1

Root Locus Analysis

Root Locus Analysis
The transient response of a closed-loop system is completely
determined by the location in the s-plane of the closed-loop
system poles and zeros. This shows if the system is stable and
also whether there is any oscillatory behaviour in the time
response. Therefore, it is worthwhile to determine how the
roots of the characteristic equation as a system parameter is
varied. The root locus method is proposed by Evans in 1948.
It is a graphical method for system analysis and design
2
Root Locus Concept
G(s)
+
-
E(s) R(s)
k
Y(s)
C(s)
1
) (
) (
) (
1
1
s D
s N
s G =
) (
) (
) (
2
2
s D
s N
s C =
) ( ) ( ) ( ) (
) ( ) (
) ( ) ( 1
) ( ) (
) (
2 1 2 1
2 1
s D s D s N s kN
s N s N
s C s kG
s C s kG
s T
+
=
+
=
3
The poles of T(s) = zeros of ) ( ) ( 1 s C s kG +
= zeros of kN s N s D s D s
1 2 1 2
( ) ( ) ( ) ( ) +
Let
) ( ) (
) ( ) (
) (
) (
) ( ) (
1
1
n
m
p s p s
z s z s k
s P
s kZ
s C s kG
+ +
+ +
= =
L L
L L


then the closed-loop poles are the roots of
P s kZ s ( ) ( ) + = 0

Therefore

zeros loop open system
poles loop open system
0 ) (
0 ) ( 0
=
=


s Z
s P
k
k

zeros loop - open the poles loop - closed the
poles loop - open the poles loop - closed the 0

k
k
For certain k, to find the corresponding closed-loop poles is
to find the roots of ) ( ) ( 1 s C s kG + = 0, that is to
determine s, such that 1 ) ( ) ( = s C s kG .
For k > 0
Find s, such that
(1) 1 ) ( ) ( = s C s kG , (Magnitude condition)
(2) arg ) 2 1 ( )} ( ) ( { r s C s kG + = (Phase condition)
r Z
4
Root Locus Construction
1. Loci branch
The branches of the locus are continuous
curves that start at each of n poles of G(s)C(s),
for k > 0. As k +, the locus branches
approach the m zeros of G(s)C(s). Locus
branches for excess poles extend infinitely far
from the origin; for excess zeros, locus segment
extends from infinity.
Example
Consider
) 8 4 )( 2 (
) 1 (
) ( ) (
2
+ + +
+
=
s s s
s
s C s G , the corresponding
root locus branch, for k = [0, 10] are shown below.
-8 -6 -4 -2 0
-4
-3
-2
-1
0
1
2
3
4
5
2. Real-axis locus
The root locus on those portion of the real axis for which the
sum of poles and zeros to the right is an odd (even) number,
for k > 0 (for k < 0).
3. Locus end points
poles zeros (finite or infinite) for k
4. Asymptotes of locus as s
The angles of the asymptotes of the root locus branches,
which end at infinity, are given by:

asy
r
n m
=
+

( ) 1 2 180
o
, k > 0

asy
r
n m
=

2 180
o
, k < 0
Note:
For s ,
) (
) (
lim ) ( ) ( lim
i
n
i
j
m
j
s s
p s
z s
k s C s kG

n
m
s s
s
k
) (
) (
lim

m n
s
s
k

=
) (
lim

= -1 k s
m n
=

) (

z r
m n
r
j k s
m n

+
+ =

),
) 1 2 (
exp(
1


} ) arg{( ) 2 1 ( 180 } arg{
m n
s r k

= + =
o

= + ( ) arg{ } ( ) n m s r 180 1 2
o

Therefore,
asy
r
n m
=
+

( ) 1 2 180
o
, for k > 0.
6
Example
Consider the following system
+
-
E(s) R(s)
Y(s)
s(s+2)
k
1
kG s
k
s s
( )
( )
=
+ 2
T s
k
s s k
( ) =
+ +
2
2
The poles of T(s) the roots of s
2
+ 2s + k = 0
1 1 k
For k 1, the roots are real within [-1, 0].
For k > 1, the roots are complex conjugates
with real part = -1.
-3 -2 -1 0 1
-2
-1
0
1
2

2

1 2
180 + =
o
(phase Condition)
7
Since


By polynomial parameter comparison, the
common point at which all asymptotes intercept the
real axis is given by
=

= =

Re( ) Re( ) p z
n m
i j
j
m
i
n
1 1
, 2 m n
Note: A root locus branch may cross its asymptote.
z r
m n
r
j k s
m n

