ENGR 6951: Automatic Control Engineering

Supplementary notes on Stability Analysis

Dr. George Mann,
Department of Mechanical Engineering
Memorial University of Newfoundland
Fall 2015

Routh-Hurwitz Stability Criterion

This stability criterion tells us whether the system going to be stable or unstable while looking
at the possibility of being getting positive real parts in the roots of the characteristic equation.
The most linear closed-loop transfer function can be of the form;
Y (s) b0 sm + b1 sm−1 + · · · + bm−1 s + bm
= n>m
R(s) a0 sn + a1 sn−1 + · · · + an−1 s + an
The Routh’s stability criterion enables us to determine the number of closed loop poles that lie
in the right-half of s plane without having to factor the denominator polynomial.

1 Write the polynomial in s in the following form:

a0 sn + a1 sn−1 + · · · + an−1 s + an = 0

We assume that an 6= 0; that is any zero root have been removed.

2 All the coefficients must be non-zero for absolute stability.
3 If all the coefficients are positive, arrange them in rows and columns according to the following
pattern:
s n : a0 a2 a4 a6 . . .
n−1
s : a1 a3 a5 a7 . . .
n−2
s : b1 b2 b3 b4 . . .
sn−3 : c1 c2 c3 c4 . . .
sn−4 d1 d2 d3 d4 . . .
. . .
. . .
. . .
2
s : e1 e2
s1 : f 1
s0 : g1

1
ENGR6951: Automatic Control Engineering, Fall 2015 2

There are n + 1 number of rows and continues until we run out of elements.
a1 a2 − a0 a3 a1 a4 − a0 a5 a1 a6 − a0 a7
b1 = , b2 = , b3 = , . .
a1 a1 a1

b1 a3 − a1 b2 b1 a5 − a1 b3 b 1 a7 − a1 b 4
c1 = , c2 = , c3 = , . .
b1 b1 b1

c 1 b2 − b1 c 2 c 1 b3 − b1 c 3
d1 = , d2 = , .
c1 c1

this will continue until g1 .

Examples
Ex 1
Consider the equation
2s4 + s3 + 3s2 + 5s + 10 = 0
As the coefficients are all positive it satisfies the necessary condition.

s4 : 2 3 10
s3 : 1 5 0
sign change
(1)(3)−(2)(5) (1)(10)−(2)(0)
s2 : 1
= −7 1
= 10 0
sign change
(−7)(5)−(1)(10)
s1 : −7
= 6.43 0 0
s0 : 10 0 0

Since there are two sign changes in the first column of the tabulation, the equation has two roots
in the right-half of s plane. Solving this equation one can obtain the roots as; s = −1.005±j0.933
and s = 0.755 ± j1.444. The system will be unstable.

Ex 2
Consider the following polynomial;

s4 + 2s3 + 3s2 + 4s + 5 = 0

s4 : 1 3 5
s3 : 2 4 0
s2 : 1 5 0
sign change
s1 : −6 0 0
sign change
s0 : 5 0 0
ENGR6951: Automatic Control Engineering, Fall 2015 3

The second row can be simplified by taking common denominator 2 as follows.

s4 : 1 3 5
s3 : 1 2 0
s2 : 1 5 0
sign change
s1 : −3 0 0
sign change
s0 : 5 0 0

Special Case I
The first element in any one row of Routh’s tabulation is zero, but the others are not. In this
case we replace the zero element in the first column by an arbitrary small positive number ,
and then proceed with Routh’s tabulation.

Ex 3
Consider the following equation.

s4 + s3 + 2s2 + 2s + 3 = 0

s4 : 1 2 3
s3 : 1 2 0
s2 : 0 3
We cannot continue as the first element is zero. Now we will replace this by a small number as
shown below.
s4 : 1 2 3
3
s : 1 2 0
s2 :  3
2−3
1
s : 
≈ − 3 0
s0 : 3
Now we see there are two sign changes, hence the system is unstable. Exact analysis provides
roots as; s = −0.091 ± j0.902 and s = 0.406 ± j1.293. It is clear there are two roots in the
right-half of the s plane.

