 𝑠 𝑠 − 𝑧1 𝑠 − 𝑧2 ⋯ (𝑠 − 𝑧𝑚 )
𝐿 𝑠 =𝐷 𝑠 𝐺 𝑠 𝐻 𝑠 = =
𝑏 𝑠 𝑠 − 𝑝1 𝑠 − 𝑝2 ⋯ (𝑠 − 𝑝_𝑛)
The locus will have multiple roots at points on the locus where:
𝑑𝑏 𝑠 𝑑𝑎 𝑠
𝑎 𝑠 −𝑏 𝑠 =0
𝑑𝑠 𝑑𝑠
The branches will approach and depart a point of 𝑞 roots at angles
separated by:
180𝑜 + 360𝑜 𝑙 − 1
𝑞
5. Exercise

Locus Plot
RULE 6: Imag Imag
axis axis
Multiple Multiple
roots roots
90 90
Real Real
axis axis
Break-away Break-in
point point
5. Exercise
Root-Locus Plotting -
Examples
5. Exercise
Root-Locus Plotting - Examples

▷ Example 1
Step 1: Determine 𝐿 𝑠 and check RULE 1.

𝐾
𝑌 𝑠 𝑠(𝑠 + 1)(𝑠 + 2)
=
𝐾
Number of pole: 𝑛 = 3 RULE 1
𝑅 𝑠 1+
𝑠(𝑠 + 1)(𝑠 + 2) Number of zero: 𝑚 = 0
Pole location: 𝑝1 = 0, 𝑝2 = −1, 𝑝3 = −2
1 + 𝐾𝐿(𝑠)
Based on RULE 1, the root locus will
So, 𝐿 𝑠 =
1 start from all 3 poles and terminate at
𝑠(𝑠 + 1)(𝑠 + 2) infinity.
5. Exercise

▷ Example 1
1 𝑛=3
𝐿 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 2) 𝑚=0
𝑝1 = 0, 𝑝2 = −1, 𝑝3 = −2
Step 2: Check RULE 2.
RULE 2
Based on RULE 2, the root locus will be 3 2 1

in the left side of odd number poles and
zeros. So it will be between pole 1 and
2, and on the left side of pole 3.
5. Exercise

▷ Example 1
1 𝑛=3
𝐿 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 2) 𝑚 = 0
𝑝1 = 0, 𝑝2 = −1, 𝑝3 = −2
RULE 3 𝜙𝑙 = {60𝑜 , 180𝑜 , 300𝑜 }

Angles of Asymptotes
180𝑜 + 360𝑜 𝑙 − 1
𝜙𝑙 = , 𝑙 = 1,2,3, ⋯
𝑛−𝑚
Center of Asymptotes
σ 𝑝𝑖 − σ 𝑧𝑖
𝛼= 𝛼 = −1
𝑛−𝑚
5. Exercise

▷ Example 1
1 𝑛=3
𝐿 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 2) 𝑚 = 0
𝑝1 = 0, 𝑝2 = −1, 𝑝3 = −2

NO complex poles/zeros
Angle of Departure RULE 4
𝜙𝑙,𝑑𝑒𝑝 = ෍ 𝜓𝑖 − ෍ 𝜙𝑖 − 180𝑜 − 360𝑜 (𝑙 − 1)

𝑖≠𝑙
Angle of Arrival
RULE 4 is not applicable.
𝑜 𝑜 The angle of departure/arrival
𝜙𝑙,𝑎𝑟𝑟 = ෍ 𝜙𝑖 − ෍ 𝜓𝑖 + 180 + 360 (𝑙 − 1)
𝑖≠𝑙 must be calculated only if there
are any complex poles/zeros.
5. Exercise

▷ Example 1
1 𝑛=3
𝐿 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 2) 𝑚 = 0
𝑝1 = 0, 𝑝2 = −1, 𝑝3 = −2
Points of Cross Over RULE 5
1+𝐾𝐿 𝑠 =0
𝐾
1+ =0
𝑠(𝑠 + 1)(𝑠 + 2)
𝑠 3 + 3𝑠 2 + 2𝑠 + 𝐾 = 0
5. Exercise

▷ Example 1
1 𝑛=3
𝐿 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 2) 𝑚 = 0
𝑝1 = 0, 𝑝2 = −1, 𝑝3 = −2

Points of Cross Over Replacing 𝑠 with 𝑗𝜔0 RULE 5
1+𝐾𝐿 𝑠 =0
(𝑗𝜔0 )3 +3(𝑗𝜔0 )2 +2(𝑗𝜔0 ) + 𝐾 = 0
𝐾 Therefore,
1+ =0 −𝑗𝜔𝑜3 − 3𝜔02 + 𝑗2𝜔0 + 𝐾 = 0
𝑠(𝑠 + 1)(𝑠 + 2) 𝜔0 = ±1.414
𝐾− 3𝜔02 + 𝑗 2𝜔0 − 𝜔03 =0
𝑠 3 + 3𝑠 2 + 2𝑠 + 𝐾 = 0 𝐾=6
0 0
5. Exercise

