LCS - Week 06

EE-379 Linear Control Systems
Week No. 6: Root Locus Analysis

➢ Background
➢ Pole Zero Plots
➢ General Method
➢ Construction Rules
➢ Examples
1
EE-379 Root Locus Analysis
Background
• Chapter 1: D.E can be written for various systems and can be solved and
the response could be divided into forced and natural components
• Chapter 2: Established definitions related to natural response and types of
stability (stability is generally considered to be the property of the natural
response)
• Chapter 3: The other response component (steady state) was considered
that is the tendency of a device to follow (track) a command.
• Chapter 4: Return to stability and provide a very broad and useful measure
as compared to the Routh Hurwitz criterion.
2
Background
• Logical approach to determine stability would be to
✓ Extract roots of the characteristic polynomial as the adjustable gain
varies (computational packages i.e., MATLAB can readily perform this
task)
✓ Walter Evans (1940) developed a set of rules by which the path traced
by roots of a closed loop characteristic equation can be sketched this
plot is the root locus.
✓ There are two chapters devoted to root locus: in chapter 4 we will
concentrate on the basic understanding of root locus principles
3
Background 𝑏𝑚 𝑠 𝑚 +𝑏𝑚−1 𝑠 𝑚−1 + ⋯ + 𝑏0
𝐹 𝑠 =
• Zeros are the values at which the function is 𝑠 𝑛 +𝑎𝑛−1 𝑠 𝑚−1 + ⋯ + 𝑎0
zero (numerator roots) 𝑲[ 𝑠 − 𝑧1 𝑠 − 𝑧2 … (𝑠 − 𝑧𝑚 )]
𝐹 𝑠 =
• Poles are the values at which the function is [ 𝑠 − 𝑝1 𝑠 − 𝑝2 … 𝑠 − 𝑝𝑛 ]
infinite (denominator roots) 𝑧1 , 𝑧2 , 𝑧3,…. 𝑧𝑚 𝑎𝑟𝑒 𝑡ℎ𝑒 𝑧𝑒𝑟𝑜𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛
• A rational function in the factored form is given 𝑝1 , 𝑝2 , 𝑝3,…. 𝑝𝑛 𝑎𝑟𝑒 𝑡ℎ𝑒 𝑝𝑜𝑙𝑒𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛
by: jω x = a = poles
𝒃𝒎 o = b = zeros
• The constant 𝒌 = is the multiplying constant x
𝒂𝒎
o x σ
• When poles and zeros are plotted on the x
complex plain the result is a pole-zero plot

4𝑠 + 5 4(𝑠 + 5/4)
𝐹 𝑠 = =
𝑠 3 + 4𝑠 2 + 13𝑠 𝑠(𝑠 + 2 + 3𝑗)(𝑠 + 2 − 3𝑗)
4
Pole-Zero Plot: Graphical Evaluation 𝑲[ 𝑠 − 𝑧1 𝑠 − 𝑧2 … (𝑠 − 𝑧𝑚 )]
𝐹 𝑠 =
[ 𝑠 − 𝑝1 𝑠 − 𝑝2 … 𝑠 − 𝑝𝑛 ]
• On a pole-zero plot suppose a line is drawn
from 𝒑𝟏 to 𝒔𝟎 where the function is being 𝑲[ 𝑠𝑜 − 𝑧1 𝑠0 − 𝑧2 … (𝑠0 − 𝑧𝑚 )]
𝐹 𝑠0 =
[ 𝑠0 − 𝑝1 𝑠0 − 𝑝2 … 𝑠0 − 𝑝𝑛 ]
evaluated.
𝑲(|𝑠0 − 𝑧1 |𝑒 𝑗∠(𝑠0 −𝑧1) )(|𝑠0 − 𝑧2 |𝑒 𝑗∠(𝑠0 −𝑧2) )
• This segment has length |𝒔𝟎 − 𝒑𝟏 | and 𝐹 𝑠0 =
(|𝑠0 − 𝑝1 |𝑒 𝑗∠(𝑠0 −𝑝1) )(|𝑠0 − 𝑝2 |𝑒 𝑗∠(𝑠0 −𝑝2 ) )
angle ∠(𝒔𝟎 − 𝒑𝟏 ) with real axis
𝑝𝑟𝑜𝑑𝑢𝑐𝑡 𝑜𝑓 𝑙𝑒𝑛𝑔𝑡ℎ𝑠 𝑜𝑓 𝑑𝑖𝑟

