Chapter 1

Root Locus

1
Learning Outcomes

 At the end of this lecture, students should be

able to:
 Sketch the root locus for a given system
 Identify the stability of a system using root-locus
analysis

2
 Introduction

 Root Locus illustrates how the poles of the

closed-loop system vary with the closed-loop
gain.

 Graphically, the locus is the set of paths in

the complex plane traced by the closed-loop
poles as the root locus gain is varied from
zero to infinity.

3
 R(s) C(s)
+ K Gc
-

H
block diagram of the closed loop system

given a forward-loop transfer function; KGc(s)H(s)

where K is the root locus gain, and the corresponding closed-loop

transfer function
KGc ( s ) H ( s )
G (s) 
1  KGc ( s ) H ( s )
the root locus is the set of paths traced by the roots of

1 + KGc(s)H(s) =0
 as K varies from zero to infinity. As K changes, the solution to this
equation changes.
4
So basically, the root locus is sketch based on the characteristic
equation of a given transfer function.

Let say:
KGc ( s ) H ( s )
G (s) 
1  KGc ( s ) H ( s )

Thus, the characteristic equation :

C.E  1  KGc ( s ) H ( s )

5
Root locus starts from the characteristic
equation.
1  KGc ( s ) H ( s )  0

Split into 2 equations:

KGc ( s ) H ( s )  1  j 0

Magnitude condition Angle condition

| KGc ( s ) H ( s) || 1 | KGc ( s) H ( s )  180o (1  2m)

where m  0,1,2, 

6
 Remarks
If Si is a root of the characteristic equation, then 1+G(s)H(s) = 0 OR Both the
magnitude and Angle conditions must be satisfied

If not satisfied Not part of root locus

7
Example 1 K
G (s) 
s ( s  2)

0
-2 -1

8
Let say my first search point, S1 S1  1  j1

S1

2 1
-1 0
-2

(A) Satisfy the angle condition FIRST

G ( s ) |s  1 j1  1   2  135o  45o  180o
(B) Magnitude condition to find K
K
1
( 1  j1)( 1  j1  2)
K ( 2 )( 2)  2 9
Let say the next search point s2  2  j1

0
-2 -1

Check whether satisfy angle condition

K K
G ( s ) |s  2  j1  
( 2  j1)( 2  j1  2) ( 2  j1)( j1)

G ( s ) |s  2 j1  [180o  tan 1 (1 2)  90o  270o  tan 1 (1 2)

G ( s ) |s  2 j1  180o OR  180o

Since angle condition was not satisfied  not part of root locus
10
CONSTRUCTION RULES
OF ROOT LOCUS

8 RULES TO FOLLOW

11
Construction Rules of Root Locus
KG ( s ) H ( s )  1
M
K  ( s  zi )
Assume KG ( s ) H ( s )  N
i 1

 (s  p j )
j 1

M
Then K  ( s  zi )
KG ( s ) H ( s )  N
i 1
 1
 (s  p j )
j 1

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Thus

 (s  p j )
K 
 ( s  zi )

13
Rule 1 : When K = 0

s   pj  Root at open loop poles

(a) The R-L starts from open loop poles

(b) The number of segments is equal to the number of open loop poles

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Rule 2: When K = ∞

s   zi

(a) The R-L terminates (end) at the open loop zeros

15
Rule 3: Real-axis segments
On the real axis, for K > 0 the root locus exists to the left of an odd number
of real-axis, finite open-loop poles and/or finite open-loop zeros

Example 2 K ( s  3)( s  4)
G(s) 
( S  1)( S  2)
R-L doesn’t exist here

R-L exist here R-L exist here

16
Rule 4: Angle of asymptote

180 (1  2m)
o
A  , m  0,1,  ( N P  N Z  1)
NP  NZ

NP = number of poles

NZ = number of zeros

17
 Example 3

K NP=3
G(s)  NZ=0
s ( s  1)( s  2)
m  0,1,2
180o (1  2(0))
 A1   60o
30
 A2
 A1
180o (1  2(1))
 A2 
30
 180o   A3
Centroid

180o (1  2( 2))
 A3   300o  60o
30

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Rule 5: Centroid

A 
 Re( p )   Re( z )
j i

NP  NZ
K
From example 3 G (s) 
s ( s  1)( s  2)

Recall s  Re  j Im Thus, s  0,1,2

1 2
A   1
3 -1

19
Rule 6: Break away & break in
points

0 0
-2 -1 -2 -1

Break away point Break in point

How to find these points ? 20

 KG ( s ) H ( s )  1
1
K 
G ( s) H ( s)
Differentiate K with respect to S & equate to zero

dK d  1  d
     G ( s ) H ( s )  0
ds ds  G ( s ) H ( s )  ds

How ?

Solve for S  this value will either be the break away or break in point
21
Let say
N1 N 2
G ( s) H ( s) 
D1 D2

d D1 D2 ( N1 N 2 )' N1 N 2 ( D1 D2 )'
 G ( s ) H ( s )  2
0
ds ( D1 D2 )