Special Case II
The elements in one row of Routh’s tabulation are all zero. The  method fails when there
are pure imaginary roots. Having all zero elements suggests any one of the following. (1)
the equation has at least one pair of real roots with equal magnitude by opposite sign (2) the
equation has one or more pair of imaginary roots (3) the equation has pairs of complex-conjugate
roots forming symmetry about the origin if the s plane.
When this occurs the entire row of zeros can be represented by an auxiliary equation A(s) =
0, which is formed by the coefficients of the row just above the row of zeros of the Routh’s
tabulation. Then take the derivative of the auxiliary equation with respect to s; i.e. dA(s)/ds =
0. Replace the row with the coefficients of the derivative dA(s)/ds and then continue with
ENGR6951: Automatic Control Engineering, Fall 2015 4

Routh’s tabulation.
Example
Consider the following equation;
s5 + 4s4 + 8s3 + 8s2 + 7s + 4 = 0
Routh’s tabulation is;
s5 : 1 8 7
s4 : 4 8 4
s3 : 6 6 0
s2 : 4 4
s1 : 0 0
Consider the row before the row having zeros and we write the auxiliary equation as;
A(s) = 4s2 + 4 = 0
The derivative is;
dA(s)
= 8s = 0
ds
We will replace the row with zeros now with 8 and 0 as follows
s5 : 1 8 7
s4 : 4 8 4
s3 : 6 6 0
s2 : 4 4
s1 : 8 0 replaced with coefficients of dA(s)/ds
s0 : 4
Ex.
Consider the a characteristic equation given by the following polynomial.
s3 + 3Ks2 + (K + 2)s + 4 = 0
For the absolute stability K > 0. Using Routh’s tabulation
s3 : 1 K +2
s2 : 3K 4
3K(K+2)−4
s1 3K
0
s0 4
For the stability
3K(K + 2) − 4 > 0
K 2 + 2K − 4/3 > 0
(K + 1)2 − 4/3 − 1 > 0
(K + 1)2 − 7/3 > 0
p p
(K + 1 + 7/3)(K + 1 − 7/3) > 0
As K > 0 for the stability p
K + 1 − 7/3 > 0
p
K > 7/3 − 1
K > 0.528
ENGR6951: Automatic Control Engineering, Fall 2015 5

Root Locus Analysis

The Routh’s tabulation technique we studied in the previous section helps to find out the
stability while checking whether the the characteristic equation carries any poles in the right
half of the s-plane, thus enabling us to determine the stability. In other words the method
provides the absolute stability of the system. For relative stability it is also important for us
to have the transient responses giving minimum over-shoot, fast rise time and settling time
and stead-state stable characteristics. Such properties can be achieved in the design process by
locating poles in appropriate places in the s plane. The Root Locus technique provides us to
design systems not only for stability, but also for achieving better transient response properties
as well.
Consider the following closed-loop transfer function.
Y (s) KG(s)
=
R(s) 1 + KG(s)H(s)
Here K represents a gain that can be varied from 0 ≤ K ≤ ∞. Note that this variable gain K
can be a part of the controller or as an example, it can be the gain chosen to change tuning of
a PID controller. The characteristic equation is given by;

1 + KG(s)H(s) = 0 (1)

For a given K value now we can determine the roots belonging to the characteristic equation
shown above and locate them in the s plane. The same can be repeated for all K values within
0 ≤ K ≤ ∞ and the roots can traced in the s plane. The depicted curve or curves is then called
to root locus. The equation shown in (1) should satisfy two requirements, one is phase and the
other is the magnitude. By rearranging we can write (1) as;
−1
G(s)H(s) = (2)
K
This magnitude is;
1
|G(s)H(s)| = (3)
K
and
∠G(s)H(s) = (2i + 1)180o (4)
The points satisfying equations (3) and (4) are belonging to the root locus. In general the
function G(s)H(s) can be expressed as a number of zeros and poles in the following form.

(s + z1 )(s + z2 ) · · · (s + zm )
G(s)H(s) = n≥m
(s + p1 )(s + p2 ) · · · (s + pn )
The poles and zeros can be anywhere in the s plane.
For any given point S in the s plane as shown in Figure 1;
−→ −→ −→ −→ −→
P S = P O + OS = OS − OP
−→
P S = s − (−p) = s + p
ENGR6951: Automatic Control Engineering, Fall 2015 6

jω
test point s
S θ

P -p

Ο σ

Figure 1: Complex Vector

Also
−→
∠P S = ∠(s + p) = θ
The above condition can be demonstrated as shown in the diagram below. Consider the following
example for G(s)H(s).