|𝑲| 𝑠𝑒𝑔𝑚𝑒𝑛𝑡 𝑓𝑟𝑜𝑚 𝑧𝑒𝑟𝑜𝑠 𝑡𝑜 𝑠0
|𝐹 𝑠0 | =
jω 𝑠𝑒𝑔𝑚𝑒𝑛𝑡 𝑓𝑟𝑜𝑚 𝑝𝑜𝑙𝑒𝑠 𝑡𝑜 𝑠0
𝒔𝟎
o
𝒑𝟏x
∠(𝑠0 − 𝑝1 )
σ ∠𝐹(𝑠0 ) = 𝑠𝑢𝑚 𝑜𝑓 𝑎𝑛𝑔𝑙𝑒𝑠𝑜𝑓 𝑑𝑖𝑟 𝑠𝑒𝑔𝑚𝑒𝑛𝑡𝑠 𝒇𝒓𝒐𝒎 𝒛𝒆𝒓𝒐𝒔 𝒕𝒐 𝒔𝟎 −
𝑠𝑢𝑚 𝑜𝑓 𝑎𝑛𝑔𝑙𝑒𝑠𝑜𝑓 𝑑𝑖𝑟 𝑠𝑒𝑔𝑚𝑒𝑛𝑡𝑠 𝑓𝑟𝑜𝑚 𝒑𝒐𝒍𝒆𝒔 𝒕𝒐 𝒔𝟎 + 180° (𝑖𝑓 𝑘 < 0)
5
Pole-Zero Plot: Graphical Evaluation
• The roots of the closed-loop characteristic equation define the system
characteristic responses.
• Their location in the complex s-plane lead to the prediction of the
characteristics of the time domain responses in terms of:
✓ damping ratio, 𝜁
Second order modes
✓ natural frequency, 𝜔𝑛
✓ damping constant, 𝑏 first order modes
• Consider how these roots change as the loop gain is varied from 0 to ∞
6
Example
• The closed-loop transfer function is
𝑌 𝑠 𝐾
𝑇 𝑠 = =
𝑅 𝑠 𝑠(𝑠 + 2) + 𝐾 𝑅 𝑠
+
𝐸 𝑠 𝐾 𝑌 𝑠
- 𝑠(𝑠 + 2)
• The characteristic equation is

𝑠 2 + 2𝑠 + 𝐾 = 0
• Consider the characteristic roots as:

𝐾=0→∞
7
Example Loci of closed-loop roots
𝑠 = −1 ± 1 − 𝐾
• For 𝐾 = 0 the closed-loop poles are 𝐾=∞
jω
at the open-loop poles.
• For 0 < 𝐾 < 1 the closed loop poles 𝐾=1
are on the real axis: x -1 x σ

-2
𝐾=0
• For 𝐾 > 1 the closed-loop poles are
complex, with a real value of –1 and
an imaginary value increasing with
gain 𝐾.
8
Example Loci of closed-loop roots
jω
𝐾=∞
𝐾=1
x -1 x σ
-2
𝐾=0
9
Example-Observations
Loci of closed-loop roots
• This is a second-order system and there are 𝐾=∞
jω
two loci.
• The root loci start at the open loop poles
• The root loci tend towards the open loop zeros at 𝐾=1
x x σ
infinity as 𝐾 → ∞. (Note: the number of zeros is -2
-1
equal to the number of poles when the zeros at 𝐾=0
infinity are included.)

• The relationship between the characteristic
responses and the increasing gain is seen through
the root loci. 10
Pole-Zero Plot Root Locus Plot
11
The General Root Locus Method
• Consider the general system 𝑅 𝑠 𝐸 𝑠 𝑌 𝑠
+ 𝐺(𝑠)
-
𝑌 𝑠 𝐺(𝑠)
𝑇 𝑠 = =
𝑅 𝑠 1 + 𝐺𝐻(𝑠) 𝐻(𝑠)
• The characteristic equation is

