AUTOMATIC CONTROL ENGINEERING

Chapter 3:
ANALYSIS OF SYSTEM STABILITY

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Chapter 3: ANALYSIS OF SYSTEM STABILITY

Content of chapter 3:

3.1 Stability definition

3.2 Algebraic stability criteria
3.3 Root locus method

2
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 3.1 Stability definition
BIBO stability
- A system is defined to be BIBO stable if every bounded input to the
system results is a bounded output over the time interval ሾ𝑡0 , +∞) for all
initial times 𝑡0 .

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 3.1 Stability definition
Poles and zeros
- Consider a system described by the transfer function (TF):
𝑌(𝑠) 𝑏0 𝑠 𝑚 + 𝑏1 𝑠 𝑚−1 + ⋯ + 𝑏𝑚−1 𝑠 + 𝑏𝑚
𝐺 𝑠 = =
𝑈(𝑠) 𝑎0 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛−1 𝑠 + 𝑎𝑛
- Denote: 𝐴 𝑠 = 𝑎0 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛−1 𝑠 + 𝑎𝑛 (TF’s denominator)
𝐵 𝑠 = 𝑏0 𝑠 𝑚 + 𝑏1 𝑠 𝑚−1 + ⋯ + 𝑏𝑚−1 𝑠 + 𝑏𝑚 (TF’s numerator)

- Zeros: are the roots of the numerator of the transfer function, i.e. the roots
of the equation 𝐵 𝑠 = 0. Since 𝐵(𝑠) is of order 𝑚, the system has 𝑚
zeros denoted as 𝑧𝑖 , 𝑖 = 1,2, … 𝑚.
- Poles: are the roots of the denominator of the transfer function, i.e. the
roots of the equation 𝐴 𝑠 = 0. Since 𝐴 𝑠 is of order 𝑛, the system has 𝑛
poles denoted as 𝑝𝑖 , 𝑖 = 1,2, … 𝑛.

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 3.1 Stability definition
Pole – zero plot
- Pole – zero plot is a graph which represents the position of poles and zeros
in the complex s-plane.

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 3.1 Stability definition
Stability analysis in the complex plane
- The stability of a system depends on the location of its poles.
- If all the poles of the system lie in the left-half s-plane then the system is
stable.
- If any of the poles of the system lie in the right-half s-plane then the
system is unstable.
- If some of the poles of the system lie in the imaginary axis and the others
lie in the left-half s-plane then the system is at the stability boundary.

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 3.1 Stability definition
Stability analysis in the complex plane

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 3.1 Stability definition
Characteristic equation
- Characteristic equation: is the equation 𝐴 𝑠 = 0.
- Characteristic polynomial: is the denominator 𝐴(𝑠)
- Note:

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 3.2 Algebraic stability criteria
Necessary condition
- The necessary condition for a linear system to be stable is that all the
coefficient of the characteristic equation of the system must be positive.
- Example: Consider the systems which have the characteristic equations:

𝑠 3 + 3𝑠 2 − 2𝑠 + 1 = 0  Unstable

𝑠 4 + 2𝑠 2 + 5𝑠 + 3 = 0 => Unstable

𝑠 4 + 4𝑠 3 + 5𝑠 2 + 2𝑠 + 1 = 0 => Cannot conclude about the stability

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Rules for forming the Routh table
- Consider a linear system whose characteristic function is:
𝑎0 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛−1 𝑠 + 𝑎𝑛 = 0
- In order to analysis the system stability using Routh’s criterion, it is
necessary to form the Routh table according to the rules below:
- The Routh table has 𝑛 + 1 rows.
- The 1𝑠𝑡 row consist of the even-index coefficients.
- The 2𝑛𝑑 row consist of the odd-index coefficients.
- The element at row 𝑖 𝑡ℎ column 𝑗𝑡ℎ (𝑖 ≥ 3) is calculated as:

𝑐𝑖𝑗 = 𝑐𝑖−2,𝑗+1 − 𝛼𝑖 . 𝑐𝑖−1,𝑗+1

𝑐𝑖−2,1
with 𝛼𝑖 =
𝑐𝑖−1,1

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Routh table

𝑠𝑛 𝑐11 = 𝒂𝟎 𝑐12 = 𝒂𝟐 𝑐13 = 𝒂𝟒 𝑐14 = 𝒂𝟔 ...