▷ Example 1
1 𝑛=3
𝐿 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 2) 𝑚 = 0
𝑝1 = 0, 𝑝2 = −1, 𝑝3 = −2
Points of Cross Over RULE 5
𝜔0 = ±1.414 𝐾=6
5. Exercise

▷ Example 1
1 𝑛=3
𝐿 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 2) 𝑚 = 0
𝑝1 = 0, 𝑝2 = −1, 𝑝3 = −2

Break-away Point
RULE 6
𝑑𝑏 𝑠 𝑑𝑎 𝑠
𝑎 𝑠 −𝑏 𝑠 =0
𝑑𝑠 𝑑𝑠
1 3𝑠 2 + 6𝑠 + 2 − 𝑠 3 + 3𝑠 2 + 2𝑠 0 = 0
𝑠1 = −1.577
2
3𝑠 + 6𝑠 + 2 = 0
𝑠2 = −0.423
5. Exercise

▷ Example 1
Step 7: Combine all RULE 1-6.
1 𝑛=3
𝐿 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 2) 𝑚 = 0
𝑝1 = 0, 𝑝2 = −1, 𝑝3 = −2
5. Exercise

▷ Manual Plot vs MATLAB
s = tf('s');
G = 1/(s*(s+1)*(s+2));
rlocus(G)
5. Exercise
Exercise
5. Exercise
Exercise
▷ Exercise
Draw the root-locus plot of the following system
5. Exercise
Exercise
▷ Exercise
Draw the root-locus plot of the following system
References
▷ Katsuhiko Ogata, "Modern Control Engineering", Pearson, 2010.

▷ Gene F. Franklin, J. David Powell, Abbas Emami-Naeini “Feedback
Control of Dynamic Systems”, Pearson, 2015.
▷ Norman S. Nise, “Control System Engineering”, John Wiley, 2011.
▷ Erwin Sitompul, “Feedback Control Systems”, Lecture Slides, 2012.
https://zitompul.wordpress.com/
Reading Assignment
▷ Ogata - Chapter 6:
○ Subchapter: 6-1 to 6-9
▷ Franklin - Chapter 5:
○ Subchapter: 5.1 to 5.7
▷ Nise - Chapter 8:
○ Subchapter: 8.1 to 8.10
Thanks!
Any questions?

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EE2214 - BASIC

▷ Feedback Control System

▷ Stability and Performance Analysis

WEEK 1 Intro to Control System.

WEEK 2 Mathematical System Modeling.

WEEK 3 State-space System Modeling and Linearization.

WEEK 4 Transient and Steady-state Response.

WEEK 5 System Stability and Performance Analysis.

WEEK 6 Root-locus Analysis.

WEEK 7 Control System Design: Root-locus method.

WEEK 8 Mid-term Exam.

2. The Root-Locus Concept

3. Rules for Sketching Root-Locus Plot

Stability Problem in Feedback

Then, we design the closed-loop control system as follow:

Stability Problem in Feedback

Poles of both 𝑇1 𝑠 and 𝑇2 𝑠 can be found by 1 + 𝐶𝐺 𝑠 = 0 and 1 + 𝐻𝐺 𝑠 = 0

Stability Problem in Feedback

Stability Problem in Feedback

Stability Problem in Feedback

Stability Problem in Feedback

Root-Locus Plot : The plot of all

For 1 < 𝐶 < 100

The Root-Locus Concept

The Root-Locus Concept

▷ The History of Root-Locus

He was an American control theorist who in 1948* (at

The resulting root-locus plot is to be used as an aid to

What is 𝐾 actually? Is it only the controller we design?

The Root-Locus Concept

▷ The Basic Concept of Root-Locus

The closed-loop transfer function of the control system above is:

The Root-Locus Concept

▷ The Basic Concept of Root-Locus

The Root-Locus Concept

▷ The Basic Concept of Root-Locus

Rules for Sketching Root-

Rules for Sketching Root-

Rules for Sketching Root-

Rules for Sketching Root-

Defining ( s  zi )   i and ( s  pi )  i , the phase

Rules for Sketching Root-

Rules for Sketching Root-

(𝑠 + 5) Root-locus start at those 2 poles

Rules for Sketching Root-

Rules for Sketching Root-

Rules for Sketching Root-

Rules for Sketching Root-

The angle of departure of a branch of a locus from a

Rules for Sketching Root-

Rules for Sketching Root-

Rules for Sketching Root-

• The closed-loop system is stable for 0 < K < 256.

Rules for Sketching Root-

𝑠 3 + 8𝑠 2 + 32𝑠 + 256 = 0 5.66

Rules for Sketching Root-

Rules for Sketching Root-

Root-Locus Plotting - Examples

Step 1: Determine 𝐿 𝑠 and check RULE 1.

Root-Locus Plotting - Examples

Step 2: Check RULE 2.

Based on RULE 2, the root locus will be 3 2 1