1 + 𝐺𝐻 𝑠 = 0 ⇒ 𝐺𝐻 𝑠 = −1 → Complex quantity
Therefore, 𝐺𝐻 𝑠 = −1, 𝑐𝑎𝑛 𝑏𝑒 𝑠𝑝𝑙𝑖𝑡 𝑖𝑛𝑡𝑜 𝑡𝑤𝑜 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛𝑠
1. 𝐺𝐻 𝑠 =1 → 𝑟𝑒𝑝𝑟𝑒𝑠𝑒𝑛𝑡𝑠 𝑚𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒
2. ∠𝐺𝐻 𝑠 = 2𝑘 + 1 180° → 𝑟𝑒𝑝𝑟𝑒𝑠𝑒𝑛𝑡𝑠 𝑎𝑛𝑔𝑙𝑒
𝑘 = 0, ±1, ±2 … 12
• All values of s which satisfy 𝑅 𝑠 𝐸 𝑠 𝑌 𝑠
+ 𝐺(𝑠)
-
𝐺𝐻 𝑠 = 1 Magnitude criterion
∠𝐺𝐻 𝑠 = 2𝑘 + 1 180° Angle criterion 𝐻(𝑠)
𝑘 = 0, ±1, ±2 …
are roots of the closed-loop characteristic equation.
• Consider the following general form

𝑲[ 𝑠 + 𝑧1 𝑠 + 𝑧2 … (𝑠 + 𝑧𝑚 )]
𝐺𝐻 𝑠 =
[ 𝑠 + 𝑝1 𝑠 + 𝑝2 … 𝑠 + 𝑝𝑛 ]
𝑁𝑜𝑡𝑒: 𝑝𝑖 𝑚𝑎𝑦 𝑏𝑒 𝑧𝑒𝑟𝑜 13

• Then,
|𝑲| 𝑠𝑒𝑔𝑚𝑒𝑛𝑡 𝑓𝑟𝑜𝑚 𝑧𝑒𝑟𝑜𝑠 𝑡𝑜 𝑠0
|𝑲| ς𝑚𝑖=1 |𝑠+𝑧𝑖 | |𝐹 𝑠0 | =
1. 𝐺𝐻 𝑠 = ς𝑛
=1 𝑝𝑟𝑜𝑑𝑢𝑐𝑡 𝑜𝑓 𝑙𝑒𝑛𝑔𝑡ℎ𝑠 𝑜𝑓 𝑑𝑖𝑟
𝑖=1 |𝑠+𝑝𝑖 | 𝑠𝑒𝑔𝑚𝑒𝑛𝑡 𝑓𝑟𝑜𝑚 𝑝𝑜𝑙𝑒𝑠 𝑡𝑜 𝑠0
The magnitude condition is that the point (which satisfied the angle condition) at which
the magnitude of the open loop transfer function is one.
2. ∠𝐺𝐻 𝑠 = σ𝑚
𝑖=1 ∠ 𝑠 + 𝑧𝑖 − σ 𝑚
𝑖=1 ∠ 𝑠 + 𝑝𝑖 = 2𝑘 + 1 180° 𝑘 = 0, ±1, ±2 …
∠𝐹(𝑠0 ) = (𝑠𝑢𝑚 𝑜𝑓 𝑎𝑛𝑔𝑙𝑒𝑠 𝑜𝑓 𝑑𝑖𝑟 𝑠𝑒𝑔𝑚𝑒𝑛𝑡𝑠)
∠𝐹(𝑠0 ) = 𝑓𝑟𝑜𝑚 𝑧𝑒𝑟𝑜𝑠 𝑡𝑜 𝑠0 − 𝑠𝑢𝑚 𝑜𝑓 𝑝𝑜𝑙𝑒𝑠 𝑎𝑛𝑔𝑙𝑒𝑠 + 180° (𝑖𝑓 𝑲 < 0)
The angle condition is the point at which the angle of the open loop transfer function is 14
an odd multiple of 1800.
General Method – Geometric Interpretation
• Consider the example,
𝐾(𝑠 + 𝑧1 )
𝐺𝐻(𝑠) =
𝑠(𝑠 + 𝑝2 )(𝑠 + 𝑝3 )
• Then the values of 𝒔 = 𝒔𝟏
which satisfy
𝐾|𝑠+𝑧1 |
1. 𝑠 𝑠+𝑝2 |𝑠+𝑝3 |
=1
2. ∠ 𝑠 + 𝑧1 − ∠𝑠 + ∠ 𝑠 + 𝑝2 + ∠ 𝑠 + 𝑝3 = 2𝑘 + 1 180°
are on the loci and are roots of the characteristic equation.