(s + z1 )
G(s)H(s) =
(s + p1 )(s + p1 )(s + p2 )(s + p3 )(s + p4 )

This can be shown in the s plane and assume different test points as shown in Figure 2. The

jω jω
test point
A2 θ2
θ2
-p2 -p2
A4 test point
B1 A1

θ4 φ1 A3 θ1 θ1
θ4 φ1
-p4 -z1 -p1 σ -p4 -z1 -p1 σ

θ3 θ3

-p3 -p3

Figure 2: Angle measurements for open-loop poles and open-loop zeros to test point s
ENGR6951: Automatic Control Engineering, Fall 2015 7

angle and magnitude conditions are as follows.

∠G(s)H(s) = ∠(s + z1 ) − ∠(s + p1 ) − ∠(s + p2 ) − ∠(s + p3 ) − ∠(s + p4 ) = ±180o (2i + 1) (5)

and i = 1, 2, · · ·. Also
B1 1
|G(s)H(s)| = = (6)
A1 A2 A3 A4 K
In general the magnitude condition varies with respect the value of K.

Properties of Root Locus

Next we will discuss some important properties of the Root Locus that are useful in the construc-
tion of the root locus. The proof of these properties can be be also performed using Complex
Variable Theory, but we will limit our study only to those developed properties.

K = 0 and K = ±∞ points The characteristic equation will be;

−1
G(s)H(s) =
K
When K = 0, G(s)H(s) is infinity and this corresponding to the poles given by s = −p1 ,
s = −p2 ,...s = −pn . Similarly when K = ∞, G(s)H(s) approaches zero and this represents
zeros of G(s)H(s) given by s = −z1 , s = −z2 ...s = −zm including infinity points. Now
let’s look at the characteristic equation given by;

(s + z1 )(s + z2 ) · · · (s + zm )
1 + KG(s)H(s) = 1 + K =0
(s + p1 )(s + p2 ) · · · (s + pn )

We can also above as;

(s + p1 )(s + p2 ) · · · (s + pn ) + K(s + z1 )(s + z2 ) · · · (s + zm ) = 0

When K = 0 the roots are; s = −p1 , s = −p2 ,...s = −pn . Similarly when K = ∞,
1
(s + p1 )(s + p2 ) · · · (s + pn ) + (s + z1 )(s + z2 ) · · · (s + zm ) = 0
K
the roots are s = −z1 , s = −z2 ...s = −zm . Also there are n − m number of zeros at
infinity. Thus we can conclude as follows.

The K = 0 points on the root loci are at the poles of G(s)H(s).

The K = ±∞ points on the root loci are at the zeros of G(s)H(s).

As an example consider the equation;

s(s + 2)(s + 3) + K(s + 1) = 0

(s + 1)
G(s)H(s) =
s(s + 2)(s + 3)
ENGR6951: Automatic Control Engineering, Fall 2015 8

When K = 0; s = 0; s = −2; and s = −3 represents poles of G(s)H(s). When K = ∞,

s = −1. Also when s ≫ 1,
s 1
G(s)H(s) ∼
= = 2
s.s.s s
This is also zero when s = ∞ and s = ∞. Thus there are three points for K = ∞
corresponding to s = −1, ∞, ∞.

Symmetry of the Root Locus

The root locus is always symmetrical with respect to the real axis of the s-plane. This is
due to poles and zeros all either be real or have complex-conjugate pairs.

Angles of asymptotes of the root locus: Behaviour when |s| = ∞

When n > m, we found there are n − m some parts of the root locus will approach
infinity in the s-plane. The properties of the root locus near infinity is described by the
asymptotes. The angles of the asymptotes and their intersect with the real axis of the
s-plane is given by;
2i + 1
θi = × 180◦ n 6= m (7)
n−m
where i = 1, 2, . . . (n − m − 1); and n and m are the number of finite poles and zeros of
Gt(s)H(s), respectively.

The intersect of the Asymptotes (Centroid)

The intersect of the n − m asymptotes of the root locus lies on the real axis of the s-plane,
at
P P
real parts of poles of G(s)H(s) − real parts of zeros of G(s)H(s)
σ1 = (8)
n−m

The root loci on the real axis

The entire real axis of the S-plane is occupied by the root locus for all values of K. On
a given section of the real axis, root locus for K ≥ 0 are found in the sections only if the
total number of poles and zeros (finite) of G(s)H(s) to the right of the section is odd.