𝑠 𝑛−1 𝑐21 = 𝒂𝟏 𝑐22 = 𝒂𝟑 𝑐23 = 𝒂𝟓 𝑐24 = 𝒂𝟕 ...

𝒄𝟏𝟏 𝑠 𝑛−2 𝑐31 = 𝒄𝟏𝟐 − 𝛼3 𝒄𝟐𝟐 𝑐32 = 𝒄𝟏𝟑 − 𝛼3 𝒄𝟐𝟑 𝑐33 = 𝒄𝟏𝟒 − 𝛼3 𝒄𝟐𝟒 𝑐34 = 𝒄𝟏𝟓 − 𝛼3 𝒄𝟐𝟓 ...
𝛼3 =
𝒄𝟐𝟏
𝒄𝟐𝟏 𝑠 𝑛−3 𝑐41 = 𝒄𝟐𝟐 − 𝛼4 𝒄𝟑𝟐 𝑐42 = 𝒄𝟐𝟑 − 𝛼4 𝒄𝟑𝟑 𝑐43 = 𝒄𝟐𝟒 − 𝛼4 𝒄𝟑𝟒 𝑐44 = 𝒄𝟐𝟓 − 𝛼4 𝒄𝟑𝟓 …
𝛼4 =
𝒄𝟑𝟏
... ... … … … … …
𝛼𝑛 𝑠0 𝑐𝑛1
𝒄𝒏−𝟐,𝟏 = 𝒄𝒏−𝟐,𝟐
=
𝒄𝒏−𝟏,𝟏 − 𝛼𝑛 𝒄𝒏−𝟏,𝟐

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Routh’s criterion statement
- The necessary and sufficient condition for a system to be stable is that all
the coefficients of the characteristic equation are positive and all terms in
the first column of the Routh table have positive signs.
- The number of sign changes in the first column of the Routh table is equal
the number of roots lying in the right-half s-plane.

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 1
- Analyze the stability of the system which have the following characteristic
equation: 𝑠 4 + 4𝑠 3 + 5𝑠 2 + 2𝑠 + 1 = 0
- Solution: Routh table
𝑠4 1 5 1
𝑠3 4 2
1 𝑠2 1 9 1
𝛼3 = 5 − .2 =
4 4 2
8 𝑠1 8 10 0
𝛼4 = 2− .1 =
9 9 9
81 𝑠0 1
𝛼5 =
20

- Conclusion: The system is stable because all the terms in the first column
are positive.

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 2
- Analyze the system described by the following block diagram:
50
𝐺 𝑠 =
𝑠(𝑠+3)(𝑠 2 +𝑠+5)
1
𝐻 𝑠 =
𝑠+2

Solution: The characteristic equation of the system:

1 + 𝐺 𝑠 .𝐻 𝑠 = 0
50 1
 1+ . =0
𝑠(𝑠+3)(𝑠 2 +𝑠+5) 𝑠+2

 𝑠 𝑠 + 3 𝑠 2 + 𝑠 + 5 𝑠 + 2 + 50 = 0
 𝑠 5 + 6𝑠 4 + 16𝑠 3 + 31𝑠 2 + 30𝑠 + 50 = 0

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 2
Routh table (𝑠 5 + 6𝑠 4 + 16𝑠 3 + 31𝑠 2 + 30𝑠 + 50 = 0)
𝑠5 1 16 30
𝑠4 6 31 50
1 𝑠3 1 1 0
𝛼3 = 16 − . 31 = 10,83 30 − . 50 = 21,67
6 6 6
6 𝑠2 6 50
𝛼4 = 31 − . 21,67 = 18,99
10,83 10,83
10.83 𝑠1 10,83
𝛼5 = 21,67 − . 50 = −6,84
18,99 18,99
𝑠0 50
Conclusion: The system is unstable because the terms in the first column
change their signs two times. The characteristic equation have two roots with
positive real parts.
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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 3
Find the condition of K for the following system to be stable
𝐾
𝐺 𝑠 =
𝑠(𝑠2 +𝑠+1)(𝑠+2)