15
General Method – Geometric Interpretation
• In terms of vectors, the condition for
𝒔 = 𝒔𝟏 to be on the root loci:
𝐾𝐴 𝐴 1
=1 𝑜𝑟 =
𝐵𝐶𝐷 𝐵𝐶𝐷 |𝐾|
and,
𝜃𝑧1 − 𝜃𝑝1 + 𝜃𝑝2 + 𝜃𝑝3 = 2𝑘 + 1 180°
𝑘 = 0, ±1, ±2 …
and are roots of the characteristic equation.

16
Analysis
• When plotting the loci of the roots as 𝑲 = 𝟎 → ∞ , the magnitude
condition is always satisfied.
• Therefore, a value of 𝒔 = 𝒔𝟏 that satisfies the angle condition, is a point
of the root loci
• The magnitude condition may then be used to determine the gain 𝑲
corresponding to that value 𝒔𝟏 .
17
Analysis ─ Construction Rules
1. The loci start (𝑲 = 𝟎) at the poles of • For our example system
the open-loop system. There are 𝒏 − 𝐾 𝑠 + 𝑧1 1
loci. 𝐺𝐻 𝑠 = =
𝑠 𝑠 + 𝑝2 𝑠 + 𝑝3 𝐾
• Therefore, as 𝑲 → 𝟎
𝑮𝑯 𝒔 → ∞, 𝑡ℎ𝑒 𝑝𝑜𝑙𝑒𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑙𝑜𝑜𝑝
2. The loci terminate ( 𝑲 → ∞ ) at the 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛
zeroes of the open-loop system (include
zeroes at infinity). • As, 𝑲 → ∞
𝑮𝑯 𝒔 → 𝟎, 𝑡ℎ𝑒 𝑧𝑒𝑟𝑜𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑙𝑜𝑜𝑝
𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛
18
3. The root loci are symmetrical about the • The roots with imaginary parts
real axis. always occur in conjugate complex
pairs
4. As 𝑲 → ∞ the loci approach asymptotes. There are 𝒒 = 𝒏 − 𝒎 asymptotes and they

intersect the real axis at angles defined by
𝟐𝒌 + 𝟏 𝟏𝟖𝟎°
, 𝑘 = 0, ±1, ±2 … (𝑞 − 1)
𝒒
19
5. The asymptotes intersection point on the real axis is defined by.
σ 𝑝𝑜𝑙𝑒𝑠 𝑜𝑓 𝐺𝐻 𝑠 − σ 𝑧𝑒𝑟𝑜𝑒𝑠 𝑜𝑓 𝐺𝐻(𝑠)

𝜎𝑎 =
𝑞
6. Real axis sections of the root loci exist only where there is an odd number of poles
and zeroes to the right.
20
Analysis ─ Construction Rules: Example
• Consider our example with 𝒛𝟏 = 𝟒, 𝒑𝟏𝟐 = 𝟏 ± 𝟐𝒋
jω
𝐴𝑠𝑦𝑚𝑝𝑡𝑜𝑡𝑒
𝐾(𝑠 + 4)
𝐺𝐻(𝑠) =
𝑠(𝑠 + 1 + 2𝑗)(𝑠 + 1 − 2𝑗)
x − 2𝑗
𝑅𝑒𝑎𝑙 𝑎𝑥𝑖𝑠 𝑙𝑜𝑐𝑢𝑠
• Asymptotes:
o x σ
-4 -1 +1
2𝑘 + 1 180°
𝐴𝑛𝑔𝑙𝑒 = = ±90°
3−1 x − − 2𝑗
−0 − 1 + 2𝑗 − 1 − 2𝑗 − [(−4)]
𝜎𝑎 = = +1
3−1
21
7. The angles of departure, 𝒒𝒅 from poles • The angle of arrival at the zero, −𝒛𝟏
and arrival, 𝒒𝒂 to zeroes may be found by is obtained from
applying the angle condition to a point
very near the pole or zero.
𝑚 𝑛
𝜃𝑎𝑧1 + ෍ ∠ −𝑧1 + 𝑧𝑖 − ෍ ∠ −𝑧1 + 𝑝𝑖 = 2𝑘 + 1 180°

