Chapter 8: Root Locus Techniques

We know how to analyze/compute:

transient behaviors of systems up to 2nd order
stability analysis of any order systems (R-H criterion)

Root locus (RL) techniques enable us to analyze:

transient behaviors of any order system
stability analysis of any order systems

RL is a powerful method of analysis and design for stability and transient

response of a control system

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A typical control system configuration:

The characteristic equation of the C.L TF: 1  KG s H s   0

 So, the pole locations of C.L. TF depend on the value of K.

 So, we have no knowledge of the system's poles and hence TR and
stability of the system unless we factor the denominator for specific
values of K.
What is RL? Describe it properly.
The plot of the path of the closed-loop poles in the s-plane as gain, K, is varied
from 0 to  is called root locus. 2
Defining the Root Locus:
Example:


T s  
Here, K
s  10 s  K
2

 10  102  4 1 K
s  10 s  K  0
2
p1 , p2 
Here, characteristic equation: Its roots are: 2 1
Value of K Pole 1 Pole 2

0  10 0
5  9.47  0.53

10  8.87  1.13

…. …. ….

25 5 5
30  5  j 2.24  5  j 2.24
….  

50  5  j5  5  j5
…. …. ….
  5  j  5  j
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 (a) Pole plot (b) Root locus

The RL shows the changes in the TR as the K varies.

• K<25  Over-damped
• K=25  Critically-damped
• K>25  Under-damped
Under-damped case:
1. Settling time remains the same as K increases.
2. Peak time reduces as K increases.
• The system is stable for any value of K.
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Properties of RL:


Ques: Predict whether a point s=s1=1+j1 is on the RL of the above system.

Ans: For the point, s1, to be on the root locus:

1  KG s1 H s1   0
KG s1 H s1   1  12k  1180 where k  0,  1,  2,......

or, KG s1 H s1   1 and KG s1 H s1   2k  1180

So the point s1 is on the root locus, if

KG s1 H s1   2k  1180
and, the value of K for this particular root is …
1
K
G s1 H s1 

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Evaluation of complex functions via vectors: jω

Let, F1 s   s  z1  s1=1+jω1
F1 s  s  s1  1  j1   1  j1  z1 
 L s1
s1+z1
This can be represented as a vector in s-plane  =L

z1

Or, alternatively, as shown below:

jω

s1=1+jω1
s1+z1
=L s1


-z1

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Now consider a function with multiple factors in numerators and denominators
m

Let,  s  z  i
F s   i 1
n

 s  p 
k 1
k

 s 1  zi 
F s1   i 1
n

 s
k 1
1  pk 

Each of these factors can be represented by vectors drawn from the zeros and
poles, as shown in the previous slide.
So, the resulting function can be written as:
m

 zero length
F s1   i 1
n

 pole length
k 1

m n
F s1    zero angle -  pole angle
i 1 k 1

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Example 8.1:
s 1
Problem: Given F s   ss  2
Find F(s) at point s = -3 + j4

Sol.: The problem is graphically depicted below

jω
-3+j4
4j We get:
L1   3  12  4  02  20
3j  4 
1  tan 1      tan 1 2  116.56
  3 1
2j
L3 L2 Similarly, we get:
L2  5 2  126.9
L1 j
3 1 2 L3  17 3  104.03

-3 -2 -1 0
F  3  j 4  
L1 20
  0.217
L2 L3 5 17

F  3  j 4  1   2   3   116.56  126.9  104.03

   114.3
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Now let us find if a point is on the RL of a system:

First of all, the pole-zero plot:

A. Test of the point, s = -2 + j3

Vector representation of GH (here, H=1) for point s = -2 + j3

 zero angle -  pole angle  

1   2  3   4

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So, the point, s = -2 + j3, can never be on the RL of the given system.
B. Test of the point, s = -2 + j(2/2)
jω

Vector representation of GH for -2+j (2/2)

point s = -2 + j(2/2 
L1 L4
L2 L3  4
2
1 3

-4 -3 -2 -1
We can find the Ls’ and s’ as shown earlier:

1  19.47  2  35.26 3  90 4  144.74

 zero angle -  pole angle  

1   2  3   4  180

So, the point, s = -2 + j(2/2) lie on the RL of the given system.

L1  2.12 L2  1.22 L3 
2 L4  1.22
2

The value of K at that point: K

1

 pole length 
L3 L4
GH  zero length  0.33
L1 L2

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