Solution: The characteristic equation of the system is:

1+𝐺 𝑠 =0
𝐾
 1+ =0
𝑠(𝑠 2 +𝑠+1)(𝑠+2)

 𝑠 4 + 3𝑠 3 + 3𝑠 2 + 2𝑠 + 𝐾 = 0

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 3
Routh table (𝑠 4 + 3𝑠 3 + 3𝑠 2 + 2𝑠 + 𝐾 = 0)
𝑠4 1 3 K
𝑠3 3 2
1 𝑠2 1 7 K
𝛼3 = 3 − .2 =
3 3 3
9 𝑠1 9
𝛼4 = 2− .𝐾
7 7
𝑠0 K
The necessary and sufficient condition for the system to be stable:
9
2− .𝐾
>0
൝ 7 
𝐾>0

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Special case #1
If a first-column term in any row is zero (but the other teems in that
row are not zero), then the zero term is replaced by a very small positive
number ε and the rest rows of the Routh table is calculated as the normal
case.

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 4
Analyze the stability of the system whose characteristic equation is:
𝑠 4 + 2𝑠 3 + 4𝑠 2 + 8𝑠 + 3 = 0
Solution: Routh table
𝑠4 1 4 3
𝑠3 2 8
1 𝑠2 1 3
𝛼3 = 4 − .8 = 0
2 2
𝜀>0
2 𝑠1 2
𝛼4 = 8 − .3 < 0
ε 𝜀
𝑠0 3
Conclution: Because the terms in the first column change their signs two
times, the system is unstable and it has two poles lying in the right-half
complex plane.
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 3.2 Algebraic stability criteria
Routh’s stability criterion: Special case #2
If all the coefficients in any row are zero:
- Forming an auxiliary polynomial with coefficients of the last row above
the “all-zero-term”, denote the auxiliary polynomial as 𝐴0 𝑠 .
- Replace the “all-zero-term row” by another row whose elements are the
𝑑𝐴0 (𝑠)
coefficients of the derivative ൗ𝑑𝑠.
- Then continue to calculate the Routh table as the normal case.

Note: The roots of 𝐴0 (𝑠) are also the roots of characteristic equation

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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 5
Analyze the stability of the system whose characteristic equation is:
𝑠 5 + 4𝑠 4 + 8𝑠 3 + 8𝑠 2 + 7𝑠 + 4 = 0
Solution: Routh table
𝑠5 1 8 7
𝑠4 4 8 4
1 𝑠3 1 1 0
𝛼3 = 8 − .8 = 6 7 − .4 = 6
4 4 4
4 𝑠2 4 4
𝛼4 = 8 − .6 = 4 𝐴0 𝑠 = 4𝑠 2 + 4
6 6
6 𝑠1 6 0 𝑑𝐴0 (𝑠)
= 8𝑠 + 0
𝛼5 = 6 − .3 = 0 𝑑𝑠
4 4
8
𝑠0 4
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 3.2 Algebraic stability criteria
Routh’s stability criterion: Example 5
- The auxiliary polynomial:
𝑑𝐴0 (𝑠)
𝐴0 𝑠 = 4𝑠 2 + 4 ⇒ = 8𝑠 + 0
𝑑𝑠
- The roots of the auxiliary polynomial (are also the roots the characteristic
equation):
𝐴0 𝑠 = 4𝑠 2 + 4 = 0  𝑠 = ±𝑗
- Conclusion:
- All the terms in the first column are positive, so the characteristic
equation has no root lying in the right-half s-plane.
- The characteristic equation has two roots lying in the imaginary axis.
- The number of roots lying in the left-half s-plane is 5 − 2 = 3.
The system is at the stability boundary.