Breakaway points (saddle points) on the root locus The breakaway points on the root
locus corresponding to multiple-order poles the characteristic equation. As an example
consider the following equation;

f (s) = (s − s1 )2 (s − s2 ) · · · (s − sn )

df (s)
=0
ds s=s1

Therefore if we write the Characteristic equation in the following form;

f (s) = B(s) + KA(s) = 0

ENGR6951: Automatic Control Engineering, Fall 2015 9

The derivative is;

df (s)
= B 0 (s) + KA0 (s) = 0
ds
This means
B 0 (s)
K=−
A0 (s)
This implies;
B 0 (s)
f (s) = B(s) − A(s) = 0
A0 (s)
This means
B 0 (s)A(s) − B(s)A0 (s) = 0
B(s)
K=−
A(s)
if we take the derivative;
dK B 0 (s)A(s) − B(s)A0 (s)
=
ds A2 (s)
If we set dK/ds = 0, we get the same derivative as df (s)/ds = 0. Thus the saddle points
can be determined by using
dK
=0 (9)
ds
Alternatively we can obtain the same using following method. We know
A(s) = (s + z1 )(s + z2 ) · · · (s + zm )
A0 (s) = 1.(s+z2 ) · · · (s+zm )+(s+z1 ).1.(s+z3 ) · · · (s+zm )+· · ·+(s+z1 )(s+z2 ) · · · (s+zm ).1
A0 (s) 1 1 1
= + + ··· +
A(s) s + z1 s + z2 s + zm
m
A0 (s) X 1
=
A(s) 1
s + zi
Similarly we can show
n
B 0 (s) X 1
=
B(s) 1
s + pi
At saddle points;
B 0 (s)A(s) − B(s)A0 (s) = 0
Substituting from above we get;
n m
X 1 X 1
B(s)A(s) − A(s)B(s) = 0
1
s + pi 1
s + zi

Generally the saddle points are at the real axis and at dK/ds = 0 the s = σ. This will
gives us
m n
X 1 X 1
= (10)
1
σ + zi 1
σ + p i
ENGR6951: Automatic Control Engineering, Fall 2015 10

Angles of departure and angles of arrival

The angle of departure or angle of arrival of a root locus at a pole or zero, respectively,
of G(s)H(s) denotes the angle of the tangent to the locus near the point. If we assume a
jω jω

φ2 -z2
θ1 -z2 ε
ε φ2 θ1
-p1 -p1

φ1 φ1
θ3 θ3

-p3 -z1 σ -p3 -z1 σ

θ2 θ2

φ3 φ3
-p2 -p2
-z3 -z3

(a) Angle of departure (b) Angle of arrival

Figure 3: Calculation of angles of departure and arrival

point on the root locus  closer to a complex pole (Figure 3(a)), the sum of angles drawn
from all finite poles and zeros to this point is an odd multiple of 180◦ . Except for the pole
at the  close to the point, the other angles are calculated by assuming the lines are drawn
directly from the point or in other words we assume  = 0 to find other angles. Referring
to Figure 3(a);
φ1 + φ2 + φ3 − θ1 − theta2 − θ3 = (2i + 1)180◦
The angle of departure is given by;
θ1 = φ1 + φ2 + φ3 − θ2 − θ3 − (2i + 1)180◦
Similarly to find angle of arrival we use the same principle as for departure. Referring to
Figure 3(b);
φ1 + φ2 + φ3 − θ1 − θ2 − θ3 = (2i + 1)180◦
The angle of arrival is given by;
φ2 = (2i + 1)180◦ + θ1 + θ2 + θ3 − φ1 − φ3

Intersection of the root locus with the imaginary axis, or jω axis crossing
This is an important property in the root locus. The gain value at the crossing of the
jω axis provides ultimate gain and beyond this limiting value will result in instability of
the system. The value of ω at the axis of crossing is corresponding to the frequency of
oscillation. To find the jω-crossing, we use Routh-Hurwitz criterion, or Routh tabulation,
covered in the first section of this paper.
ENGR6951: Automatic Control Engineering, Fall 2015 11

