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Introduction
Angle and Magnitude Condition
Construction of Root Loci
Examples
Introduction
Consider a unity feedback control system
shown below.
K
R (s ) C (s )
s 1
0. -1.5
5 0.5
1 -2
Imaginary Axis
2 -3 0
K 0
3 -4 K
-0.5
5 -6
10 -11
15 -16 -16 -14 -12 -10 -8 -6 -4 -2
What is Root Locus?
The root locus is the path of the roots of
the characteristic equation traced out in
the s-plane as a system parameter
varies from zero to infinity.
How to Sketch root locus?
One way is to compute the roots of
the characteristic equation for all
possible values of K.
K Pole
0. -1.5
5
C ( s) K
1 -2
R( s) s 1 K
2 -3
3 -4
5 -6
10 -11
How to Sketch root locus?
Computing the roots for all values of
K might be tedious for higher order
systems. K Pole
0. ?
5
C ( s) K 1 ?
R( s ) s ( s 1)( s 10)( s 20) K 2 ?
3 ?
5 ?
10 ?
15 ?
Construction of Root Loci
Finding the roots of the characteristic equation of
degree higher than 3 is laborious and will need
computer solution.
Conditions
The angle of G(s)H(s)=-1 is
G ( s ) H ( s ) 1
G ( s ) H ( s ) 180 (2k 1)
Where k=1,2,3
G (s) H (s) 1
G (s) H (s) 1
Angle & Magnitude
Conditions
Angle Condition
G ( s) H ( s ) 180 (2k 1) (k 1,2,3...)
Magnitude Condition
G (s) H (s) 1
The values of s that fulfill both the angle and
magnitude conditions are the roots of the
characteristic equation, or the closed-loop
poles.
Pole-Zero Map
For example if G(s)H(s) is
1 given by
s 1 0.5
G(s) H (s)
s( s 3)( s 4) Imaginary Axis
0
-0.5
-1
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
Angle and Magnitude Conditions
(Graphically)
Pole-Zero Map
1
p
0.5
Imaginary Axis
1 2 1 3
0
G ( s ) H ( s) s p 1 1 2 3
-0.5
If angle of G(s)H(s) at s=p is equal to
180o(2k+1) the point p is on root locus.
-1
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Angle and Magnitude Conditions
graphically
Pole-Zero Map
1
p
0.5
A B1
B3 B2
Imaginary Axis
s 1 s p A
-0.5 G (s) H ( s) s p
s s p s 3 s p s 4 s p B1 B2 B3
-1
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Example#1
Apply angle and magnitude conditions
(Analytically as well as graphically) on
following unity feedback system at s=-
0.25.
Example#1
K
Here G (s) H (s)
s ( s 1)( s 2)
G ( s ) H ( s ) K s ( s 1) ( s 2)
K s ( s 1) ( s 2) 180(2k 1)
Example#1
G ( s) H ( s ) s 0.25 K s 0.25 s s 0.25 ( s 1) s 0.25 ( s 2) s 0.25
G ( s ) H ( s ) s 0.25 180 0 0
G ( s ) H ( s ) s 0.25 180(2k 1)
Example#1
K
Here G (s) H (s)
s ( s 1)( s 2)
K
G (s) H ( s) 1
s ( s 1)( s 2)
Example#1
Now we know from angle condition that the
point s=-0.25 is on the rot locus. But we do
not know the value of gain K at that specific
point.
K
1
(0.25)(0.25 1)(0.25 2) s 0.25
Example#1
K
1
(0.25)(0.25 1)(0.25 2) s 0.25
K
1
(0.25)(0.75)(1.75)
K
1
0.3285
K
1
0.328
K 0.328
Example#1
Home work:
1. s=-0.2+j0.937
2. s=-1+j2
Construction of root loci
Step-1: The first step in constructing a
root-locus plot is to locate the open-loop
poles and zeros in s-plane.