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: Rules for forming the Hurwitz matrix
- Given a system whose characteristic equation is:
𝑎0 𝑠 𝑛 + 𝑎1 𝑠 𝑛−1 + ⋯ + 𝑎𝑛−1 𝑠 + 𝑎𝑛 = 0
- In order to analysis the system stability using Hurwitz’s criterion, it is
necessary to form the Hurwitz matrix according to the rules below
- The Hurwitz matrix is a square matrix of order 𝑛 × 𝑛.
- The diagonal consists of the coefficients 𝑎1 to 𝑎𝑛 .
- The odd row of the Hurwitz matrix consists of the odd-indexed
coefficients of the characteristic polynomial; the indexes increase on
the right and decrease on the left of the diagonal.
- The even row of the Hurwitz matrix consists of the even-indexed
coefficients of the characteristic polynomial; the indexes increase on
the right and decrease on the left of the diagonal.

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: Hurwitz matrix
𝑎1 𝑎3 𝑎5 𝑎7 … 0
𝑎0 𝑎2 𝑎 4 𝑎6 … 0
0 𝑎1 𝑎3 𝑎5 … 0
0 𝑎0 𝑎 2 𝑎4 … 0
⋮ ⋮ ⋮ ⋮ ⋮
0 ⋯ ⋯ ⋯ ⋯ 𝑎𝑛

Hurwitz’s criterion statement

- The necessary and sufficient condition for the system to the stable is
that all the determinants of the principal submatrices of the Hurwitz
matrix are positive.

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: The determinants

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: The determinants

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: Example
- Analyze the stability of the system whose characteristic equation is:
𝑠 3 +4𝑠 2 +3𝑠 +2 = 0
𝑎0 𝑎1 𝑎2 𝑎3
- Solution:
𝑎1 𝑎3 0 4 2 0
Hurwitz matrix: 𝑎0 𝑎2 0 = 1 3 0
0 𝑎1 𝑎3 0 4 2
The determinants: ∆1 = 𝑎1 = 4
𝑎1 𝑎3 4 2
∆2 = 𝑎 𝑎 = = 4 × 3 − 1 × 2 = 10
0 2 1 3
𝑎1 𝑎3 0
𝑎1 𝑎3 4 2
∆3 = 𝑎0 𝑎2 0 = 𝑎3 𝑎 𝑎 = 2 × = 2 × 10 = 20
0 2 1 3
0 𝑎1 𝑎3
- Conclusion: The system is stable because all the determinants are
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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: Some corollaries
- A 𝟐𝒏𝒅 order system is stable if the coefficients of the characteristic
polynomial satisfy the conditions:
𝑎𝑖 > 0, 𝑖 = 0,2
- A 𝟑𝒏𝒅 order system is stable if the coefficients of the characteristic
polynomial satisfy the conditions:
𝑎𝑖 > 0, 𝑖 = 0,3
൝
𝑎1 𝑎2 − 𝑎0 𝑎3 > 0
- A 𝟒𝒏𝒅 order system is stable if the coefficients of the characteristic
polynomial satisfy the conditions:
𝑎𝑖 > 0, 𝑖 = 0,4
൞𝑎1 𝑎2 − 𝑎0 𝑎3 > 0
𝑎1 𝑎2 𝑎3 − 𝑎0 𝑎32 − 𝑎12 𝑎4 > 0

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: Explain the corollary of 𝟐𝒏𝒅 order system

