EE481 Control Systems

Kunio Takaya
Electrical and Computer Engineering

University of Saskatchewan

October 9, 2009

Chapter 8: Root Locus Technicques

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 University of Saskatchewan, Electrical Engineering

EE 481.3 Control Systems

April 2009, Kunio Takaya

Textbook: Norman S. Nise, “Control Systems Engineering” Fifth

Edition, John Wiley & Sons, Inc. 2008, ISBN-13 978-0471-79475-2.

Marks: Midterm Exam: 30%, Final Exam 55%, and Assignments

15%

1. Modeling in the frequency domain

• Laplace transform
• Transfer functions
2. Modeling in the time domain

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 • Linear differential equations
• State-Space representation
3. Time response
• Second-Order Systems
• Poles and zeros
• Time domain solution of state equations
4. Reduction of multiple subsystems
• Block diagrams and Signal-Flow graphs
• Mason’s rule
• Similarity transformations
5. Stability
• Routh-Hurwitz criterion
• Stability in State-Space

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6. Steady-State errors
• Steady-State error for unity gain feedback
• Steady-State error for disturbance
7. Root Locus techniques
• Sketching the root locus
• Transient response design via gain adjustment
8. Design via root locus
• Cascade compensation
• Improving transient response and steady-state error
9. Frequency response techniques
• Bode plots
• Nyquist diagrams
• Systems with time delay

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10. Design via frequency response
• Lag compasation
• Lead compensation

Classes: MWF 8:30-9:30 a.m. 1B79 Engineering

My office: 3B31
Email: kunio.takaya@usask.ca

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1 What is the Root Locus?

K1 K2 K
The open loop transfer function is Go (s) = = .
s(s + 10) s(s + 10)
Its closed loop transfer function is,
Go K
Gc (s) = = 2
1 + Go s + 10s + K

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2 Properties of the root locus

KG(s)
T (s) =
1 + KG(s)H(s)

KG(s)H(s) = −1 = 16 (2k + 1)180◦ , where k = 0, ±1, ±2, ±3, · · ·

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The closed loop poles have to satisfy the following conditions.

jKG(s)H(s)j = 1 (1)
6 KG(s)H(s) = (2k + 1)180◦ (2)

K that satisfies the first condition is given by

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K=
jG(s)jjH(s)j

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 √
A value of K satisfying Eq. (1) is s = −2 ± j 22 .

6 θ1 + 6 θ2 − 6 θ3 − 6 θ4 = 180◦
L3 L4
K= = 0.33
L1 L2

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3 An example of Root Locus

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4 Sketching the Root Locus
Number of branches The number of branches of the root locus is
the number of closed loop poles. A branch is defined as the
path that a pole traverses when gain K is changed.

Symmetry The root locus is symmetrical about the real axis.

Otherwise, the transfer function will have complex coefficients.

Real-axis segments On the real axis, the root locus exists to the
left of an odd number of open-loop poles and/or open-loop
zeros. The angles on the real axis alternate between 0◦ and
180◦ .

Starting and ending points The root locus begins at the finite
poles of G(s)H(s) and ends at the finite and infinite zeros of
G(s)H(s). Consider the cases of K = 0 and K = ∞ in the

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 closed loop transfer function,
KG(s) KNG (s)DH (s)
=
1 + KG(s)H(s) DG (s)DH (s) + KNG (s)NH (s)

Behavior at infinity The root locus approaches straight lines as

asymptotes as the locus approaches infinity. The equation of
the asymptotes is given by the real-axis incercept σa , and angle
θa as follows.
P P
finite poles − finite zeros
σa =
#finite poles − #finite zeros
(2k + 1)π
θa =
#finite poles − #finite zeros
Breakaway and Break-in Points via differentiation Breakaway
points and break-in points on the real axis is found from the
dK
solutions of = 0 From the condition of root locus, we
dσ

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focus on the real axis, that is s = σ ± 0j = σ.
1 1
K=− =⇒ K = −
G(s)H(s) G(σ)H(σ)
K becomes maximum or minimum at the breakaway or
break-in points.

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Breakaway and Break-in Points without differentiation

m n
X 1
X 1
=
σ + zi σ + pi
i i

Where, zi and pi are the negative of the zero and pole values,
respectively, of G(s)H(s).

Angles of Departure (poles) and Arrival (zeros) The root locus

departs from poles and arrives at zeros. Angles of departure
and arrival are calculated from the angle condition

6 G(s)H(s) = (2k + 1)180◦

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θ1 = θ2 + θ3 − θ4 − θ5 + θ6 − (2k + 1)180◦

θ2 = θ1 − θ3 + θ4 + θ5 − θ6 + (2k + 1)180◦

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Example 1. Asymptotes

Find σa and θa of the asymtotes of root locus for

K(s + 3)
G(s) = .
s(s + 1)(s + 2)(s + 4)

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 P P
finite poles − finite zeros (−1 − 2 − 4) − (−3) 4
σa = = =
#finite poles − #finite zeros 4−1 3
(2k + 1)π (2k + 1)π
θa = =
#finite poles − #finite zeros 4−1