1
Pole-Zero Map
0.5
Imaginary Axis
0
K
G ( s) H ( s) -0.5
s ( s 1)( s 2)
-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
Construction of root loci
Step-2: Determine the root loci on the real axis.
not satisfied.
-1
-5 -4 -3 -2 -1 0 1 2
Hence, there is no
Real Axis
root locus on the
positive real axis.
Construction of root loci
Step-2: Determine the root loci on the real axis.
Then
0.5
Thus p2
Imaginary Axis
0
p3
Imaginary Axis
Thus 0
-0.5
The angle condition is not
satisfied. Therefore, the
negative real axis between -1
-5 -4 -3 -2 -1 0 1 2
-1 and 2 is not a part of Real Axis
the root locus.
Construction of root loci
Step-2: Determine the root loci on the real axis.
Pole-Zero Map
Similarly, test point on 1
Imaginary Axis
0
0.5
Imaginary Axis
-0.5
-1
-5 -4 -3 -2 -1 0 1 2
Construction of root loci
Step-3: Determine the asymptotes of the root loci.
Actual Curve
Asymptotic Approximatio
Construction of root loci
Step-3: Determine the asymptotes of the
root loci.
180(2k 1)
Angle of asymptotes
nm
where
n-----> number of poles
m-----> number of zeros
K
G( s) H ( s)
s ( s 1)( s 2)
For this Transfer Function
180(2k 1)
30
Construction of root loci
Step-3: Determine the asymptotes of the root
loci. 180(2k 1)
60 when k 0
30
180 when k 1
300 when k 2
420 when k 3
(0 1 2) 0
30
3
1
3
Construction of root loci
Step-3: Determine the asymptotes of the root
loci. Pole-Zero Map
1
0.5
60 ,60 , 180
Imaginary Axis
180 60
0
1 60
-0.5
-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
Home Work
Consider following unity feedback
system.
Determine
Root loci on real axis
Angle of asymptotes
Centroid of asymptotes
Construction of root loci
Step-4: Determine the breakaway point.
Pole-Zero Map
1
The breakaway
point corresponds
to a point in the s 0.5
plane where
multiple roots of Imaginary Axis
the characteristic 0
equation occur.
characteristic 0
equation occur.
K
1
s ( s 1)( s 2)
K s ( s 1)( s 2)
The breakaway dK
pointd can now be determined
s ( s 1)( s 2)
as ds ds
Construction of root loci
Step-4: Determine the breakaway point or
break-in point.dK d
s( s 1)(s 2)
ds ds
dK
ds
d 3
ds
s 3s 2 2 s
dK
3s 2 6s 2
ds
s 0.4226
1.5774
Construction of root loci
Step-4: Determine the breakaway point or
break-in point. s 0.4226 K
G(s) H (s)
s ( s 1)( s 2)
1.5774
0.5
s 0.4226
Imaginary Axis
180 60
0
60
-0.5
-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
Construction of root loci
Step-4: Determine the breakaway
Pole-Zero Map
point.
1
0.5
s 0.4226
Imaginary Axis
-0.5
-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
Home Work
Determine the Breakaway and break
in points
Solution
K ( s 2 8s 15)
1
s 3s 2
2
( s 2 3s 2)
K 2
( s 8s 15)
Differentiating K with respect to s and setting the derivative equal to
zero yields;
dK [( s 8s 15)(2s 3) ( s 3s 2)(2 s 8)]
2 2
0
ds ( s 8s 15)
2 2
11s 2 26s 61 0
-1.45 3.82
Construction of root loci
Step-5: Determine the points where root loci
cross the imaginary axis.
Pole-Zero Map
1
0.5
Imaginary Axis
180 60
0
60
-0.5
-1
-5 -4 -3 -2 -1 0 1 2
Construction of root loci
Step-5: Determine the points where root loci
cross the imaginary axis.
These points can be found by use of Rouths
stability criterion.
Which yields
Construction of root loci
Step-5: Determine the points where root loci
cross the imaginary axis.