+
+ =

),
) 1 2 (
exp(
1

6. Break-away/ Break-in point on the real axis

The break-away point for the locus between two
poles on the real-axis occurs when the value of k is a
maximum. The break-in point for the locus between
two zeros on the real-axis occurs where the value k
is a minimum.
k = k =
k =0 k =0
k
max
k
min
8
) (
) (
)} ( ) ( {
1
s Z
s P
s C s G k = =

k
s
= 0
1
0
2
Z s
P s
dZ s
ds
Z s
dP s
ds ( )
( )
( )
( )
( )

=
(1)
(2)
Find the roots of )] ( ) ( [ s C s kG
ds
d
= 0
The roots of )] ( ) ( [ s C s kG
ds
d
= 0 are the
break-in/break-away points for all k R
Formula:
d
ds
f f
d
ds
f = ln
Hint:
ds
df
ds
df
f
f f
ds
d
f = =
1
ln

=
) (
) (
ln
) (
) (
) (
) (
)] ( ) ( [
s P
s Z
ds
d
s P
s Z
s P
s Z
ds
d
s H s kG
ds
d

=
ds
s dP
s P ds
s dZ
s Z s P
s Z ) (
) (
1 ) (
) (
1
) (
) (

=
ds
s dP
s Z
ds
s dZ
s P
s P
) (
) (
) (
) (
) (
1
2
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Example
Consider
s s
s k
s C s kG
) 2 (
) 4 (
) ( ) (
+
+
= . Using the formula above,
it is obtained that
1
4
1 1
2 s s s +
= +
+
s = -6.83, or -1.17
-10 -8 -6 -4 -2 0
-3
-2
-1
0
1
2
3
-6.83
-1.17
K > 0
-5 0 5
-5
0
5
K < 0
10
7. Angles of departure and approach
The angle of departure
d
of a locus branch from a complex pole is given by

=
ion considerat under pole the to to angle zero ) ( ) ( +
ion considerat under pole the to to angle pole ) ( ) ( other 180
s C s G
s C s G
d
o

The angle of approach

a
of a locus branch from a complex zero is given by
o
180
ion considerat under pole the to to angle zero ) ( ) ( other
ion considerat under pole the to to angle pole ) ( ) (

s C s G
s C s G
a

Example
-4 -3 -2 -1 0
-2
-1
0
1
2
210
120
90
o
o o o
210
120 90 180
=
+ =
d

o
o o o
180
180 0 0
=
=
a

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Imaginary axis crossing point
The value of k that cause a change of sign in the
Routh Array, is that value for which the locus crosses
into the right half s-plane.
Note:
point of crossover s xj = = phase 180
o
.
Example
Consider
) 2 )( 1 (
6
) ( ) (
+ +
=
s s s
k
s C s kG . The Routh array for
the unity-feedback closed-loop system is
s
3
1 2
s
2
3 6k
s
1
2 - 2k
s
0
6k
1 = k
0 6 3
2
= + s
j s 2 =
12
Non-intersection or intersection of root locus branches
The angle between two adjacent approaching branches is

=
360
o
where denotes the number of branches
approaching and leaving the intersection point.
The angle between a branch leaving and an
adjacent branch that is approaching the same
point is given by

=
180
o
Example
-4 -3 -2 -1 0
-2
-1
0
1
2
leaving branch
approaching branch

= 180

= 90
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Grants Rule
For system rank 2, Grants rule state that the sum of
the (unity-feedback) closed-loop system poles is equal
to the sum of the open-loop system poles.
Note:
P s kZ s ( ) ( ) + = 0
s a s a s a s a
n
n
n
n
n
+ + + + + =

1
1
2
2
1 0
0 LL ,
where a
n1
is independent of k also
a
n
=
1
poles

14
Example
Plot the unity feedback closed-loop root locus for
) 2 )( 1 (
1
) ( ) (
+ +
=
s s s
s H s G
Solution
1. Open loop poles are : 0-1-2
Number of root-locus : 3
Root locus on the real axis ] 2 , ( and ] 0 , 1 [
2. Asymptotes of locus as s
3
) 1 2 (

+
=
k
k
k=0,1,2
Centroid of the asymptotes
1
3
) 2 ( ) 1 ( 0
=
+ +
=
3. Imaginary axis crossing point
The characteristic equation is
0 ) 2 )( 1 ( = + + + K s s s 0 2 3
2 3
= + + + K s s s
and the corresponding Routh table is
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K s
K
s
K s
s
0
1
2
3
3
6
3
2 1

