E1BAPP13 11/02/2010 12:54:50 Page 1

Appendix M: Root Locus

Rules: Derivations

M.1 Derivation of the Behavior of the

Root Locus at Infinity (Kuo, 1987)
Let the open-loop transfer function be represented as follows:

Kðsm þ a1 sm1 þ    þ am Þ
KGðsÞHðsÞ ¼ ðM:1Þ
ðsmþn þ b1 smþn1 þ    þ bmþn Þ

or
K
KGðsÞHðsÞ ¼ ðM:2Þ
s mþn
þ b1 s mþn1
þ    þ bmþn
ð Þ
sm þ a1 sm1 þ    þ am
Performing the indicated division in the denominator, we obtain

K
KGðsÞHðsÞ ¼ ðM:3Þ
sn þ ðb1  a1 Þsn1 þ   

In order for a pole of the closed-loop transfer function to exist,

KGðsÞHðsÞ ¼ 1 ðM:4Þ
Assuming large values of s that would exist as the locus moves toward infinity,
Eq. (M.3) becomes

sn þ ðb1  a1 Þsn1 ¼ K ðM:5Þ

Factoring out sn, Eq. (M.5) becomes


b1  a1
sn 1 þ ¼ K ðM:6Þ
s
Taking the nth root of both sides, we have


b1  a1 1=n
s 1þ ¼ K 1=n ðM:7Þ
s

1
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2 Appendix M: Root Locus Rules: Derivations

If the term

1=n
b 1  a1
1þ ðM:8Þ
s

is expanded into an infinite series where only the first two terms are significant,1
we obtain


b1  a1
s 1þ ¼ ðKÞ1=n ðM:9Þ
ns
Distributing the factor S on the left-hand side yields

b1  a1
sþ ¼ ðKÞ1=n ðM:10Þ
n

Now, letting s ¼ s + jv and ðKÞ1=n ¼ jK1=n je jð2kþ1Þp=n , where



1=n ð2k þ 1Þp ð2k þ 1Þp
ð1Þ ¼ e jð2kþ1Þp=n
¼ cos þ j sin ðM:11Þ
n n

Eq. (M.10) becomes

  
b1  a1  1=n  ð2k þ 1Þp ð2k þ 1Þp
s þ jv þ ¼ K  cos þ j sin ðM:12Þ
n n n

where k ¼ 0,  1,  2,  3, . . . Setting the real and imaginary parts of both sides

equal to each other, we obtain
 
b1  a1  1=n  ð2k þ 1Þp
sþ ¼ K cos ðM:13aÞ
n n

ð2k þ 1Þp
v ¼ jk1=n jsin  ðM:13bÞ
n
Dividing the two equations to eliminate jK1/nj, we obtain
b1  a1 ð2k þ 1Þp
sþ cos
n n
¼ ðM:14Þ
v ð2k þ 1Þp
sin
n
Finally, solving for v, we find
  
ð2k þ 1Þp b1  a1
v ¼ tan sþ ðM:15Þ
n n
The form of this equation is that of a straight line,
v ¼ Mðs  s 0 Þ ðM:16Þ

where the slope of the line, M, is

ð2k þ 1Þp
M ¼ tan ðM:17Þ
n
1
This is a good approximation since s is approaching infinity for the region applicable to the derivation.
E1BAPP13 11/02/2010 12:54:51 Page 3

M.2 Derivation of Transition Method for Breakaway and Break-in Points 3

Thus, the angle of the line in radians with respect to the positive extension of the real
axis is
ð2k þ 1Þp
u¼ ðM:18Þ
n
and the s intercept is
 
b1  a1
s0 ¼  ðM:19Þ
n
From the theory of equations,2
P
b1 ¼  finite poles ðM:20aÞ
P
a1 ¼  finite zeros ðM:20bÞ
Also, from Eq. (M.1),
n ¼ number of finite poles  number of finite zeros
ðM:21Þ
¼ #finite poles  #finite zeros
By examining Eq. (M.16), we conclude that the root locus approaches a
straight line as the locus approaches infinity. Further, this straight line intersects
the s axis at
P P
finite poles  finite zeros
s0 ¼ ðM:22Þ
#finite poles  #finite zeros

which is obtained by substituting Eqs. (M.20)

Let us summarize the results: The root locus approaches straight lines as
asymptotes as the locus approaches infinity. Further, the equation of the asymptotes
is given by the real-axis intercept and the angle with respect to the real axis as follows:
P P
finite poles  finite zeros
s0 ¼ ðM:23Þ
#finite poles  #finite zeros
ð2k þ 1Þp
u¼ ðM:24Þ
#finite poles  #finite zeros

where k ¼ 0,  1,  2,  3, . . . Notice that the running index, k, in Eq. (M.24) yields a

multiplicity of lines that account for the many branches of a root locus that approach
infinity.

M.2 Derivation of Transition Method

for Breakaway and Break-in Points
The transition method for finding real-breakaway and break-in points without
differentiating can be derived by showing that the natural log of 1/[G(s)H(s)]
has a zero derivative at the same value of s as 1/[G(s)H(s)] (Franklin, 1991).

2
Given an nth-order polynomial of the form sn + an–1sn–1 +   , the coefficient, an–1, is the negative sum of
the roots of the polynomial.
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4 Appendix M: Root Locus Rules: Derivations

We now show that if we work with the natural log we can eliminate the step of
differentiation.
First find the derivative of the natural log of 1=[G(s)H(s)] and set it equal to
zero. Thus,
   
d 1 d 1
ln ¼ GðsÞHðsÞ ¼0 ðM:25Þ
ds GðsÞHðsÞ ds GðsÞHðsÞ

Since G(s)H(s) is not zero at the breakaway or break-in points, letting

 
d 1
ln ¼0 ðM:26Þ
ds GðsÞHðsÞ

will thus yield the same value of s as letting

 
d 1
¼0 ðM:27Þ
ds GðsÞHðsÞ

Hence,
   
d 1 d ðs þ p1 Þðs þ p2 Þ    ðs þ pn Þ
ln ¼ ln
ds GðsÞHðsÞ ds ðs þ z1 Þðs þ z2 Þ    ðs þ zm Þ
d 
¼ lnðs þ p1 Þ þ lnðs þ p2 Þ    lnðs þ pn Þ
ds

 lnðs þ z1 Þ  lnðs þ z2 Þ     lnðs þ zm Þ
1 1 1 1 1
¼ þ  þ   
s þ p1 s þ p2 s þ p n s þ z1 s þ z 2
1
 ¼0
s þ zm ðM:28Þ

or
P
n 1 Pm 1
¼ ðM:29Þ
i¼1 s þ pi i¼1 s þ zi

where zi and pi are the negatives of the zero and pole values of G(s)H(s),
respectively. Equation (M.29) can be solved for s, the real axis values that minimize
or maximize K, yielding the breakaway and break-in points without differentiating.

Bibliography
Franklin, G. F.; Powell, J. D.; and Emami-Naeini, A. Feedback Control of Dynamic Systems,
2d ed. Addison-Wesley, Reading, Mass., 1991.
Kuo, B. Automatic Control Systems, 5th ed. Prentice-Hall, Englewood Cliffs, N.J., 1987.
E1BAPP13 11/02/2010 12:54:51 Page 5

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