An alternative approach is to let s=j in the
characteristic equation, equate both the real part
and the imaginary part to zero, and then solve for
and K.
( K 3 2 ) j (2 3 ) 0
Construction of root loci
Step-5: Determine the points where root loci
cross the imaginary axis.
( K 3 2 ) j (2 3 ) 0
Equating both real and imaginary parts of this
equation to zero
(2 3 ) 0
( K 3 2 ) 0
Which yields
Root Locus
5
1
Imaginary Axis
-1
-2
-3
-4
-5
-7 -6 -5 -4 -3 -2 -1 0 1 2
Real Axis
Example#2
Consider following unity feedback system.
cos 1
cos 1 (0.5) 60
?
Example#2
The value of K that yields such poles is found
from the magnitude condition
K
1
s ( s 1)( s 2) s 0.3337 j 0.5780
Example#2
The third closed loop pole at K=1.0383 can be
obtained as
K
1 G(s) H (s) 1 0
s ( s 1)( s 2)
1.0383
1 0
s ( s 1)( s 2)
s ( s 1)( s 2) 1.0383 0
Home Work
Consider following unity feedback system.
1.5
-0.2+j0.96
1
0.5
Imaginary Axis
-0.5
-1
-1.5
-2
0.8
0.6
0.4
Imaginary Axis
0.2
-0.2
-0.4
-0.6
-0.8
-1
-5 -4 -3 -2 -1 0 1
Real Axis
Example#3
Step-2: Root Loci on Real axis
Pole-Zero Map
1
0.8
0.6
0.4
Imaginary Axis
0.2
-0.2
-0.4
-0.6
-0.8
-1
-5 -4 -3 -2 -1 0 1
Real Axis
Example#3
Step-3: Asymptotes
Pole-Zero Map
1
0.8
0.6
90 0.4
Imaginary Axis
0.2
2 0
-0.2
-0.4
-0.6
-0.8
-1
-5 -4 -3 -2 -1 0 1
Real Axis
Example#3
Step-4: breakaway point
Pole-Zero Map
1
0.8
0.6
0.4
Imaginary Axis
0.2
-0.2 -1.55
-0.4
-0.6
-0.8
-1
-5 -4 -3 -2 -1 0 1
Real Axis
Example#3
Root Locus
8
2
Imaginary Axis
-2
-4
-6
-8
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
Example#3
Mp<30% corresponds to
1 2
Mp e 100
1 2
30% e 100
0.35
cos 1 (0.35)
69.5
Example#3 Root Locus
8
2
Imaginary Axis
-2
-4
-6
-8
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
Example#3
Root Locus
8
System: sys
4
Gain: 28.9
Pole: -1.96 + 5.19i
2 Damping: 0.354
Overshoot (%): 30.5
Imaginary Axis
-2
-4
-6
-8
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
Example-4: For the system shown below, find the
frequency and gain, K, for which the root locus crosses
the imaginary j-axis. For what range of gain K is the
system stable?
A complete row of zeros yields the possibility for imaginary axis roots.
For positive values of gain, K > 0, those for which the root locus is
plotted, only the s1 row can yield a row of zeros. Thus,
From the above equation, K is evaluated as; K = 9.65, -74.6.
Forming the even polynomial by using the s2 row with K = 9.65, we
obtain
Do the following:
c.If the point specified in part (a) is on the root locus, then find the
gain, K, using the lengths of the vectors.
Answers of Practice Exercise-1
Practice Exercise-2
K ( s 3)
G (s) H ( s)
s ( s 1)( s 2)( s 4)
Let us begin by calculating the asymptotes. The real-
axis intercept is evaluated as;
A root locus exists on the real axis between points s = 1 and s = 3.6.
The intersection of the asymptotes and the real axis is determined as,
The angles of the asymptotes that intersect at 1.3, given by Eq. (vi),
are;
For K = 0, a = 90o
For K = 1, a = -90o or 270o