The characteristic of 𝟐𝒏𝒅 order system : 𝑎0 𝑠 2 + 𝑎1 𝑠 + 𝑎2 = 0

Necessary condition: 𝑎0 , 𝑎1 , 𝑎2 > 0

𝑎 0
Hurwitz matrix: 1 , ∆1 = 𝑎1 , ∆2 = 𝑎1 𝑎2
𝑎 0 𝑎2
Sufficient condition: ∆1 > 0, ∆2 > 0

⇒ 𝑎0 , 𝑎1 , 𝑎2 > 0

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: Explain the corollary of 𝟑𝒏𝒅 order system

The characteristic of 3𝒏𝒅 order system : 𝑎0 𝑠 3 + 𝑎1 𝑠 2 + 𝑎2 𝑠 + 𝑎3 = 0

Necessary condition: 𝑎0 , 𝑎1 , 𝑎2 , 𝑎3 > 0

𝑎1 𝑎3 0
Hurwitz matrix: 𝑎0 𝑎2 0 , ∆1 = 𝑎1 , ∆2 = 𝑎1 𝑎2 − 𝑎0 𝑎3 , ∆3 = 𝑎3 ∆2
0 𝑎1 𝑎3
Sufficient condition: ∆1 , ∆2 , ∆3 > 0

𝑎0 , 𝑎1 , 𝑎2 , 𝑎3 > 0
⇒ቊ
𝑎1 𝑎2 − 𝑎0 𝑎3 > 0

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 3.2 Algebraic stability criteria
Hurwitz’s stability criterion: Explain the corollary of 𝟒𝒏𝒅 order system

The characteristic of 4𝒏𝒅 order system : 𝑎0 𝑠 4 + 𝑎1 𝑠 3 + 𝑎2 𝑠 2 + 𝑎3 𝑠 + 𝑎4 = 0

Necessary condition: 𝑎0 , 𝑎1 , 𝑎2 , 𝑎3 , 𝑎4 > 0

𝑎1 𝑎3 0 0 ∆1 = 𝑎1 , ∆2 = 𝑎1 𝑎2 − 𝑎0 𝑎3
𝑎 𝑎2 𝑎4 0
Hurwitz matrix: 0 , ∆3 = 𝑎3 𝑎1 𝑎2 − 𝑎0 𝑎3 − 𝑎4 𝑎12 − 0. 𝑎3
0 𝑎1 𝑎3 0
𝑎 𝑎 𝑎 ∆4 = 𝑎4 ∆3
0 0 2 4
Sufficient condition: ∆1 , ∆2 , ∆3 , ∆4 > 0

𝑎0 , 𝑎1 , 𝑎2 , 𝑎3 , 𝑎4 > 0
⇒ ቐ 𝑎1 𝑎2 − 𝑎0 𝑎3 >0
𝑎1 𝑎2 𝑎3 − 𝑎0 𝑎32 − 𝑎12 𝑎4 > 0

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 3.3 The root locus method
The concept of root locus (RL):
- Example: Plot of all the roots of the following characteristic equation
when K changes from 0 → +∞
𝑠 2 + 4𝑠 + 𝐾 = 0

- Definition: Root locus is the set of all the roots of the characteristic
equation of a system when a real parameter changing from 0 → +∞
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 3.3 The root locus method
Magnitude and phase condition of the root locus:
- In order to apply the rules for construction of the root locus, first we have
to equivalent transform the characteristic equation to standard form:
𝑁(𝑠)
1+𝐾 =0 (1)
𝐷(𝑠)
where K is the changing parameter.
𝑁(𝑠)
Denote: 𝐺0 𝑠 = 𝐾
𝐷(𝑠)

Assume that 𝐺0 𝑠 has 𝑛 poles (𝑝𝑖 ) and 𝑚 zeros (𝑧𝑖 )

𝑚 𝑛
𝑠 − 𝑧1 𝑠 − 𝑧2 … (𝑠 − 𝑧𝑚 )
𝐺0 𝑠 = 𝐾 ⇒ ∠𝐺0 𝑠 = ෍ arg(𝑠 − 𝑧𝑖 ) − ෍ arg(𝑠 − 𝑝𝑖 )
𝑠 − 𝑝1 𝑠 − 𝑝2 … (𝑠 − 𝑝𝑛 )
1 1

