Cs 8343 Root Locus Lecture 2

Design and Analysis of CS by Using Root
Locus
Lecture 02
Design and Analysis of CS
A designer would like to know:
 To know if the system is absolutely stable and degree
of stability.
 Topredict a system’s performance by an analysis that

does not require the actual solution of the differential
equations
 The
analysis to indicate readily the manner or method
by which this system must be adjusted or
compensated to produce performance characteristics
Design and Analysis of CS
Two methods are available:
 Root locus approach
 Frequency response approach

Root Locus Definition
 If the system has a variable loop gain, then the location
of the closed-loop poles depends on the value of the
loop gain chosen.
 From the design viewpoint, in some systems simple
gain adjustment may move the closed-loop poles to

desired locations.
 Then the design problem may become the selection of
an appropriate gain value.

 If the gain adjustment alone does not yield a desired
result, addition of a compensator to the system will

become necessary.
 The root locus method has been established as a useful tool
for the analysis and design of linear time invariant control
systems
 The root locus diagram is essentially a graphical plot of the
loci of the roots of the characteristics equation of a system
as function of a real parameter K which varies from .
 It gives an indication of the absolute stability and to some
extent, relative stability of a control system w.r.t the
variation of parameter K.
 Recall the definition of a control system and a closed loop
TF
 A controller gets an input E(s), attenuate or amplify it
accordingly
 Then the output signal is fed to the plant/process
 Controllers have a parameter called gain (K)
 How we chose this parameter affects the location of poles

and zeros on the s-plane
Root Locus Definition: Example
 Knowing the location of poles is important because:
◦ It affects the transient response
◦ It indicates whether is system is stable or not
 This is where Root Locus comes in handy as it shows you

graphically how the closed loop poles move around the s-
plane as parameter K varies from zero to infinity
 Root Locus is a graphical method of examining how the
roots of a characteristic equation change with variation of a
parameter K
 Taking the previous example;
 Starting from K = 0 calculate the location of poles on s-

plane and repeat for each value of K up to infinity
 The following plot will be obtained
Root Locus: Advantages
 We do not have to find roots of a characteristic equation for

each value of “K”
 Help predict the performance of the whole system
 It is a better way of indicating parameter value “K”

Root Locus Design Procedures
Step 1: Locate all open loop poles and zeros on s-plane
 Example:
Pole-Zero Map
1
0.5
Imaginary Axis
0
-0.5
-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
NOTE:
1) Number of branches of the root locus, that is number of

path of closed-loop poles, equals number of open-loop
poles
2) Root locus is symmetrical about real axis
Example
 Example:
 The system will have 3 root locus branches

Step 2: The root locus exists on the real axis to the left of odd
number of poles and zeros.
 Consider the system shown in following figure;

 The closed loop transfer function is

C (s) G ( s)

R(s) 1  G (s) H (s)
1  G(s) H (s)  0
G ( s) H ( s )  1
 Angle condition;
 Magnitude condition;
G ( s) H ( s)  1
 Thus, root locus should satisfy the above conditions

Step 2: Example
 If the angle of the open loop transfer function at a point is
an odd multiple of 180 degrees, then that point is on the root
locus
 Take an example
K
G ( s) H ( s) 
s ( s  1)( s  2)
Step 2: Test point
Take p1 as a test point on
positive axis
The angle condition is not

satisfied
Hence, there is no root locus on

the positive real axis
Step 2: Test point
Next, select a test point on the
negative real axis between 0 and
–1
The angle condition is satisfied
Hence, there is root locus

between 0 and - 1
Step 2: Test point
Next, select a test point on the
negative real axis between - 1
and – 2
The angle condition is not

satisfied
Hence, there is no root locus

between - 1 and - 2
Step 2: Test point
Similarly, test point on the
negative real axis between - 2
and – ∞ satisfies the angle
condition
The angle condition is

satisfied
Hence, there is root locus

between - 2 and – ∞
Step 2: Example
 As shown below, we can see that the root locus exists on
real axis to the left of odd number of poles and zeros
Step 3: Each plot will start at an finite or infinite open-loop
pole (K = 0) and ends at an finite and infinite open-loop zero
(K is infinity)
 Consider the following


(K is infinity)
 Characteristic equation:

(K is infinity)
 When;
 That says, the root locus starts at open loop pole when K is
0
(K is infinity)
 When;
 That says, the root locus ends at open loop zero when K is
infinity
Step 3: Example
 Example:
K
G ( s) H ( s) 
s ( s  1)( s  2)
 Branches will start at 0, - 1 and – 2
 Branches will end at infinity