From the Routh table, the system will be stable for

6 0 < < K , and the system is critically stable for 6 = K .
That is
6 , 0 3
2
= = + K K s
The imaginary axis crossing
points are
j s 2 = ,

0 2 6 3
) (
) (
2
= + + = s s
ds
s dp
s z
0.43 - , 57 . 1 57 . 0 1
3
1
1 = = = s
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Example
Plot the root locus for the system with
) 2 2 )( 2 (
1
) ( ) (
2
+ + +
+
=
s s s
s
s H s G
Solution:
1. Open-loop poles : j 1 , 2 open-loop zero: -1
Number of the locus branches : 3
Locus on the real axis ] 1 , 2 [
2. Asymptotes of locus as s
2 1 3
) 1 2 (

+
=
k
k

Centroid of the asymptotes
2
3
1 3
) 1 ( ) 1 ( ) 1 ( ) 2 (
=

+ + +
=
j j

3. Angle of deparature
d
) 1 2 ( ) (
2 1
+ = + + k
d p p z

) 1 2 (
4
+ = k
d
For
4
3
, 1
d
= = k
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Example
Consider the system with
) 1 (
1
) ( ) (
+
=
s s
s H s G
Plot the root locus of the following cases.
(i)with additional pole at 2
(ii)with additional zero at -2
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Root locus without additional pole and zero
Additional pole
Root locus with additional pole -2
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Additional zero
Root locus with additional zero -2
Example
) 1 (
) 1 (
) (
2
2
+
+
=
s s
s K
s G
Consider a negative unity feedback system has a
plant transfer function
(a) Sketch the root locus for K > 0. (b) Find the
gain K when two complex roots have a damping
ratio and calculate all three roots. (c)
Find the entry point (break-in point) of the root
locus at the real axis.
707 . 0 =
20
j
K
s s s
s s K s K Ks s
s s s K s
n
n n n n
n n
2 2 , 5723 . 0 : Roots
5723 . 0
619 . 4
87 . 2
matching ts Coefficien
0 ) 414 . 1 ( ) 414 . 1 (
0 ) 2 )( ( 0 ) 1 2 (
0 ) 1 ( ) 1 ( ) (
1 Method
2 2 2 3
2 2 2 3
2 2

=
=
=
= + + + + +
= + + + = + + + +
= + + + =

Matlab by 96 . 1 96 . 1 , 58 . 0 : Roots j
967 . 1 967 . 1 , 584 . 0 : Roots j
584 . 0
0 7382 . 7 ) 934 . 3 7382 . 7 ( ) 934 . 3 (
0 ) 7382 . 7 934 . 3 )( ( 0 518 . 4 ) 1 518 . 4 2 ( 518 . 4
518 . 4
1
967 . 2 967 . 1 967 . 1 967 . 1 ) 967 . 1 967 . 0 (
) 967 . 1 967 . 0 ( ) 967 . 1 967 . 0 (
condition, magnitude From
1.967j 1.967 - are roots conjugate the 1.967 x
-45 180/ * 1))) - (x/(x tan * 2 - 1)/x) + ((x tan + 1)/x) - ((x (tan
2r) 180(1 135) )
x
1 x
( tan 180 )
x
1 x
( tan (180 )
1 x
x
tan 2(180
2 Method
2 3
2 2 3
2 2 2 2 2 2
2 2 2 2
1 - 1 - 1 -
1 1 1
=
= + + + + +
= + + + = + + + +
=
=
+ + +
+ +
=
=
+ = +
+
+

s s s
s s s s s s
K
K
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Conclusions
(1). The system will tend to be unstable with additional poles
(increasing the system rank).
(2). The system will tend to be stable with additional zeros.
In many design exercises, zeros can be introduced to attract
closed-loop poles and alter the root locus location. It is
also very useful to applied stable pole-zero cancellation
for improving system performance.
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Exercise 1
-10 -8 -6 -4 -2 0
-20
-10
0
10
20
-2.5
) 10 (
) 5 (
) ( ) (
2
+
+
=
s s
s k
s C s kG
Exercise 2
23
Exercise 3
Exercise 4
24
Control System Design by
Root Locus Method
1. Determine the desired dominant pole locations using the
performance requirements.
2 . Calculate the phase of the desired pole location
corresponding to the uncompensated system G(s), and
determined the required phase change.
3. Determine the pole and zero of the compensator C(s), such
that the phase of the desired pole location corresponding to
the compensated system is 180.
4. Determine the value of K, such that
is satisfied.
5. Confirm the result by time domain simulation.
1 ) ( ) ( = s C s KG