Root Locus: Example 1

Consider the equation;
s(s + 2)(s + 3) + K(s + 1) = 0
This can be expressed as;
K(s + 1)
1+ =0
s(s + 2)(2 + 3)
This means
(s + 1)
G(s)H(s) =
s(s + 2)(2 + 3)
Here n = 3 and m = 1. (order of polynomial in the numerator and denominator, respectively)

Find K = 0 and K = ±∞ points

K = 0 refers to the poles of G(s)H(s) = ∞, they are; s = 0, s = −2, and s = −3.
Therefore the root locus begins from the three poles.
K = ∞ refers to G(s)H(s) = 0 and they refers to s = −1. In addition for for large values
of s;
s 1
G(s)H(s) ' =
s.s.s s.s
Therefore s = ∞ and s = inf ty also refers to when K = ∞.

Asymptote angles
There are two asymptotes and we can calculate the angles of the asymptotes by using
2i + 1
θi = × 180◦
n−m
1
θ0 = × 180◦ = 90◦
3−1
3
θ1 = × 180◦ = 270◦
2
Asymptote intersecting point on real axis As there are two asymptotes they intersect
right angle to the real axis, and the intersecting point is given by;
P P
real parts of poles of G(s)H(s) − real parts of zeros of G(s)H(s)
σ1 =
n−m
Thus;
(0 − 2 − 3) − (−1)
σ1 = = −2
3−1
Test possible location of root locus in s-plane Consider the test points shown in the fol-
lowing figure. The angle condition of G(s)H(s) is;

∠G(s)H(s) = ∠s + 1 − ∠s − ∠s + 2 − ∠s + 3 = ±(2i + 1)180◦

ENGR6951: Automatic Control Engineering, Fall 2015 12

jω

asymptote

test point
s5 s4 s3 s2 s1

-3 -2 -1 Ο σ

asymptote

Figure 4: Testing of points on root locus for Ex1

For the test point s1 (s > 0)

∠G(s)H(s) = 0 − 0 − 0 − 0 = 0, Violates the angle condition where it should be an odd
integer multiple of 180.

For the test point s2 (−1 < s < 0)

∠G(s)H(s) = 0−180−0−0 = −180, satisfies the angle condition and the root locus exist.

For the test point s3 (−2 < s < −1)

∠G(s)H(s) = 180 − 180 − 0 − 0 = 0, root locus does not exist.
For the test point s4 (−3 < s < −2)
∠G(s)H(s) = 180 − 180 − 180 − 0 = −180, root locus exist.
For the test point s4 (−∞ < s < −3)
∠G(s)H(s) = 180 − 180 − 180 − 180 = −360, root locus does not exist as it is an even
integer multiplier of 180.

Saddle points We can use dK/ds = 0. We know

s(s + 2)(s + 3) s3 + 5s2 + 6s

K=− =−
s+1 s+1
ENGR6951: Automatic Control Engineering, Fall 2015 13

dK (s + 1)(3s2 + 10s + 6) − (s3 + 5s2 + 6s)

=− =0
ds (s + 1)2
Therefore;
(s + 1)(3s2 + 10s + 6) − (s3 + 5s2 + 6s) = 0
3s3 + 13s2 + 16s + 6 − s3 − 5s2 − 6s = 0
2s3 + 8s2 + 10s + 6 = 0
s3 + 4s2 + 5s + 3 = 0
The above equation has three roots and one will lie between -2 and -3. If we assume -2.5;

s3 + 4s2 + 5s + 3 = 0|s=−2.5 = −0.125

Assume -2.4
s3 + 4s2 + 5s + 3 = 0|s=−2.4 = 0.216
As the value is in between -2.5 and -2.4, we assume -2.45.

s3 + 4s2 + 5s + 3 = 0|s=−2.45 = 0.0538

s3 + 4s2 + 5s + 3 = 0|s=−2.46 = −0.019

s3 + 4s2 + 5s + 3 = 0|s=−2.47 = −0.0156
As -2.47 has the least error we can assume the break away point as s = −2.47. While
substituting into the characteristic equation we get;

s(s + 2)(s + 3)
K=− = 0.419
(s + 1)

Root Locus: Example 2

K
G(s)H(s) =
s(s + 1)(s + 2)