Step 3: Example
Step 4: Root locus must break away from real axis somewhere
between poles and must have an entry point on real axis
between zeros
 A breakaway point is the point on a real axis segment of

the root locus between two real poles where the two real
closed-loop poles meet and diverge to become complex
conjugates
 Because the closed-loop poles originate from open-loop

poles (when K = 0), a breakaway point will correspond to
the point of maximum K along the real-axis segment
between zeros
 A break-in point is the point on a real axis segment of the

root locus between two real zeros where two real closed-
loop complex conjugate zeros meet and diverge to become
real
 Similarly, a break-in point will correspond to the point of

minimum K on the real axis segment between the two zeros
Step 4: Example
Note
 If the root locus on the real axis lies in the interval between
an open-loop pole and an open-loop zero, there may or may
not be break points between the pole and zero
 If there are break points in this case, there will always be

two break points, a break-in point and a break-away point
between zeros
 To determine the break away and break in point:

dK
0
ds
 Note that, not all solutions to the above equation
corresponds to break away and break in point
between zeros
 A point should lie on root locus on real axis to be a break

away and break in point
 Also a value of K should be a real positive value

Step 4: Example
 Given; K
G ( s) H ( s) 
s( s  1)( s  2)
 Characteristic equation is;
Step 4: Example
 Determine break away and break in points as;
dK
 Set 0
ds
Step 4: Example
 Since the root locus lies between 0 and – 1, then the break
away point is;
 The other root is not on the root locus thus, it is not a break
away point;
Step 5: The branches going to infinity asymptotically
approach the straight line defined by angle and intercept
 Angle of asymptote;
 Centroid on the real axis;

Step 5: Example
 Given; K
G ( s) H ( s) 
s( s  1)( s  2)
 Note: Number of asymptotes = no. of poles – no. of zeros

Step 5: Example
 Given; K
G ( s) H ( s) 
s( s  1)( s  2)
 Centroid;
Step 5: Example
Discussion Questions
 Consider following unity feedback system.
 Determine and sketch

◦ Root loci on real axis
◦ Angle of asymptotes
◦ Centroid of asymptotes
 Determine and sketch root locus on real axis, angle of
asymptote, centroid, break away and break in point for the
following:
following:
following:
Step 6: Find the angle of departure/arrival from/to complex

pole/zero
 The angle of departure is the angle at which the locus

leaves a complex pole in the s-plane.
 The angle of arrival is the angle at which the locus arrives

at a complex zero in the s-plane
pole/zero
Knowledge of this angle is
important, since the root
locus near a complex pole
yields information as to
whether the locus
originating from the
complex pole migrates
toward the real axis or
extends toward the
asymptote
pole/zero
 Taking both angles of zeros and poles to be positive, angle

of departure is given as;
 Taking angles of zeros to be positive and angles of poles to

be negative, angle of departure is given as;
pole/zero
 Taking both angles of zeros and poles to be positive, angle

of arrival is given as;
 Taking angles of zeros to be positive and angles of poles to

be negative, angle of arrival is given as;
Step 6: Example
 For the system below, find the angle of departure;
Step 6: Example
 Angle of departure;
Step 7: Determine the intersection of root locus with
imaginary axis
 This is important as it gives information about which gain

makes the system unstable
 This can either be found by using Routh Hurwitz approach

or substitution of s with jω in the characteristic equation
approach
Step 7: Example
 Taking an example  Routh Table
Step 7: Example
 To make the system marginally stable, there should be a
zero in the first column as;
 To find the crossing point can be found by solving the

polynomial as;
Step 7: Example
 An alternative approach is by substituting s with jω as;
 Equate real and imaginary part, then solve as;

Step 7: Example
 Then;
 Remember, the break away point (calculated previously)

was - 0.4226
 Sketch the rest of the root locus graph

Step 7: Example
 Sketch the root locus of the following system;
Discussion Questions: Answer

Discussion Questions: Answer
 Sketch the root locus for the system with the characteristic
equation of
Root Locus Plot: Damping Ratio
 Once the root locus is sketched, one may wish to locate a

point and its gain value
 For instance, one may wish to locate the point that root
locus crosses damping ratio of 0.6
Root Locus Plot: Damping Ratio
 From the s-plane, we can see that;
Root Locus and Damping Ratio:
Example
 Consider following unity feedback system
K
G ( s) H ( s) 
s ( s  1)( s  2)
 Determine the value of K such that the damping ratio of a

pair of dominant complex-conjugate closed-loop poles is
0.5
Example
 Damping ratio of 0.5 corresponds to:
  cos 
1
  cos 
  cos 1 (0.5)  60
 Closed loop poles with damping ratio is 0.5 lie on the lines
passing through the origin and making the angle 60° with
the negative real axis
Example
 Let’s assume that a pole;
 To be on the root locus, the pole p should satisfy;

Example
 Separating real and imaginary parts as;
 But;
Example
 Then;
 The third pole can be obtained as;

Root Locus for Positive-Feedback
Systems
 Transfer function is given as;
 The characteristic equation is;