Thus,

D1 D2 ( N1 N 2 )' N1 N 2 ( D1 D2 )'  0

22
Now, find
dK d   1  d   D1D2 
     
ds ds  G ( s) H ( s)  ds  N1 N 2 

dK N1 N 2 ( D1 D2 )' D1 D2 ( N1 N 2 )'
 0
ds N1 N 2

Thus, D1 D2 ( N1 N 2 )' N1 N 2 ( D1 D2 )'  0

So, notice that

dK d  1  d
     G ( s ) H ( s )
ds ds  G ( s ) H ( s )  ds
23
Example 4 1
G( s) 
s ( s  2)
Solution:
dK d d  1 
  G ( s )    0
ds ds ds  s ( s  2) 
 ( 2 s  2)
 0
( s ( s  2)) 2

s  1 -1
0
-2

24
Example 5 1
G ( s) 
s ( s  1)( s  2)

0
-2 -1

NP = 3

NZ = 0

25
 180 (1  2m)
o
A  , m  0,1,  ( N P  N Z  1)
NP  NZ

 A  60o ,180o ,60o

A   Re( p j )   Re( zi )
NP  NZ
1 2
  1
3

0
-2 -1

26
dK d  1 

ds ds  s 3  2 s 2  2 s 
 1(3s 2  6 s  2)
 3 0
( s  3s  2 s )
2 2

(3s 2  6s  2)  0

 6  36  4(3)(2) Break away point

s1 , s2 
2(3)

s1 , s2  1.6,0.42
Invalid, why ???
27
 How to determine
0 these values ?
-2 -1 -0.42

28
From characteristic equation

1  KG ( s )  0
 1 
1 K   0
 s ( s  1)( s  2) 

s  3s  2 s  K  0
3 2

Construct the Routh array

29
 S3 1 2

S2 3 K

S1 6-K

S0 K

Since
Force S1 row to zero or K=6 3s  6  0
2
s  j
Replace K=6 into S2 row
s  2
2
j  j 2

s  j 2
 2 30
 
2

0
-2 -1 -0.42


2

31
Rule 7 : Angle of departure (arrival)
Finding angles of departure and arrival from complex poles & zero

Root locus start from open loop poles  Angle of departure

p

Root locus terminates at open loop zeros  Angle of departure

z
32
 Angle of Departure

1   2   3   4   5   6  (2k  1)180o

33
To make it easier to remember: Replace in this equation

Let’s change: 1   2   3   4   5   6  (2k  1)180 o

 p  1 and let k=0, we get

 p   2   3   4   5   6  180o
Angles due to poles, keep using symbol θ
Since Φp= Φp+360o
4  4
 p   2   3   4   5   6  180o
5  5
Re-arrange
Angles due to zeros, change to symbol β
 p  180o   2   3   6   4   5
2  2
3  3 Thus, the angle of departure:

6  6  p  180o   zi   p j

34
 Angle of Arrival

 2  1   3   4   5   6  (2k  1)180o

35
To make it easier to remember: Replace in this equation

Let’s change:  2  1   3   4   5   6  ( 2k  1)180o

and let k=0, we get

z   2
 z  1   3   4   5   6  180o
Angles due to poles, keep using symbol θ
Re-arrange
1  1
4  4  z  180o  1   4   5   3   6
5  5
Thus, the angle of arrival:
Angles due to zeros, change to symbol β
 z  180o   p j   zi
3  3
6  6

36
Angle of Departure  p  180o   zi   p j

Angle of Arrival  z  180o   p j   zi

37
Example 6 G ( s) 
K
s ( s 2  6 s  25)
Step 1: Determine poles & zeros

6 36  100 Np=3

poles at : 0,  0,3  j 4
2 Nz=0

Step 2: Maps poles & zeros on the s-plane

4

-3 0

-4

38
 Step 3: Calculate angle of asymptote

180o (1  2m)
A  , m  0,1,  (3  0  1)  0,1,2
NP  NZ

180o (1  2(0))
 A1   60o
30

180o (1  2(1))
 A2   180o
30

180o (1  2( 2))
 A3   300o  60 o
30

39
Step 4: Determine centroid
A 
 Re( p j )   Re( zi )
NP  NZ

33
poles:  0,3  j 4 A   2
30
Step 5: Sketch asymptotes line with dotted line

-3 -2 0

-4

40
Step 6: Determine the break-away or break in points

dK d  1  d
   
ds ds  G ( s)  ds
 s ( s 
2
 6s  25)  0 
 [3s 2  12 s  25]  0

 12  144  300  12   156 Complex

s1 , s2   numbers
6 6

NO break away or break in points

 only exist on real-axis of s-plane

41
Step 7: Since complex poles exist, calculate the angle of departure

 p |s  3 j 4  180 o   zi  p j

4  p  180    90
o o

 due to s=0 due to its

complex
-3 0 conjugate

-4

How to determine θ?

42
 To determine θ   180   o

4
4
   tan ( ) 1
 3
-3 0

Thus:
-4

4
  180  tan    126.87 o
o 1

3
Angle of departure :

 p  180  126.87  90  36.87

o o o
-36.87o
Cross Hair
43
Step 8: Determine jω-crossing

see RULE 8 : After this

Step 9: Sketch the root locus

-36.87o 4

Rule 8

-3 -2 0

-4
36.87o

44
Rule 8 : R-L crosses jω-axis
K
G ( s) 
s ( s 2  6 s  25)
From Characteristic equation:

1  G(s)  0
K
1 0
s( s 2  6 s  25)

s 3  6 s 2  25s  K  0

45
Construct the Routh array

s3 1 25

s2 6 K

s1 (6(25)-K)/6=
(150-K)/6
s0 K

46
Force row s1 to be zero, thus 150-K=0; K = 150

Substitute K = 150 into row s2

6 s 2  150  0

s  25
2

s 
 25   j 5

Since s = jω

j   j 5
Thus   5
47
Final Sketch
-36.87o 5
4

-3 -2 0
10 points

-4
36.87o -5

48
Try it
Sketch the root locus for:

K ( s  2 s  2)
2
G ( s) 
s ( s  1)( s  2)

49
How to use Matlab to sketch root locus
K ( s  3)( s  4) K [ s 2  7 s  12]
KG ( s )  
( s  1)( s  2) s 2  3s  2

In Matlab:

num = [1 7 12]
den = [1 3 2]

rlocus(num,den)
rlocus

50
Figure 8:10 page 438

51
Any Q’s ???

52