Find K = 0 and K = ±∞ points K = 0 refers to the poles of G(s)H(s) = ∞, they are;

s = 0, s = −1, s = −2, Therefore the root locus begins from the three poles.
K = ∞ refers to G(s)H(s) = 0. There are no finite poles. In addition for for large values
of s;
1
G(s)H(s) '
s.s.s
Therefore s = ∞. s = ∞ and s = inf ty refers to when K = ∞.
ENGR6951: Automatic Control Engineering, Fall 2015 14

20

Root Locus G(s)H(s)=K(s+1)/s(s+2)(s+3)

15

10

5
imaginary axis
k=0.419
k=0
0 k=0
−2.47 k=0

−5

−10

−15

−20
−3.5 −3 −2.5 −2 −1.5 −1 −0.5 0
Real axis

Figure 5: Root Locus for G(s)H(s) = K(s + 1)/s(s + 2)(s + 3)

Asymptote angles
There are three asymptotes and we can calculate the angles of the asymptotes by using
2i + 1
θi = × 180◦
n−m
1
θ0 = × 180◦ = 60◦
3−0
3
θ1 = × 180◦ = 180◦
3
5
θ2 = × 180◦ = 300◦ = −60◦
3
Asymptote intersecting point on real axis As there are three asymptotes they intersect
60◦ to each other on the real axis, and the intersecting point is given by;
P P
real parts of poles of G(s)H(s) − real parts of zeros of G(s)H(s)
σ1 =
n−m
Thus;
(0 − 1 − 2) − (0)
σ1 = = −1
3−0

Test possible location of root locus in s-plane

From the pole locations we can clearly see that
when s > 0 and −2 < s < −1 root locus does not exist
ENGR6951: Automatic Control Engineering, Fall 2015 15

jω
asymptote

60o

asymptote -2 -1 Ο σ

asymptote

Figure 6: Asymptotes G(s)H(s) = K/s(s + 1)(s + 2)

Saddle points We can use dK/ds = 0. We can rewrite the expression as;
K = −(s3 + 3s2 + 2s)
dK/ds = −(3s2 + 6s + 2) = 0
3s2 + 6s + 2 = 3(s2 + s + 2/3) = 0
s2 + s + 2/3 = (s + 1)2 − 1/3 = 0
√ √
Therefore s = −1 − 1/ 3 = −1.577 and s = −1 + 1/ 3 = −0.4226
Among the places where root locus exist, the break-away point is at s = −0.4226

Intersection of the root locus with the imaginary axis, or jω axis crossing From the
diagram it is clear that the root locus will intersect jω axis. This can be done is two ways.
First we can set the Characteristic equation as;
s3 + 3s2 + 2s + K = 0
The Routh tabulation can be prepared as follows.
s3 : 1 2
s2 : 3 K
6−K
s1 : 3
0
sign must not change
s0 : K 0
ENGR6951: Automatic Control Engineering, Fall 2015 16

For stability 6 − K ≥ 0 and at the marginal case K = 6.

Alternatively we can substitute s = jω to the characteristic equation as follows.

(jω)3 + 3(jω)2 + 2(jω) + K = 0

−jω 3 − 3ω 2 + 2jω + K = j(−ω 3 + 2ω) + (K − 3ω 2 ) = 0

3 2
√ −ω + 2ω = 0 and K − 3ω = 0
The above satisfies when
Thus ω = 0 and ω = ± 2. This will
√ give us K = 0 and K = 6. The K = 0 is the pole at
the origin and K = 6 when ω = ± 2 will provide the other intersecting points.

Root Locus G(s)H(s)=K/s(s+1)(s+2)

3

1
imaginary axis

−1

−2

−3

−4
−4 −3.5 −3 −2.5 −2 −1.5 −1 −0.5 0 0.5 1
real axis

Figure 7: Root Locus for G(s)H(s) = K/s(s + 1)(s + 2)

Root Locus: Example 3

Consider the control system shown in the following figure. The open-loop transfer function;

R(s) K Y(s)
+
- s(s2 + 6s + 25)

Figure 8: Control system, Example 3

K K
G(s)H(s) = =
s(s2 + 6s + 25) s(s + 3 + j4)(s + 3 − j4)
ENGR6951: Automatic Control Engineering, Fall 2015 17

