Root Locus

Method
By :
Dina Astri Riana
Farida iasha
Chairani Farahdiba
Novia Nur Saadah
Indra Wijaya


R - E Y
Kp
+

TF Open Loop =

TF Close Loop = =
Rules for Drawing Root Locus
1. Locate Open Loop poles and zeros in
the s-plane
2. Determine root locus on the real axis
3. Approximate the asymptotes of the
root locus
4. Approximate break-away and break-in
points
5. Determine angles of departure and
arrival
6. Find Imaginary-axis crossing
Step 1. Locate Open Loop
poles and zeros in the s-plane
TF
Open Loop = Zeros
Poles

Zeros :
Poles :
 Im

-4 -3 -2 -1 0 Real

- 2
Step 2. Determine root locus
on the real axis

1. Use sampe dot : if total poles and zeros

in the right of this sample dot is odd
then this dot is located in Root Locus
 Im

-4 -3 -2 -1 0 Real

- 2
Step 3. Approximate the
asymptotes of the root locus
1. Total Asymptotes
=
2. Asymptotes Angle =
3. Asymptoter Intersection =
Step 4. Approximate break-
away and break-in points
Terms
:
Remember the TF Open Loop :

S=
Step 5. Determine angles of
departure and arrival