𝑖=2 𝑖=1
This rule is applicable to imaginary poles/zeros
22
• Departure angle from, 𝒑𝟐 .
jω
𝑞𝑧1 = tan−1 ( 2/3) = 33.7° 𝒒𝒑𝟐
𝐴𝑠𝑦𝑚𝑝𝑡𝑜𝑡𝑒
𝑞𝑝1 = tan−1 ( −2/1) = 116.6° −𝒑𝟐 x − 2𝑗
𝑞𝑝3 = 90° −𝒛𝟏 33.7°

116.6°
o x σ
-1 −𝒑𝟏
• Then, -4 +1
90°
33.7° − 90° + 116.6° + 𝑞𝑝2 = 180° −𝒑𝟑 x − − 2𝑗
𝑞𝑝2 = −352.9° = +7.1°
23
8. The imaginary axis crossing is obtained by • Marginal stability refers to the point
applying the Routh-Hurwitz criterion and where the roots of the closed-loop
checking for the gain that results in system are on the stability
marginal stability. The imaginary boundary, i.e. the imaginary axis.
components are found from the solution
of the resulting auxiliary equation
24
Imaginary axis crossing: • For marginal stability, K = 5 and the
Characteristic equation auxiliary equation is.
𝑠 𝑠 + 1 + 2𝑗 𝑠 + 1 − 2𝑗 + 𝐾 𝑠 + 4 = 0 2𝑠 2 + 20 = 0
𝑠 3 + 2𝑠 2 + 5 + 𝐾 𝑠 + 4𝐾 = 0 𝑠 = ± 10𝑗 = ±3.16𝑗
• Therefore, the imaginary axis

𝒔𝟑 1 5+𝐾 0 intersection is = ±3.16𝑗.
𝒔𝟐 2 4𝐾 0
𝒔𝟏 5−𝐾 0
𝒔𝟎 4𝐾
25
• Summary:
jω
1. There are three root loci. 𝐴𝑠𝑦𝑚𝑝𝑡𝑜𝑡𝑒
𝒒𝒑𝟐
I. One on the real axis from −𝒑𝟏 𝑡𝑜 −𝒛𝟏 7.1°
II. A pair of loci from −𝒑𝟐 and −𝒑𝟑 to −𝒑𝟐 x − 2𝑗
zeroes at infinity along the asymptotes. 116.6°
−𝒛𝟏 33.7°
o x σ
-4 -1 −𝒑𝟏 +1
2. The departure angle from these poles is 90°
± 𝟕. 𝟏° and an imaginary axis crossing at −𝒑𝟑 x − − 2𝑗
𝐬 = ±𝟑. 𝟏𝟔𝒋 7.1°
26
• Breakaway Points
When two or more loci meet, they will
break away from this point at particular
angles. The point is known as a breakaway
point. It corresponds to multiple roots.
27
9. The angle of breakaway is 𝟏𝟖𝟎°/𝒌 where • Note:
𝒌 is the number of closed-loop poles, 𝐾 = −[𝐺𝐻(𝑠)]−1
departing from the breakaway point on 𝑑𝐾 𝑑[𝐺𝐻(𝑠)]
= [𝐺𝐻(𝑠)] −2 =0
the real axis. The location of the 𝑑𝑠 𝑑𝑠
breakaway point is found from.
• Also:
𝑑[𝐺𝐻(𝑠)] 𝑑[𝑁(𝑠)/𝐷(𝑠)]
𝑑𝐾 𝑑[𝐺𝐻(𝑠)] =
=0 𝑜𝑟 =0 𝑑𝑠 𝑑𝑠
𝑑𝑠 𝑑𝑠
𝑁′(𝑠) 𝑁 𝑠 𝐷′ 𝑠
− 2
=0
𝐷(𝑠) 𝐷 𝑠
𝐷 𝑠 𝑁 ′ 𝑠 − 𝑁 𝑠 𝐷′ 𝑠 = 0
28
• Consider the following loop
𝐾
𝐺𝐻(𝑠) = 2
𝑠 𝑠+3
• Real axis loci exist for the full negative axis.

