Root Locus Analysis

Definition: The root locus is the path of the roots

of the characteristic equation traced out in the splane as a system parameter is varied.
The roots of the closed-loop characteristic equation define the system
characteristic responses.
Their location in the complex s-plane lead to prediction of the
characteristics of the time domain responses in terms of:
damping ratio, z
natural frequency, wn
damping constant, s first-order modes
Consider how these roots change as the loop gain is varied from 0 to
.

The General Root Locus

Method

Consider the
general system
R(s)

C(s)
G(s)

The characteristic
0
1 GH (s)is
equation

H(s)

GH (s) 1
or

where
C (s)
G(s)

R(s) 1 GH (s)

or
GH (s) 1
GH (s) (2k 1)
k 0, 1, 2 L

The General Root Locus

Method

All values of s which satisfy

; GH (s) (2k 1)

k 0, ;1, 2 L
GH (s) 1
are roots of the closed-loop
characteristic equation.
Consider the following general form
z1)(s z2 ) L (s zm)
K
(
s
GH (s)
(s p1)(s p2 ) L (s pn )
Note: pi maybezero.

The General Root Locus

Method

Then

GH (s)

sz

i 1

s p
i 1

i 1

i 1

GH (s) (s zi ) (s pi ) (2k 1)
k 0, 1, 2 L

Root Locus Method:

Geometric Interpretation
Consider the
exampleK (s z1)
GH (s)

p3
-p3 X B s1

s(s p2)(s p3 )

Then the values of

s K= ss1 zwhich satisfy
1

s s p2 s p3

A
O
-z1

p1

z1
D

-p1

p2
-p2 X

(s z1) (s (s p2) (s p3)) (2k 1)

are on the loci and are roots of the characteristic equation.

Root Locus Method:

Geometric Interpretation
In terms of the
vectors, the
condition for s = s1
K Ato be onAthe root
1
1 or

loci
are
BCD
BCD K
z1 ( p1 p2 p3) (2k 1)
and
k 0, 1, 2, L

p3

j
-p3 X B s1
C

A
O
-z1

p1

z1
D

p2
-p2 X

-p1

Root Locus Method

When plotting
the loci of the
roots as
K = 0 , the
magnitude
condition is
always satisfied.
Therefore, a
value of
s = s1 that
satisfies the
angle condition,

The magnitude
condition may then
be used to
determine the gain K
corresponding to
that value s1 .
How can we easily
determine if the
angle condition is
satisfied?

Root Locus Construction

For our example
Rules
1. The loci start (K
system

= 0) at the poles
of the open-loop
s z1
1

system. There GH (s) s s p s p

K
2
3
Therefore, as K 0 ,
are n loci .
GH(s) , the
2. The loci
poles of the loop
terminate
transfer function.
(K ) at the
As K , GH(s) 0
zeroes of the
, the zeroes of the
open-loop
system (include loop transfer
function.
zeroes at

Root Locus Construction

The roots with
Rules
imaginary parts

3. The root loci are

symmetrical about
the real axis.
4. As K the loci

approach
asymptotes.
There are q = n
m
asymptotes and
the
(2k they
1) intersect
, k 0, 1, 2, L
qreal axis at angles
defined by

always occur in
conjugate complex
pairs.
When the loci
approach infinity,
the angles from all
the poles and zeroes
are equal. The angle
condition then is
m n = (2k + 1)

Root Locus Construction

Rules

5. The asymptotes
intersection point on The angles from
the real is defined by poles and zeroes
to
the
left
of
s
1

poles
of
GH
(
s
)
zeroes
of
GH
(
s
)

a
are zero. The
q
6. Real axis sections of angles from poles
and zeroes to the
the root loci exist
right are An
only where there is
odd number are
an odd number of
required to satisfy
poles and zeroes to
the angle
the right.

Root Locus Construction Rules

Example
j

Consider our
example with z1 =
4 , p12 = 1
K (
s 2j
4)

real axis

GH ( s )
locus
s ( s 1 2 j )( s 1 2 j )

Asymptotes:
(2k 1)

angles =

3 1

+1

2 1

0 (1 2 j) (1 2 j) (4)

a
1
3 1

2j

asymptote

2j

Root Locus Construction

Rules
7. The angles of
departure, d from
poles and arrival,
The mangle of
a to zeroes may be (-z z )
az1
arrival
at1thei zero,
i 2
found by applying
-zn1 is obtained
the angle condition (-z p ) (2k 1)
1
i
from
i 1
to a point very
near the pole or
zero.

Root Locus Construction Rules

Example
Departure angle from p2 .

z1 = tan (2/3) = 33.7

-1

p1 = tan-1(2/1) = 116.6
-z
1

p3 = 90

Then
33.7 (90 + 116.6 + p2 )
= 180
p2 = 352.9 = + 7.1

p2

-p2
X
33.7

2j
116.6
X
-p1

+1

90
X
-p3

2j

Root Locus Construction

Rules

8. The imaginary axis

crossing is obtained
by applying the
Routh-Hurwitz
criterion and
checking for the
gain that results in
marginal stability.
The imaginary
components are
found from the
solution of the

Marginal stability
refers to the
point where the
roots of the
closed-loop
system are on
the stability
boundary, i.e.
the imaginary
axis.

