SCHOOL OF ELECTRICAL AND COMPUTER ENGINEERING
Chapter Five
Root Locus
Zebene G.(MSc)
June, 2016 E.C
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Outline
▪ The Root Locus concepts
▪ Basic Properties of the Root-Loci
▪ Constructing root locus,
▪ Root loci and frequency domain plots, root contours,
▪ Application of Root Locus in the Design of Control
System
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Introduction
▪ Root locus, a graphical presentation of the closed loop poles as a
system parameter is varied.
▪ is a powerful method of analysis and design for stability and transient
response (Evans, 1948; 1950).
▪ The root locus can be used to describe qualitatively the performance
of a system as various parameters are changed.
▪ For example, the effect of varying gain upon percent overshoot,
settling time, and peak time can be vividly displayed. The qualitative
description can then be verified with quantitative analysis.
• Besides transient response, the root locus also gives a graphical
representation of a system's stability. 3
Cont’d…
▪ It is frequently necessary to adjust one or more system parameter in
order to obtain suitable root location. Therefore it is worth to
determine how the roots of characteristics equation of a given system
migrate about the s-plane as the parameter are varied i.e. it is useful to
determine the locus of roots in the s-plane as parameter varied.
▪ This technique provides a graphical method of plotting the locus of
the roots in the s-plane as a given system parameter varied over a
complete range of values (may be zero to infinity). The root
corresponding to a particular value of the system parameter can then
be located on the locus or the value of the parameter for a desired root
location can be determined from the locus. 4
Root Locus Concept
▪ To understand the concept underlying the root locus technique,
consider the simple second order below.
1. Closed loop system transfer function
2. The characteristic equation of the system:
1+GH= 0
The dynamic behaviour of the system is controlled by the roots of the
characteristic equation.
−𝑎 𝑎 2
The root is given by:S1,S2= 2
±
2
−𝑘
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Cont’d…
• Taking a fixed ‘a’ as K varied from zero to infinity, the two roots (S1,S2,) describes
loci in the s-Plane.
Root Location
▪ This shows the location of the roots depend on the variation of the gain and the root
locus starts at the poles of open loop transfer function GH and ends at the zeros of
GH. The more you read the better you get 6
Basic Properties of the Root-Loci
Consider the general closed-loop transfer function
▪ It is seen that the roots of the characteristics equation (i.e. the closed
loop poles) of the system occurs only for those values of s where
𝐺(𝑠)𝐻(𝑠) = −1.
Since s is a complex variable, the root loci satisfied the following
conditions.
i) Magnitude condition
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Cont’d…
ii) Angle condition
▪ Where a zero angle ∠(𝑠 + 𝑍𝑖) is the angle measured from +ve real
axis of a vector drawn from the zero located at Zi to the point s at
which the unknown angle is calculated.
▪ Also, a pole angle ∠(𝑠 + 𝑃𝑗) is the angle measured from +ve real axis
of a vector drawn from the pole located at Pj to the point s at which
the unknown angle is calculated. For all points located on the root
locus, the angle condition is always satisfied.
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Root Locus Sketch
▪ The root locus of a control system is the locus of the closed-loop
poles as the gain K is varied from zero to infinity.
Starting and ending points
▪ Root locus begins at the poles of G(s)H(s) and ends at the zeros of
G(s)H(s).
▪ The root locus of characteristics equation 𝟏+𝑮𝑯=𝟎 begins at the
poles of GH and ends at the zero of GH as k increases from zero to
infinity.
▪ Therefore, K=0 at the system poles and K=∞ at the system zeros.
Number of branches
▪ The number of branches of the root locus equals the number of poles
of G(s)H(s).
▪ In case m<n, the GH has n-m zeros at infinity, therefore n-m branches
of root loci terminates at infinity.
▪ The number of separate loci (number of branch is equal to the number
of poles since 𝒎 ≤ 𝒏 or the order of the characteristics equation).
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Symmetry
▪ Due to the open-loop poles and zeros are always symmetrical around the real axis,
the obtained root locus is also symmetrical around this axis.
▪ The roots locus is symmetrical about the real axis (σ-axis). The roots of
characteristics equation are either real or complex roots appears as pair of complex
conjugate roots.
Fig. 1. Properties of root locus
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Construction steps
▪ To sketch the root locus of a control system, we must follow steps
given below:
1. Determine the number of open-loop poles and zeros
2. Mark open-loop poles and zeros on the s-plane
3. Determine parts of the root-locus on the real axis
4. Determine breakaway and break-in points
5. Draw asymptotes to the root-locus
6. Determine angles of departure
7. Determine angles of arrival
8. Determine points on the root-locus crossing imaginary axis
9. Obtain additional points and complete the root-locus
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Cont’d…
• Step #1 Location of system poles
K=0 points which are the starting points and located at the open-loop
poles
• Step #2 Location of system zeros
K=∞ points which are the ending points and located at the open-loop
zeros The poles and zeros referred above include those at infinity, if
any.
