Root-Locus

(Revision)
Root-Locus (Revision)
The Control System Problem

Fig.1 Closed-loop control system

Root-Locus (Revision)

KG
T ( s) 
1  KGH

Example 1
Consider unity feedback system with a proportional controller and a plant ss  10
Sketch the pole location as function of k
Root-Locus (Revision)
Root-Locus (Revision)
Root-Locus (Revision)
Root Locus for the System
Paths of the closed-loop poles as K varies

Conclusions:

• The system is always stable

regardless the value of K

• We can interpret the effect of

the value of K on different
system parameters
Root-Locus (Revision)
The root-locus method is a graphical method for determining the locations of all
closed-loop poles from knowledge of the locations of the open-loop poles and zeros
as some parameter (usually the gain) is varied from zero to infinity. This method was
developed by W. R. Evans (1948).

Referring to Fig. 1, the characteristics equation is in the form

1  GH  0
s  p1 s  p2 ............s  pn   k s  z1 s  z2 ............s  zn   0

• For k =0 the roots of the ch. Equation are p1, p2,…..pn and are called the poles
(denoted by x)
• For k = ∞ the roots of the ch. Equation are z1, z2,…..zn and are called the zeros
(denoted by o)
Root-Locus (Revision)
The characteristics equation for a closed loop system also may be written as .

GH  1

Since the above equation is a vector, it can be represented in terms of angle and
magnitude:

Magnitude
s  p1 * s  p2 ............ s  pn
GH  1  k
s  z1 * s  z 2 ............ s  z n

Angle

GH  180
 angles of the poles  angles of the zeros  180
Root-Locus (Revision)
Root Locus Construction Rules

1- Locate the open loop poles (k = 0). The root loci start at the open loop poles (n
loci).
2- Locate the open loop zeros (k = ∞). The root loci terminate at the open loop zeros
when they exist (m loci), otherwise at infinity.
3- The remaining of the loci tends to the asymptotes (n-m) loci.
4- Number of asymptotes =n-m
5-Angle of asymptotes =180 ± k * 360 / (n-m) (k = 0, 1, 2, …..n-m-1)
6- The asymptotes intersect the real axis at appoint  given by

n m
 pi   z i
i 1 i 1

nm
Root-Locus (Revision)




n-m =1
n-m =2

 60
60  45
n-m =3 45

n-m =4
Root-Locus (Revision)
7- Loci on the real axis, a point on the real axis is part of the loci if the sum of the
number of the open loop poles and zeros to the right of the point concerned is odd.

8- breakaway points, the point at which a locus breaks away from the real axis, can
be calculated using the following equation

dk
0
ds
Root-Locus (Revision)
9- Intersection with the imaginary axis, the location on the imaginary axis of the loci
(marginal stability) can be calculated by replacing s by j in the ch. Equation (since 
= 0 on the imaginary axis).
10- Angles of departure and arrival are computed using the angle condition.
Note:
• Number of distinct root loci is equal to the order of the
characteristic equation.
• The root loci are symmetrical about real axis.
Example 1
A control system has the following open loop transfer function

k
GH 
s( s  1)( s  2)
Sketch the root locus diagram obtaining asymptotes, breakaway point and imaginary
axis crossover point. What is the value of the gain k for marginal stability.
Root-Locus (Revision)
Solution
Open loop poles are 0, -1, and -2 n =3
Open loop zeros none m=0
Number of asymptotes = n – m = 3 – 0 = 3
Angles of the asymptotes 60, 180  and 300 .
Asymptotes intersection
n m
 pi   z i 0 1 2  0
i 1 i 1
   1
nm 3

Breakaway point
k
1  GH  1   0  s 3  3s 2  2s  k  0
ss  1s  2
Ch. Equation

k   s 3  3s 2  2s
Root-Locus (Revision)
dk
  3s 2  6s  2  0  s1  0.4226 and s2  1.5774
ds
s2 is rejected, since there is no locus
Imaginary axis crossover, substitute s = j in the ch. equation:

 j 3  3 j 2  2 j   k  0
k  3  j 2     0
2 2

 2  k 6
or   0  k  0
Root-Locus (Revision)
Determine a pair of dominant complex-conjugate closed-loop poles such that the
damping ratio  is 0.5. Closed-loop poles with = 0.5 lie on lines passing through
the origin and making the angles ± cos-1 = ± cos-10.5 = ±60 with the negative real
axis. From the figure, such closed-loop poles having  =0.5 are obtained as
follows:
s1,2  0.3337  j 0.578
The value of k that yields such poles is found from the magnitude condition as
follows:

k    0.33372   0.5782  *   1  0.33372   0.5782 

   
*   2  0.33372   0.5782   1.038
 
Root-Locus (Revision)
Example 2
Sketch the root locus diagram for a control system shown in the following figure.

Solution
Open loop poles are s1, 2  1  j 2 n =2
Open loop zeros s = -2 m=1
Number of asymptotes = n – m = 2 – 1 = 1
Angles of the asymptote is 180 .
A simple test reveals that a section of the negative real axis between -2 and -∞ is a
part of the root locus. It is noted that, since this locus lies between two zeros, it is
actually a part of two root loci, each starts from one of the two complex conjugate
poles.
Root-Locus (Revision)
Determine the angle of departure from the complex conjugate open pen loop poles.

1   2  1  180
1  180  55  90  145

Determine the break-in point

Ch. Equation

k s  2 s 2  2s 2  3
1  GH  1  2 0  k 
s  2s  3 s2
dk

 
s  22s  2  s 2  2s 2  3
0

ds s  22

s 2  4s  1  0
s  3.732 or s  0.268
Root-Locus (Revision)
Notice that point s = –3.7320 is on the root locus. Hence this point is an actual break-
in point.