Root Locus Method

Learn a specific technique which shows how

changes in one of a system’s parameter
(usually the controller gain, K)
will modify the location of the closed-loop poles
in the s-domain.
Consider the characteristic equation of a second order
system, given by s2 + as + K = 0

Let us assume that a is a constant and K is the variable.

We would like to obtain the locus of the roots, as K is
changed from 0 to ∞.

The roots of the characteristic equation are given by,

• The two roots are real and if a is positive, one root is
zero and the second root is on the negative real axis.

• As K is increased upto a value,

the two roots are real and negative.

• They lie on the negative real axis and always lie

between 0 and - a i.e. the roots at K = 0,
• move along the negative real axis as shown in Fig., until
they meet at a point –a/2 for K = a2/4.
• At this value of K, the characteristic equation will have
two equal, real and negative roots.
• If K is increased further, the quantity under the radical
sign becomes negative, real part remains the same and
hence the roots become complex conjugate.

•As K value is increased further and further, the roots

move on a line perpendicular to the real axis at s = - a/2,
as shown in Fig
The condition given by above equations are known as
magnitude criterion and angle criterion.
Values of s - which satisfy both magnitude and angle
criterion are the roots of the characteristic equation and
hence the poles of the closed loop system.
The loop transfer function G(s)H(s) can be written involving a gain
parameter K, as

and the characteristic equation becomes,

To check whether a point s = s1 satisfies angle criterion or not, we
have to measure the angles made by open loop poles and zeros at
the test point s1 as shown in Fig. Four poles and two zeros are taken
for illustration.

Note that the angles are measured in anticlockwise direction with

respect to the positive direction of the real axis
From Fig. we can easily obtain the angle and magnitude of G(s)
H(s) for S = s1
• If a root locus plot is to be drawn, a test point must be selected and
checked for angle criterion.
• It becomes difficult to check all the infinite points in the s-plane for
locating the points on the root locus.
• If an approximate root locus can be sketched, it will save lot of
effort to locate the points.

• Further, a rough sketch also helps the designer to visualize the

effects of changing the gain parameter K or effect of introducing a
zero or pole on the closed loop pole locations.

• Now software tools like MATLAB are available for plotting the root
locus exactly.

• To draw a rough sketch of the root locus, we study certain

properties of the root locus plot.
Just see the yellow color line should be +7.07 cut on
imaginary line since tan (60) ……..
1) Sketch the root locus of the following system:

2) Determine the value of K such that the

damping ratio ζ of a pair of dominant complex
conjugate closed-loop is 0.5.
 Applying Step #1

Draw the n poles and

m zeros of G(s)H(s)
using x and o
respectively.
Gs H s  
1
ss  1s  2
• 3 poles:
p1 = 0; p2 = -1; p3 = -2

• No zeros
 Applying Step #1
Draw the n poles and
m zeros of G(s)H(s)
using x and o
respectively.
Gs H s  
1
ss  1s  2
• 3 poles:
p1 = 0; p2 = -1; p3 = -2

• No zeros
 Rule #2
• The loci on the real axis are to the left of an ODD
number of REAL poles and REAL zeros of G(s)H(s)

Second step: Determine the loci on the real axis.

Choose a arbitrary test point. If the TOTAL number
of both real poles and zeros is to the RIGHT of this
point is ODD, then this point is on the root locus
 Applying Step #2
Determine the loci on the
real axis:

• Choose a arbitrary test

point.
• If the TOTAL number of
both real poles and zeros
is to the RIGHT of this
point is ODD, then this
point is on the root locus
 Applying Step #2
Determine the loci on the
real axis:

• Choose a arbitrary test

point.
• If the TOTAL number of
both real poles and zeros
is to the RIGHT of this
point is ODD, then this
point is on the root locus
 Applying Step #3
Determine the n - m asymptotes:
• Locate s = α on the real axis:
p1  p2  p3 0  1  2
s     1
30 3
• Compute and draw angles:

180 2l  1 l  0 , 1, 2 , 
l 
 180
n
0
 2m 0  1
0   600
 30
 180 0 2  1  1
 1   1800
 30
2  300

 the asymptotes using dash
• Draw
lines.
 Breakpoint Definition
• The breakpoints are the points in the s-domain
where multiples roots of the characteristic
equation of the feedback control occur.

• These points correspond to intersection points on

the root locus.
 Rule #4
Given the characteristic equation is KG(s)H(s) = -1

• The breakpoints are the closed-loop poles that satisfy:

dK
0
ds

Fourth step: Find the breakpoints. Express K such as:

1
K .
G s H s 
Set dK/ds = 0 and solve for the poles.
 Applying Step #4
Find the breakpoints.
• Express K such as:
1
K   ss  1s  2
G( s )H ( s )
K   s 3  3s 2  2s

• Set dK/ds = 0 and solve for the

poles.
 3s 2  6s  2  0
s1  1.5774, s2  0.4226
 Applying Step #4
Find the breakpoints.
• Express K such as:
1
K   ss  1s  2
G( s )H ( s )
K   s 3  3s 2  2s

• Set dK/ds = 0 and solve for the

poles.
 3s 2  6s  2  0
s1  1.5774, s2  0.4226
 Recall Rule #1
Assuming n poles and m zeros for G(s)H(s):

• The n branches of the root locus start at the n

poles.
• m of these n branches end on the m zeros
• The n-m other branches terminate at infinity
along asymptotes.

Last step: Draw the n-m branches that terminate

at infinity along asymptotes
 Applying Last Step

Draw the n-m branches that

terminate at infinity along
asymptotes
 Points on both root locus & imaginary axis?
• Points on imaginary axis
satisfy:

s  j jω?

1  KGs H s   0

- jω
Apply Routh criterion to find the intersection point on imaginary axis. s=±j1.41
num = [0 1 1];
den = [1 2 4];
rlocus(num,den);
v = [-10 10 -5 5]; axis(v)
grid
title('Root-Locus Plot of G(s) = K(s + 2)/[s^2+2s+4)')
num = [0 1 1];
den = [1 -1 0];
rlocus(num,den);
v = [-5 1 -3 3]; axis(v)
grid
title('Root-Locus Plot of G(s) = K(s + 1)/[s(s-1))')