CHAPTER 3

3.1 Root-Locus Technique

Contents
Introduction
3-2 Basic Properties of the Root Loci(RL)
3-3 Properties of the Root Loci
3-4 Design Aspects of the Root Loci
3-5 Root Contours(RC) !u"tip"e-Para#eter
$ariation
I#portance of the po"es%&eros of CL'( of LC)
po"es sta*i"it+ of "inear )I),
&eros transient properties (fre-uenc+ response)
'ra.ectories of the roots of characteristic e-/
root "oci 0hen a certain s+ste# para#eter 1aries
2i1en the "oop '( *asis% properties
*eha1ior of theories of an+ a"ge*raic e-/ 0ith 1aria*"e para#eter
ana"+sis 3 design purpose
2enera" root-"ocus pro*"e#
4 ( ) ( ) ( ) F s P s KQ s +
5
5 5 4
( )
n n
n
P s s a s a s a

+ + + + L
5
5 5 4
( )
m m
m
Q s s b s b s b

+ + + + L
!u"tip"e-1aria*"e para#eter
$ar+ing one para#eter at a ti#e (root contours)
Purpose of identification
RL
4 K <
CRL (co#p"e#entar+ root "oci)
4 K <
RC (root contours) #u"ti1aria*"e
Root "oci K < <
3.2 Basic Properties of the Root Loci1!"#
5
( ) ( )
( ) ( ) ( )
Y s G s
R s G s H s

+
5 4 ( ) ( ) G s H s +
( )
( ) ( )
( )
KQ s
G s H s
P s

5 4
( ) ( ) ( )
( ) ( )
KQ s P s kQ s
P s P s
+
+
5 ( ) ( ) G s H s + Root loci
5 5
( ) ( ) ( ) ( ) G s H s KG s H s
5 5
5
( ) ( ) G s H s
K

Basic Properties of the Root Loci[2/4]
Condition of #agnitude
5 5
5
( ) ( ) G s H s K
K
< <
Condition of ang"es
5 5
2 5 4 ( ) ( ) ( )

G s H s i K

o
odd multiples of radians or 180
5 5
2 4 ( ) ( )

G s H s i K

o
even multiples of radians or 180
2raphica" pro*"e#
5 2
5 5
5 2
( )( ) ( )
( ) ( ) ( ) ( )
( )( ) ( )
m
n
K s z s z s z
G s H s KG s H s
s p s p s p
+ + +

+ + +
5
5 5
5
5
( ) ( )
m
k
k
n
j
j
s z
G s H s K
K
s p

+
< <
+
RL 5 5
5 5
2 5 564 ( ) ( ) ( ) ( ) ( )
m n
k j
k j
G s H s s z s p i

+ + +

o
CRL 5 5
5 5
2 564 ( ) ( ) ( ) ( )
m n
k j
k j
G s H s s z s p i

+ +

o
'he 1a"ue of 7
5
5
n
j
j
m
k
k
s p
K
s z

3.3 The construction of the root $oci

5
2 3
( )
( ) ( )
( )( )
K s z
G s H s
s s p s p
+

+ +
RL for positi1e 1a"ues of 7
5 5 5 5 2 5 3
5 5 2 3
2 5 564
( ) ( ) ( )
( )
z p p p
s z s s p s p
i
+ + +
+
o
RL for negati1e 1a"ues of 7
5 5 5 5 2 5 3
5 5 2 3
2 564
( ) ( ) ( )

z p p p
s z s s p s p
i
+ + +

o
!agnitude of 7
5 5 2 5 3
5 5


s s p s p
BCD
K
s z A
+ +

+
3." Properties % Construction
784 3 789 Points
784 the po"es of 2(s):(s)
789 the &eros of 2(s):(s
E&a'p$e 3.1
2 3 5 4
5
5 5 4
2 3
5
2 3
( )( ) ( )
( )
( ) ( )
( )( )
( )
( ) ( )
( )( )
s s s K s
K s
G s H s
s s s
K s
G s H s
s s s
+ + + +
+
+ +
+ +
+

