Roots Locus

Root locus is a graphical method used in control systems engineering to analyze the behavior of a system's
poles (or roots) as a parameter is varied. It shows the locations of the roots of the system's characteristic
equation as the parameter changes.

In the root locus plot, the parameter is typically represented by a variable, often denoted as "s" (for
Laplace transform) or "z" (for Z-transform), and the plot shows how the roots of the characteristic equation
move in the complex plane as this parameter varies. The root locus plot can provide valuable insights into
the stability and dynamic response of a control system.

The root locus plot is constructed based on the properties of the system's open-loop transfer function. It
allows engineers to evaluate the effect of changing system parameters on stability, transient response, and
gain margin. By analyzing the root locus, engineers can make informed design decisions to achieve desired
system performance.

In summary, root locus is a graphical tool used to study the behavior of a system's poles as a parameter is
.varied. It provides valuable insights into stability and control system design
The objectives of root locus analysis in control systems engineering are as follows:

1. Determining System Stability: The root locus provides information about the stability of a control system
.by showing the regions in which the closed-loop system poles would lie for varying controller gains

Analyzing Pole Movement: Root locus analysis allows engineers to visualize the movement of the system .2
.poles as the controller gain varies

Controller Design: The root locus assists in designing the appropriate controller for a given control .3
system.

4. Determining Sensitivity: Root locus analysis enables engineers to evaluate the sensitivity of the system
.to parameter variations

In summary, the objectives of root locus analysis in control systems engineering include determining
system stability, analyzing pole movement, designing controllers, and assessing system sensitivity. These
objectives help engineers develop effective and robust control systems that meet the desired performance
.specifications
rlocus
Root locus plot of dynamic system

Syntax
rlocus(sys)
rlocus(sys1,sys2,...)
[r,k] = rlocus(sys)
r = rlocus(sys,k)
Description
example
rlocus(sys) calculates and plots the root locus of the SISO
model sys. The root locus returns the closed-loop pole
trajectories as a function of the feedback gain k (assuming
negative feedback). Root loci are used to study the effects of
varying feedback gains on closed-loop pole locations. In turn,
these locations provide indirect information on the time and
.frequency responses
You can use rlocus to plot the root locus diagram of any of the
following negativefeedback loops by setting sys as shown
:below
 Root Locus Plot of Dynamic System
For this example. plot the root-locus of the following SISO
:dynamic system
Get
sys = tf([2 5 1],[1 2 3]); rlocus(sys)

The poles of the system are denoted by x, while the zeros are
denoted by o on the root locus plot. You can use the menu
within the generated root locus plot to add grid lines, zoom in or
.out, and also invoke the Property Editor to customize the plot
Root Locus Plot of Multiple Dynamic System Models
For this example, consider sisoModels.mat which contains the
:following three SISO models
sys1a transfer function model •
sys2a state-space model •
sys3a zero-pole-gain model •

rlocus(sys1,'b',sys2,'k',sys3,'r') hold on
legend('sys1','sys2','sys3') hold off