Root Locus Construction Rules

Example
For marginal
Imaginary axis
stability,
crossing:
K = 5 and the
s (Characteristic
s 1 2 j)(s 1 2 j) K (s 4) 0 auxiliary equation
3
is 2
2s2 (5 K )s 4K 0
s equation
2s 20 0
Routh table
s 10j 3.16 j
s3 1

5+K

s2 2

4K

5K

s0 4K

Therefore, the
imaginary axis
3.16 j
intersection is

Root Locus Construction Rules

Example
Summary:
There are three root
loci. One on the real
axis from -p1 to -z1 , -z
and a pair of loci from O
-p2 and -p3 to zeroes 4
at infinity along the
asymptotes. The
departure angle from
these poles is 7.1
and an imaginary axis

7.1

-p2
X

3.16 j
2j

2
X
-p3

-p1

2j

+1

Root Locus Construction

Rules
Breakaway
Points:
When two or
more loci meet,
they will
breakaway from
this point at
particular angles.
The point is
known as a
breakaway point.
It corresponds to

Some examples

x
x

x
x

45

x
x

Root Locus Construction

Rules
9. The angle of
breakaway is
180/k where k is
the number of
converging loci.
The location of the
breakaway point is
found from
dK
dGH (s)
0 or
0
ds
ds

K
GH (s)

2 dGH (s)
dK
0

GH
(
s
)
ds
Note:
ds

d GH ( s )
ds
Also,

N (s)
D ( s)

d N ( s )

D ( s)

ds

N ( s) D ( s)
D ( s )2

D ( s) N ( s) N ( s ) D ( s) 0

Root Locus Plot:

Breakaway Point Example
Consider the following
loop transfer function.
GH (s)

K
s(s 3)2

Real axis loci exist for the XX

4
full negative axis.
Asymptotes:
angles = (2k+1)= /3 ,
, 5/3 3

a ( 3 3 0) (0) 2
3

asymptotes
2j

60

+1

2
2j

Root Locus Plot:

Breakaway Point Example
Determine the
breakaway points
from

2j

ds s ( s 3) 2
ds s3 6 s 2 9 s

K ( 3s 2 12 s 9 )
( s3 6 s 2 9 s ) 2

XX
0

+1

2
2j

then
s 2 4 s 3 ( s 1)( s 3) 0
s 1 , 3

Root Locus Construction

Rules
10. For a point on
the root locus, s
=s1 calculate the
gain, K from
Alternately, K may
j
Bs
be Xdetermined
s1 p1 s1 p2
L
graphically
from

K
A
C
s1 z1 s1 z2
L
the root locus
plot

D
X

BCD

K
A

Summary of Root Locus Plot

Construction
Plot the poles and zeros of the openloop system.
Find the section of the loci on the real
axis (odd number of poles an zeroes to
the right).
( 2k 1)

angles
, q n m,
k 0, 1, 2, L
q
Determine
the asymptote angles and
poles zeroes
intercepts.

Summary of Root Locus Plot

Construction
Determine departure angles. For a
1(-p1 z2) L p1 (-p1 p2) L (2k 1)
-p1 z1)-p
(pole
Check for imaginary axis crossings
using the Routh-Hurwitz criterion.
angle /breakaway
k , k #ofconverging
Determine
loci
points.
dGH (s)
locationfrom

ds

Complete the plot.

Root Locus Plot Example

3
Loop Transfer
K
function:
GH (s)

s(s 4)(s 4s 20)

2

asymptotes

Roots:
X
s = 0, s = 4, s = 2
4
4j
Real axis segments:
between
(2k01and
) 43. 5 7
, , ,
Asymptotes:
40
4 4 4 4
2 0)
aangles
( 4 2
2
=
4

4j
2j
45

+1

2
2j
X

4j

Root Locus Plot Example

3
j

Breakaway
points:
d
K

4
3
2

ds s 8s 36s 80s
3
24s2 72s 80)
K
(
4
s
4
0
3
2
2
(s 8s 36s 80s)
or s3 6s2 18s 20 0
solving,sb 2, 2 2.45j

2j
45
4

+1

2
2j
X

Three points that

breakaway at 90

4j

4j

Root Locus Plot Example

3 imaginary axis
The
crossings:
Characteristic eqn.

Condition for
4
3
2
critical stability

s 8s 36s 80s K 0
80-8K/26 > 0 or
Routh table
K<260
4
s
1
36
The auxiliary
K
equation
s3 8
80
2
26
s
+j 260
=0

3.16
10
s
j
0
solving
2
s
26
K
0
s 80-8K/26
0
0

Root Locus Plot Example

3
j

The final plot is

shown on the
right.
What is the value
of the gain K
corresponding to
the breakaway
point at sb = 2
2.45j ?

4j
3.16j
2j
X

2
2j
X

4j

Root Locus Plot Example 3

Gain Calculations

From the general magnitude condition the

gain corresponding to the point s1 on the loci
n
m
is
K s1 pi
i 1

s z
i 1

For the point s1 = 2 + 2.45j

K = |2 + 2.45j| |2 + 2.45j + 4| |2 +
2.45j + 2 + 4j|
|2 + 2.45j + 2 4j| / 1.0

Root Locus Plot Example

3
Is there a gain
corresponding to
a damping ratio
of 0.707 or more
for all system
modes?
= 0.707 =
cos()
= 45

j
X

4j
3.16j
2j
45

2
2j
X

4j

Root Locus Plot Example 3

Examine the
Time Responses
j
X K=260

4j
3.16j

K=100 2j

K=64

2
2j
X

4j

responses for the

various gains and
relate them to the
location of the closedloop roots.
K = 64, roots are 2,
2, 23.46j
K = 100, roots are
22.45j, 22.45j
K = 260, roots are
3.16j, 43.16j