+ +
;u#*er of Branches nu#*er of *ranches 8 order of po"+no#ia"
)+##etr+
)+##etrica" 0ith respect to the rea" a<is of s-p"ane
Ang"es of as+#ptotes
Beha1ior at
s
2 5
564 (
i
i
n m
n m

o
K 0(RL):
2
564 (
i
i
n m
n m

o
K 0(CRL):
Rules for Root-Locus construction
5/ 'he *ranches of the root-"ocus start at the po"es of =A for '84 and ter#inate at
the &eros of =A for '>?
2/ If =A has a"" &eros in the L:P the "ocus is on the rea" a<is if there is an odd
nu#*er of &eros and po"es to the right
3/ )eg#ents of the "ocus that are on the rea" a<is *et0een t0o po"es #ust *ranch out
fro# the rea" a<is
4/ 'he "ocus is s+##etrica" 0ith respect to the rea" a<is
5/ Branches of the "ocus "ea1e the rea" a<is at right ang"es
@/ Ahen *ranches *reaB a0a+ fro# the rea" a<isC the+ do that at the point 0here the
1ector su# of reciproca"s of distances to the po"es e-ua"s the 1ector su# of
reciproca"s of distances to the &eros
D/ If =A has a"" &eros in the L:PC *ranches go to infinit+ 0ith ang"es of
P E
P E
2n-5)
C n84C5C////C; -; -5
(; -; )

6/ Branch as+#ptotes intersect the rea" a<is at -
[ ] [ ]
P E
po"es of A &eros of A
; -;
INT

Example 3.2
)uppose the p"ant has transfer function
2
5
) (
s
s
s H
+

and one uses the "ag co#pensator

5
6
) (
+
+

s
s
s K
/
'hen the "oop gain is
) 5 (
) 6 )( 5 (
) ( ) ( ) (
2
+
+ +

s s
s s
s H s K s G
/
'he re"ati1e degree is #85C so there is one &ero at infinit+/ 'he as+#ptote is at -564
o
C so
the centroid need not *e found/
It is straightfor0ard to use the RL ru"es to -uicB"+ sBetch the RL/ 'o p"ot the RL
using !A'LABC one si#p"+ uses the co##and "ines
nu#8 F5 53 44G H
den8 F5 5 4 4G H
r"ocus8 (nu#Cden)
'he resu"t is sho0n *e"o0/
'he 1a"ue of B for 0hich the RL crosses the i#aginar+ a<is is easi"+ found using
the Routh test/ 'he characteristic po"+no#ia" is found fro# 5IB2(s) as
k ks s k s s s k s s 44 53 ) 5 ( ) 6 )( 5 ( ) 5 (
2 3 2
+ + + + + + + + /
'he Routh Arra+ is gi1en *+
k
k
k
k k
k
s
s
s
s
44
53
44
2D 53
5
5
2
4
5
2
3

+
0here one has #u"tip"ied the third ro0 *+ BI5/ 'o ensure that a"" coefficients in the first
co"u#n are positi1eC one re-uires that
53
2D
> k / 'husC the RL crosses the i#aginar+
a<is at B8 2D%53/ 'he roots at this point are deter#ined *+ su*stituting B8 2D%53 into the
characteristic po"+no#ia" and using the !A'LAB root-finder JrootsJ/ 'he !A'LA*
co##and "ines are
B82D%53 H
de"8F5 BI5 53KB 44KBG H
roots(de")
ans 8
4/4444 I 5/5L@2i
4/4444 - 5/5L@2i
-3/4D@L
M<a#p"e 3/2
)uppose the p"ant has transfer function
( )
2
s 5
2(s)
s
+
And
s 6
contro""er 7
s 5
+

+
'hen the "oop gain is
( ) ( )
( )
2
s 5 s 6
72(s)
s s 5
+ +

+
;o0 0e app"+ the RL ru"es
'he RL #o1es fro# the <Js to oJs/
'he rea" a<is *et0een s=-1 and s=-5 is on the RL/ 'he rea" a<is *et0een s8-6 and s
is on the RL/
'he re"ati1e degree is m=1C so there is one &ero at infinit+/ 'he as+#ptote is at -
564
4
C so the centroid need not *e found/ 'he RL sBetch found fro# these ru"es is gi1en
*e"o0/
'o p"ot the RL using !A'LABC one si#p"+ uses the co##and "ines
nu#8 F5 53 44G H
den8 F5 5 4 4G H
r"ocus (nu#Cden)
-25 -20 -15 -10 -5 0 5
-15
-10
-5
0
5
10
15
Root Locus
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
-8
-5
-1
0
(2)
E&a'p$e 3."
Dra0 a root "ocus of the transfer function *e"o0
( ) C ( )
2
) (s * 3) ) (s * 3)
+1
s (s * 2) (s*2-,)(s*2*,) s (s * 2) (s * "s * -)
G s H s
.o$ution
n = 4, m= 1, n m = 3
Rea" a<is part of root "ocus
2 s 0, s 3
Angle of asymptotes:
( ) 564 2 5
C 4C5C 2C
/ / / / /
0/ ( 11/ ( 3// + 0/ ( 11/
3
A A
l
l
+
t
Center of asymptotes:
( ) 4 ( 2) ( 2 ) ( 2 ) 3
5
3
A
j j