Example : Consider the characteristic equation
𝑆(𝑆 + 2)(𝑆 + 3) + 𝐾(𝑆 + 1) = 0
Dividing both sides by the terms that do not contain K, we get
When K = 0, the 3 poles are at s = 0, s = –2, and s = –3
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Cont’d…
The open-loop poles and zeros are given in figure below.
Fig. 2, K=0 and K=∞ points of the root locus
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Cont’d…
Step #3 Number of Asymptotes
if there are zeros located at ∞, there are asymptotes equal to those zeros
at ∞. Simply we can calculate the number of asymptotes by:
Number of asymptotes = |𝑛 − 𝑚|
Step #4 Angle of Asymptotes
we can calculate the angles of asymptotes by
Where k = 0, 1, 2, …., |𝑛 − 𝑚| − 1
Substituting k=0 we get the angle of 1st asymptote
Substituting k=1 we get the angle of 2nd asymptote, … etc.
▪ In case of number of asymptotes =2, therefore the angles are θ0 = 90
and θ1 = 270
▪ In case of number of asymptotes =3, therefore the angles are θ0 = 60,
θ1 = 180 and θ2 = 300 etc. The more you read the better you get
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Cont’d…
• Step #5 Intersection of Asymptotes with Real Axis
• The point of intersection of asymptotes of the root locus lies on the
real axis of the s-plane, at σ, where
▪ The point of intersection of the asymptotes (σ) represents the center of
gravity of the root locus, and is always a real number.
▪ Since the poles and zeros of G(s)H(s) are either real or in complex-
conjugate pairs, the imaginary parts in the numerator of σ equation
always cancel each other out.
▪ Thus, the summation terms may be replaced by the real parts of the
poles and zeros of G(s)H(s), respectively. That is,
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Conti…
Example: Suppose we have a control system
The point of intersection of asymptotes with real axis is
Step #6 Root Locus segments on Real Axis
▪ On a given section of the real axis, root locus is found in this section
only if the total number of poles and zeros of G(s)H(s) to the right of
the section is odd.
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Conti…
Fig. 3, root locus segments on real axis
▪ Where the dotted line shows Inverse Root Locus (IRL) where the
system gain K changes from –∞ to 0 (i.e. K<0).
▪ On the other hand, the solid line shows Root Locus (RL) where the
system gain K changes from 0 to ∞ (i.e. K>0)
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Cont’d…
Step 7: Breakaway points (saddle point)
The point where the root left the real axis. The locus leaves the real axis
where there are a multiplicity of roots typically two.
▪ Breakaway points, on the root locus or complementary root locus, are
the points at which two or more poles of the characteristic equation
are collide.
▪ The point where two branches of the root loci meet at the break away
point on the real axis and then depart from the axis in the opposite
direction
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Cont’d…
▪ The breakaway point on the complete root locus of 1+𝐺𝐻=0 must
𝑑
satisfy [𝐺(𝑠)𝐻(𝑠)]=0.
𝑑𝑠
𝑑
▪ The breakaway point is roots of the solution of [𝐺(𝑠)𝐻(𝑠)]=0.
𝑑𝑠
We can write
Differentiate k with respect to s:
𝒅
The breakaway point of the original equation are determined by 𝒌=𝟎
𝒅𝒔
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Cont’d…
Fig.4, break away and break in points
• A root-locus diagram can have more than one breakaway point. Moreover, the breakaway
points need not always be on the real axis. Because of the conjugate symmetry of the root
loci, the breakaway points not on the real axis must be in complex conjugate pairs.
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Example 1:The characteristics equation of the following feed-back loop
system is given by:
Find the breakaway point?
Solution:
Breakaway direction of the root locus branches
▪ The root locus branch must approach or leave the breakaway point on the real axis at
an angle of
Where r is the number of root locus branches approaching or leaving the point. 21
Example 2
• Consider the characteristic equation of a control system
𝑆(𝑆 + 2) + 𝐾(𝑆 + 4) = 0
The breakaway points on the root loci must satisfy
We find the two breakaway points of the root locus at s = –1.172 and –6.828
Fig. 5 Breakaway points The more you read the better you get
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Cont’d…
Example 3: The open loop transfer function of a feed-back system given
as:
1. Poles of 𝐺𝐻, S1=0,S2= −4,S3=−2+𝑗4,S4 = −2−𝑗4
2. Four (4 poles) => 4 branches originated at the poles of 𝐺𝐻.
3. There are no open loop zeros in finite region, all the four
(𝑛−𝑚=4−0=4) branches terminate at infinity along asymptotes whose
angles with the real axis are
𝑘=𝑛−𝑚−1=4−0−1=3=>𝑘=0,1,2,3 (𝑓𝑜𝑢𝑟 𝑑𝑒𝑔𝑟𝑒𝑒)
=45°,135°,225°,315°
4. Centroid
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Cont’d…
5. The point between 0 and - 4 on the real axis lie on the root locus.
6. From the characteristics equation
▪ Substitute by S1 in the characteristic equation and obtain the
corresponding value of K. If K is real +ve, then the point is accepted
as break away point.