Systems: Design Procedures
Step 1: Locate all open loop poles and zeros on s-plane
NOTE:
1) Number of branches of the root locus, that is number of

path of closed-loop poles, equals number of open-loop
poles
2) Root locus is symmetrical about real axis
 The angle condition, however, must be altered as;
Therefore:
Step 2: The root locus exists on the real axis to the left of even
number of poles and zeros
(K is infinity)
between zeros
Step 5: The branches going to infinity asymptotically
approach the straight line defined by angle and intercept
 Centroid on the real axis;

pole/zero
 Angle of departure is;
 Angle of arrival is;

Step 7: Determine the intersection of root locus with
imaginary axis
 Sketch a root locus for the positive unity feedback system
below:
 Step 1: Locate all open loop poles and zeros in s-plane;
 Step 2: Root locus exists between – 3 and - ∞ and also

between ∞ and – 2 on the real axis
NOTE: 0 is also an even number

 Step 3: Root locus starts at a pole (– 3) and ends at infinite
zero and also starts at infinite pole and ends at zero (– 2)
 Step 4: Break in point is at s = – 0.8 since the point lies on

root locus. Because of occurrence of this break in point then
it means there exists root locus from infinite zero and ends
at zero (– 2)
 Step 5 : Asymptote and centroid;
 Step 6 : Angle of departure;
 Step 7 : No imaginary axis crossing
 Given;
 Find the values of K and α that yield a second order pair

poles of − 1 ± j100
 Given;
 Do the following;
◦ Sketch the root locus
◦ Find the imaginary axis crossing
◦ Find gain K at the imaginary axis crossing
◦ Find break in/break away points
◦ Find angle of departure from complex poles
 Given;
◦ Find the imaginary axis crossing
◦ Find gain K at the imaginary axis crossing
◦ Find break in/break away points
◦ Find the point and gain K where the root locus crosses
damping ratio of 0.5
◦ Find gain K for which the system is stable
 Given;
◦ For what range of K will the poles be in the right half-
plane?
 Given;
◦ Also find the break away/in points, imaginary axis
crossing and range of gain for stability for each case
◦ Find angle of arrival in part (a)
 For the plot shown below, sketch the root locus and find
break in point:
Effects of poles and zeros on a root locus
General effects of the addition of poles:

1. Pull root locus to right
2. Lower system’s relative stability
3. Slow down the settling of the response
General effects of the addition of zeros:

4. Pull root locus to the left
5. Makes system more stable
6. Speed up the settling time of the response
Thank You and Have a Nice Day

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Design and Analysis of CS by Using Root

 Topredict a system’s performance by an analysis that

 Root locus approach

 Frequency response approach

gain adjustment may move the closed-loop poles to

an appropriate gain value.

result, addition of a compensator to the system will

 Then the output signal is fed to the plant/process

 Controllers have a parameter called gain (K)

 How we chose this parameter affects the location of poles

◦ It affects the transient response

◦ It indicates whether is system is stable or not

 This is where Root Locus comes in handy as it shows you

 Starting from K = 0 calculate the location of poles on s-

 We do not have to find roots of a characteristic equation for

 Help predict the performance of the whole system

 It is a better way of indicating parameter value “K”

1) Number of branches of the root locus, that is number of

 The system will have 3 root locus branches

 Consider the system shown in following figure;

 The closed loop transfer function is

 Thus, root locus should satisfy the above conditions

The angle condition is not

Hence, there is no root locus on

The angle condition is satisfied

Hence, there is root locus

The angle condition is not

Hence, there is no root locus

The angle condition is

Hence, there is root locus

 Consider the following

Step 3: Each plot will start at an finite or infinite open-loop

Step 3: Each plot will start at an finite or infinite open-loop

 Branches will start at 0, - 1 and – 2

 Branches will end at infinity

 A breakaway point is the point on a real axis segment of

 Because the closed-loop poles originate from open-loop

 A break-in point is the point on a real axis segment of the

 Similarly, a break-in point will correspond to the point of

 If there are break points in this case, there will always be

 To determine the break away and break in point:

 A point should lie on root locus on real axis to be a break

 Also a value of K should be a real positive value

 Centroid on the real axis;

 Note: Number of asymptotes = no. of poles – no. of zeros

 Determine and sketch

Step 6: Find the angle of departure/arrival from/to complex

 The angle of departure is the angle at which the locus

 The angle of arrival is the angle at which the locus arrives

 Taking both angles of zeros and poles to be positive, angle

 Taking angles of zeros to be positive and angles of poles to

 Taking both angles of zeros and poles to be positive, angle

 Taking angles of zeros to be positive and angles of poles to

 This is important as it gives information about which gain

 This can either be found by using Routh Hurwitz approach

 To find the crossing point can be found by solving the

 Equate real and imaginary part, then solve as;