the following loop.
• Asymptotes:
2𝑘 + 1 180°
= = 60°, 180°, 300°
3
(−3 − 3 − 0) − (0)
𝜎𝑎 = = −2
3 29
• Determine the breakaway points from
𝑑 𝐾 𝑑 𝐾
2
=
𝑑𝑠 𝑠 𝑠 + 3 𝑑𝑠 𝑠 3 + 6𝑠 2 + 9𝑠
𝐾 3𝑠 2 + 12𝑠 + 9
=− 3 2 2
=0
(𝑠 +6𝑠 + 9𝑠)
• Then,
𝑠 2 + 4𝑠 + 3 = 𝑠 + 1 𝑠 + 3 = 0
𝑠 = −1, 𝑠 = −3
30
Analysis ─ Construction Rules: Summary
• Plot the poles and zeros of the open-loop system.
• Find the section of the loci on the real axis (odd number of poles and zeroes to the
right).
• Determine the asymptote angles and intercepts.
2𝑘 + 1 180°
𝑎𝑛𝑔𝑙𝑒𝑠 = 𝑤ℎ𝑒𝑟𝑒, 𝒒 = 𝒏 − 𝒎, 𝑎𝑛𝑑, 𝒌 = 𝟎, ±𝟏, ±𝟐, ±𝟑 … (𝒒 − 𝟏)
𝑞
σ 𝑃𝑜𝑙𝑒𝑠 − σ 𝑧𝑒𝑟𝑜𝑠
𝜎𝑎 =
𝑞
31
Analysis ─ Construction Rules: Summary
• Determine departure angles. For a pole −𝒑𝟏 .
∠ −𝑝1 + 𝑧1 + ∠ −𝑝1 + 𝑧2 + ⋯ − 𝜃𝑝1 − ∠ −𝑝1 + 𝑝2 − ∠ −𝑝1 + 𝑝3 = 2𝑘 + 1 180°
• Check for imaginary axis crossings using the Routh-Hurwitz criterion.
• Determine breakaway points.

180°
𝑎𝑛𝑔𝑙𝑒 = , 𝑤ℎ𝑒𝑟𝑒 𝑘 = 𝑁𝑜 𝑜𝑓 𝑐𝑜𝑛𝑣𝑒𝑟𝑔𝑖𝑛𝑔 𝑙𝑜𝑐𝑖
𝑘
𝑑 𝐺𝐻 𝑠
𝒍𝒐𝒄𝒂𝒕𝒊𝒐𝒏 𝒇𝒓𝒐𝒎 =0
𝑑𝑠
• Complete the plot

32
• Loop Transfer function:
𝐾
𝐺𝐻 𝑠 =
𝑠(𝑠 + 4)(𝑠 2 + 4𝑠 + 20)
• Roots:
𝑠 = 0, 𝑠 = −4, 𝑠 = −2 ± 4𝑗
• Real axis segments between 0 and –4
• Asymptotes:
2𝑘 + 1 180°
𝑎𝑛𝑔𝑙𝑒𝑠 = = 45°, 135°, 225°, 315°
4−0
(−4 − 2 − 2 − 0)
𝜎𝑎 = = −2
4 33
• Breakaway points:
𝑑 𝐾
𝑑𝑠 𝑠 4 + 8𝑠 3 + 36𝑠 2 + 80𝑠
𝐾(4𝑠 3 + 24𝑠 2 + 72𝑠 + 80)
= 4 3 2
=0
𝑠 + 8𝑠 + 36𝑠 + 80𝑠
𝑜𝑟 𝑠 3 + 6𝑠 2 + 18𝑠 + 20 = 0
𝑠𝑜𝑙𝑣𝑖𝑛𝑔 𝑠𝑏 = −2, −2 ± 2.45𝑗
Three points that breakaway at 90°

34
• The imaginary axis crossings: • Condition for critical stability
Characteristics equation 8𝐾
80 − >0
𝑠 4 + 8𝑠 3 + 36𝑠 2 + 80𝑠 + 𝐾 = 0 26
𝐾 < 260
𝒔𝟒 1 36 𝐾
𝒔𝟑 8 80 0 • The auxiliary equation
𝒔𝟐 26 𝐾 0 26𝑠 2 + 260 = 0
8𝐾
𝒔𝟏 80 −
26
0 Solving,
𝒔𝟎 𝐾 𝑠 = ± 10𝑗 = ±3.16𝑗
35
• The final plot is shown on the right.
• What is the value of the gain K