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Cont’d…
Fig. 6, Breakaway points of the example 25
Cont’d…
Step #8 Angles of Departure for complex poles and/or Angles of
Arrival for complex zeros
• The angle of departure or arrival of a root locus at a pole or zero,
respectively, of G(s)H(s) denotes the angle of the tangent to the locus
near the point.
• The angle of departure is defined as the angle at which the root locus
leaves the pole.
• The angle of arrival is defined as the angle at which the root locus
moves toward the zero.
• Example : Consider the characteristic equation of a control system
S(S+3)(S2+2S+2) + K(S+1) = 0
▪ The angle of departure of the root locus at (s +1– j) is represented by
θ2, measured with respect to the real axis.
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Cont’d…
Let us assign s1 to be a point on the RL leaving the pole at (s +1– j)
and is very close to the pole as shown in Figure below. Then, s1 must
satisfy the angle condition. Thus,
Fig. 7, calculation of angle of departure 27
Cont’d…
Step #9 Intersection of the Root Locus with the Imaginary Axis
• The points where the root locus intersect the imaginary axis of the s-
plane, and the corresponding values of K, may be determined by
means of the Routh-Hurwitz criterion.
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Application of Root Locus in the Design of Control System
• Root locus is a powerful tool in design of control systems. Two
problems of practical significance which can be worked with root
locus technique are explained below.
Determination of open-loop gain for specified damping of the
dominant root.
▪ A damping line (marking an angle 𝜃 = 𝑐𝑜𝑠 −1 (𝜁) with the negative
axis) is down for the specified damping.
▪ We can use the root locus method to determine the value of the open-
loop gain (k) so that the dominant poles of the closed loop system
have a prescribed damping ratio.
▪ Dominant poles are poles that are closer to 𝑗𝜔 axis as they dominate
the transient response of the system to the left.
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Cont’d…
• In the design of control system, a pole-zero open-loop system may be
a variable parameter, in such case we can use root-locus method to
determine the value of the parameter that will cause the dominant pole
to have the desired damping ration(𝜁).
• Calculation of gain k on the root loci once the root loci are
constructed, the value of k at any point say ’s’ on the loci can be
determined by the use of defining equation.
Graphically the magnitude of k can be written as.
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Example1:- The open-loop transfer function of a unity feed-back control
is given by:
Determine the value of k such that the damping ratio (𝜁) of the dominant
closed loop pole is 0.707.
Solution:
1. Open-loop transfer function
2. Open-loop has 4 poles: 𝑠 = 0,−4,−4−𝑗4,−4+𝑗4
3. Open-loop has no finite zeros (=> 4 zeros at infinity)
4. The open-loop system n-m(4−0=4) have four branch starting at the
poles and goes to the zeros at infinity.
5. The root locus is symmetrical with real axis.
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Cont’d…
6. The asymptote angles of the loci
7. Centroid
8. Breakaway point is between -4 and 0.
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Cont’d…
9. Determine jw crossing point using Routh array.
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Cont’d…
10. Angle of departure.
11. Since the damping ratio 𝜁 of the dominant closed loop pole specified
at 𝜁=0.707 the desired closed loop in the upper half-s plane is located at
the intersection of the roots locus at point for 𝜁=0.707 , 𝜃=cos−1(𝜁)=45°
for:
If there is no zero
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Cont’d…
Measure the vector length to the root location p from open loop poles (say 𝑙1,𝑙2,𝑙3,𝑙4)
The value of gain at point p, 𝜁=0.707 is given by the product of the vectors
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Example 2
• Draw the root locus for the control system shown below.
• Solution
• Number of asymptotes = |𝑛 − 𝑚|= 3 – 0 = 3
• Angle of Asymptotes θ0 = 60, θ1 = 180, and θ2 = 300 36
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Cont’d…
• Intersection of asymptotes with real axis:
• Break away points:
The roots of the above equation are s1= – 1 and s2= –1.6667
▪ Notice that at points s1= – 1 the value of K is 2 (+ve real) and at
s2= –1.6667 the value of K = 1.852 (+ve real). Therefore, both
points are used as break away points.
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Cont’d…
• Angle of Departure
Fig. 8, Root locus of the example.
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Problems On Root Locus
𝐾
Problem 1: For G(s)H(s)= . Draw root locus.
𝑠(𝑠+3)(𝑠+5)
Solution:
39
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Cont’d…
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Cont’d…
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Cont’d…
▪ As there are no complex poles and zeros, angle of departure and
arrival are not required.
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Cont’d…
Root locus plot
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Problem 3: Sketch the complete root locus of the system having
K
G(s)H(s) = 2
s(s+2)(𝑠 +6𝑠+25)
Solution: Complete Root locus Plot
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Thank You!
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