For k = 0 θa = π/3
For k = 1 θa = 3π/3 = π
For k = 2 θa = 5π/3 = −π/3
% Example 8.2 p.384 K. Takaya, Oct. 8, 2009
numZero=[-3];
denPole=[0, -1, -2, -4];
[K,p]=rlocfind(sys) %Find
num=poly(numZero);
den=poly(denPole);
sys=tf(num,den);
rlocus(sys);
[roots,gain]=rlocus(sys);
%gain=[0:0.5:50];

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gain=[gain,[10:0.5:50]];
figure;
rlocus(sys,gain); gain and closed loop poles at the cross-hair

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Example 2. Angle of departure

Find the angle of departure from the complex poles for open loop
transfer function,
K(s + 2)
G(s) = .
(s + 3)(s2 + 2s + 2)

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◦ −1 1 −1 1
−θ1 − θ2 + θ3 − θ4 = −θ1 − 90 + tan − tan = 180◦
1 2

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 θ1 = −251.6◦ = 108.4◦

% Example 8.6 p.384 K. Takaya, Oct. 8, 2009

numZero=[-2];
second=roots([1, 2, 2])
denPole=[-3, second’]
num=poly(numZero)
den=poly(denPole)
sys=tf(num,den);

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rlocus(sys);
[closedpoles,gain]=rlocus(sys)
gain=[0:0.2:20];
figure;
rlocus(sys,gain);
%departure angle -p1-p2-p3+z1=-180 or +180
s=denPole(3)
p1=angle(s-denPole(1))
p2=angle(s-denPole(2))
z1=angle(s-numZero(1))
p3=(-p1-p2+z1+pi)*180/pi

p3 =
108.4349

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Example 3. Breakaway and break-in points

A non-minimum phase system (zeros in RHP) has open loop

transfer function,
K(s − 3)(s − 5)
G(s) = .
(s + 1)(s + 2)

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 K(s − 3)(s − 5) K(s2 − 8s + 15)
KG(s)H(s) = =
(s + 1)(s + 2) (s2 + 3s + 2)

K(σ 2 − 8σ + 15)
KG(σ)H(σ) = = −1
(σ 2 + 3σ + 2)
(σ 2 + 3σ + 2)
K=− 2
(σ − 8σ + 15)
dK 11σ 2 − 26σ − 61
= 2 2
=0
ds (σ − 8σ + 15)
σ = −1.42 and 3.82

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Example 8.5. Frequency and gain at imaginary axis
crossing

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The closed loop transfer function for open loop transfer function,
K(s + 3)
G(s) = .
s(s + 1)(s + 2)(s + 4)
is given by
K(s + 3)
T (s) = 4 .
s + 7s3 + 14s2 + (8 + K)s + 3K

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If the second order row of s2 in Ruth table happens to be from a
characteristic equation s2 + ωn2 = 0, the following row of s1 will be
a complete row of zeros. Therefore,
−K 2 − 64K + 720
=0 =⇒ K = 9.65
90 − K
From the row of s2 , we have characteristic equation,

(90 − K)s2 + 21K = 80.35s2 + 202.7 = 0 =⇒ s = jωn = j1.59

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Calibrating the root locus

Find the gain K to make damping ration to be ζ = 0.45 and the

location of the closed loop pole. From ζ = cos θ = 0.45,

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θ = 63.2563◦ . Search for a point on the line of 63.2563◦ which gives

θ2 − θ1 − θ3 − θ4 − θ5 = ±180◦

Corresponding gain K is found by

jAjjCjjDjjEj 1
K= = = 1.71
jBj jG(s)H(s)j

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Example 8.8. Third order system gain design

’(ch8p2) Example 8.8’ % Display label.

clear % Clear variables from workspace.
clf % clear graph on screen.
numg=[1 1.5]; % Define numerator of G(s).
deng=poly([0 -1 -10]); % Define denominator of G(s).
’G(s)’ % Display label.
G=tf(numg,deng) % Create and display G(s).
rlocus(G) % Draw root locus (H(s)=1).
title(’Original Root Locus’) % Add title.
pause
K=0:.5:50; % Specify range of gain to smooth
% root locus.
rlocus(G,K) % Draw smoothed root locus (H(s)=1).
title(’Smoothed Root Locus’) % Add title.
pos=input(’Type %OS ’); % Input desired percent overshoot

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 % from the keyboard.
z=-log(pos/100)/sqrt(pi^2+(log(pos/100))^2)
% Calculate damping ratio.
sgrid(z,2*pi*1) % Overlay desired damping ratio line and w=2pi
% on root locus.
title([’Root Locus with ’,num2str(pos),’% overshoot line’])
% Define title for root locus
% showing percent overshoot used.
[K,p]=rlocfind(G) % Generate gain, K, and closed-loop
% poles, p, for point selected
% interactively on the root locus.
pause
’T(s)’ % Display label.
T=feedback(K*G,1) % Find closed-loop transfer function
% with selected K and display.
step(T) % Generate closed-loop step response
% for point selected on root locus.
title([’Step Response for K=’,num2str(K)])
% Give step response a title which
% includes the value of K.

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Which of the three cases will give the best performance, faster
response and smaller error?

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Is the second order approximation valid?

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