corresponding to the breakaway point at.
𝑠𝑏 = −2 ± 2.45𝑗 ?
36
• From the general magnitude condition the gain corresponding to the point 𝑠1 on the
loci is.
ς𝑛𝑖=1(𝑠 + 𝑝𝑖 )
𝐾= 𝑚
ς𝑖=1(𝑠 + 𝑧𝑖 )
• For the point 𝑠1 = −2 ± 2.45𝑗

| − 2 + 2.45𝑗 + 4|| − 2 − 2.45𝑗 + 4|| − 2 + 2.45𝑗 + 2 + 4𝑗|| − 2 − 2.45𝑗 + 2 − 4𝑗|
𝐾=
1
𝐾 = 3.163 ∙ 3.163 ∙ 6.45 ∙ 1.55 = 100
37
• Is there a gain corresponding to a
damping ratio of 0.707 or more for all
system modes?
ζ = 0.707 = cos 𝑞
𝑞 = 45°
38
• Examine the responses for the various
gains and relate them to the location of
the closed loop roots.
• 𝐾 = 64, 𝑟𝑜𝑜𝑡𝑠 𝑎𝑟𝑒

−2, −2, −2 ± 3.46𝑗

−2 + 2.45𝑗, −2 − 2.45𝑗

±3.16𝑗, −4 ± 3.16𝑗
39
40
41
42

LCS - Week 06

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EE-379 Linear Control Systems

Week No. 6: Root Locus Analysis

complex plain the result is a pole-zero plot

𝑝𝑟𝑜𝑑𝑢𝑐𝑡 𝑜𝑓 𝑙𝑒𝑛𝑔𝑡ℎ𝑠 𝑜𝑓 𝑑𝑖𝑟

• The characteristic equation is

• Consider the characteristic roots as:

• For 0 < 𝐾 < 1 the closed loop poles 𝐾=1

are on the real axis: x -1 x σ

equal to the number of poles when the zeros at 𝐾=0

infinity are included.)

Pole-Zero Plot Root Locus Plot

• The characteristic equation is

∠𝐺𝐻 𝑠 = 2𝑘 + 1 180° Angle criterion 𝐻(𝑠)

• Consider the following general form

𝑁𝑜𝑡𝑒: 𝑝𝑖 𝑚𝑎𝑦 𝑏𝑒 𝑧𝑒𝑟𝑜 13

are on the loci and are roots of the characteristic equation.

and are roots of the characteristic equation.

4. As 𝑲 → ∞ the loci approach asymptotes. There are 𝒒 = 𝒏 − 𝒎 asymptotes and they

σ 𝑝𝑜𝑙𝑒𝑠 𝑜𝑓 𝐺𝐻 𝑠 − σ 𝑧𝑒𝑟𝑜𝑒𝑠 𝑜𝑓 𝐺𝐻(𝑠)

𝜃𝑎𝑧1 + ෍ ∠ −𝑧1 + 𝑧𝑖 − ෍ ∠ −𝑧1 + 𝑝𝑖 = 2𝑘 + 1 180°

This rule is applicable to imaginary poles/zeros

𝑞𝑝1 = tan−1 ( −2/1) = 116.6° −𝒑𝟐 x − 2𝑗

𝑞𝑝3 = 90° −𝒛𝟏 33.7°

𝑞𝑝2 = −352.9° = +7.1°

• Therefore, the imaginary axis

• Real axis loci exist for the full negative axis.

• Check for imaginary axis crossings using the Routh-Hurwitz criterion.

• Determine breakaway points.

• Complete the plot

𝑠𝑜𝑙𝑣𝑖𝑛𝑔 𝑠𝑏 = −2, −2 ± 2.45𝑗

Three points that breakaway at 90°

• What is the value of the gain K

• For the point 𝑠1 = −2 ± 2.45𝑗

𝐾 = 3.163 ∙ 3.163 ∙ 6.45 ∙ 1.55 = 100

• 𝐾 = 64, 𝑟𝑜𝑜𝑡𝑠 𝑎𝑟𝑒

• 𝐾 = 100, 𝑟𝑜𝑜𝑡𝑠 𝑎𝑟𝑒

• 𝐾 = 260, 𝑟𝑜𝑜𝑡𝑠 𝑎𝑟𝑒

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