The K = 0 points are s = 0, s = −3 + j4 and s = −3 − j4. From the poles it is clear there are
three asymptotes for K = ∞.
±180◦ (2i + 1)
Angle of asymptotes = = 60◦ , 180◦ , −60◦
3
The intersection of asymptotes;
(−3 − 3) − (0)
σ= = −2
3
The root locus begins at s = 0, s = −3+j4 and s = −3−j4 and terminates at three asymptotes.
To find the angle of departure from complex poles, let us write the angle condition.

jω
asymptote
θ1 j4

180−tan-1(4/3)
60o
-3 -2 Ο
asymptote σ

90o
-j4 asymptote

Figure 9: Asymptotes and angle of departure for Example 3

∠G(s)H(s) = −∠s − ∠(s + 2 − j4) − ∠(s + 2 + j4) = ±180◦

Thus referring to the diagram above,

−θ1 − (180 − tan−1 (4/3)) − 90 = ±180

θ1 = −36.87◦ or − 396.87◦
which yields the same.
ENGR6951: Automatic Control Engineering, Fall 2015 18

The jω crossing can be determined using Routh tabulation. The characteristic equation is;
s3 + 6s2 + 25s + K = 0
s3 : 1 25
s2 : 6 K
150−K
s1 : 6
0
s0 : K 0
From the tabulation we know that K = 150 at the imaginary axis crossing.
6

K=150

K=0
4

2
imaginary axis

K=0

−2

−4
K=0

K=150

−6
−4 −3.5 −3 −2.5 −2 −1.5 −1 −0.5 0 0.5 1
real axis

Figure 10: Root Locus for Example 3

Root Locus: Example 4

Consider the system shown in Figure 11. The open-loop transfer function;

R(s) K(s + 2) Y(s)

+
- s2 + 2s + 3

Figure 11: Example 4

s+2 s+2
G(s)H(s) = = √ √
s2 + 2s + 3 (s + 1 + j 2)(s + 1 − j 2)
√ √
The poles corresponding to K = 0 are, s = −1 + j 2 and s = −1 − j 2. For K = ∞ the roots
will be s = −2 and s = ∞. Therefore the root locus has one asymptote. Using a test point it
ENGR6951: Automatic Control Engineering, Fall 2015 19

can be easily seen that the root locus exist on the real axis when s < −2 as shown in the diagram.

jω jω
angle of
departure θ1
j1.414 j1.414
−θ1

test point
φ
-2 -1 Ο -2 -1 Ο
asymptote σ σ

θ1 θ2
-j1.414 -j1.414

Figure 12: Angle conditions for example 4

1.5 145 deg

K=0

0.5
imaginary axis

K=5.464 K=inf.
0

−0.5

−1

K=0

−1.5

−2
−5 −4 −3 −2 −1 0 1
real axis

Figure 13: Root Locus for Example 4

Determine the angle of departure

The angle condition is;
√ √
∠G(s)H(s) = ∠(s + 2) − ∠(s + 1 + j 2) − ∠(s + 1 − j 2) = ±180◦

φ − θ1 − θ2 = ±180◦
tan−1 (1.414/1) − θ1 − 90◦ = ±180◦
This will give the angle of departure as θ1 = 144.7◦ .
ENGR6951: Automatic Control Engineering, Fall 2015 20

Determine the break away or break in points

For this we will find points for dK/ds = 0. The characteristic equation is;

s2 + 2s + 3
K=−
s+2
dK (s + 2)(2s + 2) − (s2 + 2s + 3)
=− =0
ds (s + 2)2
dK s2 + 4s + 1)
=− =0
ds (s + 2)2
Thus
s2 + 4s + 1 = (s + 2)2 − 3 = 0
√ √
and the break-in point is when s = −2 − 3 = −3.732 and s = −2 + 3 = −0.2680. It is clear
that the root locus does not exist for s = −0.2680 and the break-in point is when s = −3.720.
The corresponding K value is; K = 5.4641. The root locus drawn is shown in Figure 13.

Root Locus: Example 5

Consider the system shown in Figure 14.

R(s) K Y(s)
+
- s(s + 1)(s2 + 4s + 13)

Figure 14: Example 5

The open-loop transfer function is given by;

K K
G(s)H(s) = 2
=
s(s + 1)(s + 4s + 13) s(s + 1)(s + 2 + j3)(s + 2 − j3)

Therefore for K = 0, s = 0, s = −2 + j3 and s = −2 − j3.