+ + + +

Break points:
5 4
2
) (s * 3)
at an2 c$ose3-$oop po$e
s (s * 2) (s * "s * -)
+
" 3 2
2
- s * 0s *13s * 1/s
-s (s * 2) (s * "s * -)
(s * 3) (s * 3)
K
1
]

4
3 2 " 3 2
2
-s (s * 3) ("s * 11s *20s*1/)-(s * 0s *13s * 1/s)1
(s * 3)
dK
ds

( 4/D54L)( 3/5424)( 5/6533 4/5@LD)
" 3 2
/+3s * 2"s * 04s * 41s * 3/
dK
ds
dK
s s s j
ds

+ + + t
4/D54LC 3/5424
B

Ang"e of departure
( ) ( ) ( )
4 4
3 4 5
4 5 5 5
5 4 5 4 5 4
2 4 2 ( 2) 2 ( 3)
F564 L4 G
F2D4 tan tan tan G +-
D p p z




+ + +
+ +
4 4 4 4 4 4
F2D4 ( 2@/5@5 564 ) L4 45 G 4@6/435 + + +
4
546/435
D

C"osed-"oop characteristic e-uation for unit+ feed*acB
( )
( )
" 3 2
5(s) ) (s * 3)
1*5(s) s *0s *13s *(1/*))s*3)
s
R s

C"osed-"oop characteristic e-uation
" 3 2
(s)+s *0s *13s *(1/*))s*3)
"
3
41 - (1/ * )) 2
0
1
/
s 1 13 3)
s 0 (1/ * ))
s 3)
s c
s 3)
( )
5
F G 54 56
F G
41 - (1/ * ))
0
41 - (1/ * ))
0
(01 - )) (1/*)) - 1/1)
0
K K

+

() * 01.12"1) () - 11.12"1)
Li#its on 7 for sta*i"it+
2
1
s/ 6 3) 7 / ) 7 /
s 6 01-) 7 / ) 8 01
s 6 c1 7 / -01.12"1 8 ) 8 11.12"1
/ 8 ) 8 11.12"1

I#aginar+ a<is crossing

At ) + 11.12"1C the au<i"iar+ e-uation (s
2
ro0 in Routh Arra+) is
2
3K55/5246 4
2
01 - 11.12"1
9."492s * 33.34""
0
s+:,1.140"
s
_
+

,
'he root "ocus for M<a#p"e 3 is sho0n in (ig/ *e"o05/ Mach "ine (*ranch of the root
"ocus) represents the #o1e#ent of one c"osed-"oop po"e as the gain 7 1aries fro# 4 to ?/
'he dashed "ines in the figure are the t0o as+#ptotes that ha1e ang"es of 9@4
4
-6 -4 -2 0 2
-5
0
5
Root Locus for G(s) = K(s+3)/[s(s+2)(s+2-j)(s+2+j)]
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
M<a#p"e 3/5
)Betch the "oci of the c"osed "oop s+ste# po"es for 1ar+ing 7N4 for s+ste#s 0ith the
fo""o0ing open "oop transfer functions/ Indicate the nu#*erC directionC and point of
intersection of the as+#ptotesC the ang"e of departure of the "oci fro# co#p"e< po"esC
and 7
critica"/

)o"ution
p85 and &84 ;u#*er of Branches85
Onm!er of asymptotes: n Pm ="

( )
4
564 2 5
C 4C5C 2C 3C 4 C564
+
t t
/ /
30 ( 1/1
-
A A
l
l
Center of asymptotes:

2 5
564 (
i
i
n m
n m

o
K 0(RL):
2
564 (
i
i
n m
n m

o
K 0(CRL):
'herefore
( ) 4 ( 2) ( 2 @) ( 2 @) 5
2/2
+ + + + +

-
A
j j
Ang"e of departure
P F
D

I L4 I (564 P=)I Q I L4G 8 P564 and using Q 845

4
and = 85@
4
0e get
D

8 5L5
4
'he c"osed-"oop characteristic e-uation is s(s I2)(s I5)(s
2
I4s I 53) I 7 84 or
s
5
I 55s
4
I55s
3
I 535s
2
I 534s I 7 8 4/
)u*stituting s 8 .R and 7 8 7
crit
C 0e get .R
5
I 55R
4
P55.R
3
P535R
2
I 534.R I 7crit 8
4 BreaBing into rea" and i#aginar+ parts
55R
4
P535R
2
I 7crit 84
R
5
P55R
3
I 534R 84
'he second e-uation gi1es R 84C 95/@4C 9@/L5/ P"ugging *acB into the first e-uation
gi1es 7crit 84C 2D3C P5L33D/ )ince 0e are interested in the root "ocus for 7N 4C the
ans0er is 7crit 8 2D3
A"ternati1e 0a+ of getting 7crit *+ using routh ta*"e
'he corresponding root "ocus is