1
For K = ∞, there are four asymptotes. For s ≫ 1, G(s)H(s) ≈ s.s.s.s
and there are four
asymptotes. The asymptote angles are given by;
2i + 1 2i + 1
θi = 180◦ = 180◦ = (2i + 1)45◦
n−m 4
Therefore, θ0 = 45◦ , θ1 = 135◦ , θ2 = 225◦ , θ3 = 315◦ = −45◦

The intersection of the asymptotes on the real axis is ;

0−1−2−2
σ= = −1.25
4
ENGR6951: Automatic Control Engineering, Fall 2015 21

jω jω

j3 θ1 j3

asymptote asymptote

θ3 θ4
-1
-2 σ
Ο -2 -1 root
locus
Ο σ
on real
axis

asymptote
asymptote
θ2
-j3 -j3

Figure 15: Asymptotes and angle of departure for Example 5

From a simple test it can be easily concluded that the root locus exist on the real axis is only
when −1 ≤ s ≤ 0. Thus there is a break-away or break-in points.
Rearranging the characteristic equation we can obtain;

K = −s(∗s + 1)(s2 + 4s + 13) = −(s4 + 5s3 + 17s2 + 13s)

Therefore
dK
= −(4s3 + 15s2 + 34s + 13) = 0
ds
From the diagram shown above indicates one of the possible breaking point in between 0 and -1.
Therefore using several guesses we may obtain the answer. (4s3 +15s2 +34s+13)|s=−0.5 = −0.75
(4s3 + 15s2 + 34s + 13)|s=−0.4 = 1.544
(4s3 + 15s2 + 34s + 13)|s=−0.45 = 0.373
(4s3 + 15s2 + 34s + 13)|s=−0.47 = −0.082
(4s3 + 15s2 + 34s + 13)|s=−0.46 = 0.145
Approximately we can take s = −0.47. Using this we can obtain the corresponding K value as;

K = −s(∗s + 1)(s2 + 4s + 13)s=−0.47 = 2.825

The angle of departure can be determined while considering angle condition;

∠G(s)H(s) = −∠s − ∠s + 1 − ∠s + 2 + j3 − ∠s + 2 − j3 = 180

Referring to the diagram shown in Figure 15,

−θ4 − θ3 − θ2 − θ4 = ±180

−[180 − tan−1 (3/2)] − [180 − tan−1 (3/1)] − 90 − θ1 = ±180

−[180 − 56.31] − [180 − 71.57] − 90 − θ1 = ±180
ENGR6951: Automatic Control Engineering, Fall 2015 22

−[180 − 56.31] − [180 − 71.57] − 90 − θ1 = ±180

−322.125 − θ1 = ±180
θ1 = ±180 − 322.125
θ1 = −142.125◦
If we select the other angle, θ1 = −502.125 = −360 − 142.125 and still we get the same answer.

The jω crossing can be obtain in two ways. First we can use Routh’s stability criterion and re
write the characteristic equation as;

s4 + 5s3 + 17s2 + 13s + K = 0

s4 : 1 17 K
s3 : 5 13 0
s2 : 14.4 K 0
14.4×13−5K
s1 : 14.4
0
s0 : K
From the Routh table it is clear the marginal case is given by

14.4 × 13 − 5K = 0

This will gives us K = 37.44. Alternatively we substitute s = jω to the characteristic equation,

as given by;
(jω)4 + 5(jω)3 + 17(jω)2 + 13(jω) + K = 0
ω 4 − 5jω 3 − 17ω 2 + 13jω + K = 0
(ω 4 − 17ω 2 + K) + j(−5ω 3 + 13ω) = 0
3 4 2
p −5ω + 13ω = 0 and ω − 17ω + K = 0. Thus
This will give us;
ω = 0, ω = ± 13/5 = ±1.6125. This will gives us, K = 0 and K = −(13/5)2 + 17(13/5) =
37.44. Reference: Modern Control Engineering 4 th Edition, Katsuhiko Ogata, Prentice
Hall,2002, ISBN 0-13-060907-2
ENGR6951: Automatic Control Engineering, Fall 2015 23

Root Locus for Example 5

2
imaginary axis

−2

−4

−6
−6 −5 −4 −3 −2 −1 0 1 2 3 4
real axis

Figure 16: Root Locus for Example 5