(1)  1 + 𝐺0 𝑠 = 0
𝐺0 𝑠 = 1 𝑚𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑐𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛
 ቊ
∠𝐺0 𝑠 = 2𝑙 + 1 𝜋 𝑝ℎ𝑎𝑠𝑒 𝑐𝑜𝑛𝑑𝑖𝑡𝑖𝑜𝑛
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 3.3 The root locus method
Rules for construction of the root locus:
- Rule 1: The number of branches of a root locus = the order of the
characteristic equation = number of poles of 𝐺0 𝑠 = 𝑛

- Rule 2:
- For K=0: the root locus begins at the poles of 𝐺0 𝑠 .
- As K goes to +∞: 𝑚 branches of the root locus end at 𝑚 zero of 𝐺0 𝑠 ,
the 𝑛 − 𝑚 remaining branches go to infinity approaching the
asymptotes defined by the rule 5 and rule 6

- Rule 3: The root locus is symmetric with respect to the real axis.

- Rule 4: A point on the real axis belongs to the root locus if the total
number of poles and zeros of 𝐺0 𝑠 to its right is odd

B. T. C. Quỳnh - ĐHCN tp. HCM 34

 3.3 The root locus method
Rules for construction of the root locus:
- Rule 5: The angles between the asymptotes and the real axis are calculated
by:

- Rule 6: The intersection between the asymptotes and the real axis is a
point A defined by:

- Rule 7: Breakaway / break-in points (or break points for short), if any, are
located in the real axis and are satisfied the equation:

B. T. C. Quỳnh - ĐHCN tp. HCM 35

 3.3 The root locus method
Rules for construction of the root locus:
- Rule 8: The intersections of the root locus with the imaginary axis can be
determined by using the Routh – Hurwitz criteria or by substituting 𝑠 = 𝑗𝜔
into the characteristic equation.

- Rule 9: The departure angle of the root locus from a poles 𝑝𝑗 (of
multiplicity 1) is given by:

Because ∠𝐺0 𝑠 |𝑠=𝑝𝑗 = σ𝑚 𝑛

1 arg(𝑝𝑗 − 𝑧𝑖 ) − σ1 arg 𝑝𝑗 − 𝑝𝑖 = −180
0

The geometric form of the above formula is:

B. T. C. Quỳnh - ĐHCN tp. HCM 36

 3.3 The root locus method
Example 1:
- Sketch the root locus of the system shown below when 𝐾 = 0 → +∞.

𝐾
𝐺 𝑠 =
𝑠(𝑠+2)(𝑠+3)

- Solution:
- The characteristic equation of the system:
𝐾
1+𝐺 𝑠 =0  1+ =0 (1)
𝑠(𝑠+2)(𝑠+3)

- Poles: 𝑝1 = 0 𝑝2 = −2 𝑝3 = −3
- Zeros: none

B. T. C. Quỳnh - ĐHCN tp. HCM 37

 3.3 The root locus method
Example 1:
- RL has 3 branches that begin
at 3 poles of 𝐺0 𝑠 and all of them go
to infinity approaching 3 asymptotes
- The asymptotes:

𝜋
𝛼1 = 𝑙=0
3
𝜋
⇒ 𝛼2 = − (𝑙 = −1)
3
𝛼3 = 𝜋 𝑙=1
0+ −2 +(−3) −0 5
= = −
3−0 3
B. T. C. Quỳnh - ĐHCN tp. HCM 38
 3.3 The root locus method
Example 1:
- The segments on the real axis
belong to RL: −∞; −3 , [-2;0]
- The break points:
(1)  𝐾 = −𝑠 𝑠 + 2 𝑠 + 3
= −(𝑠 3 + 5𝑠 2 + 6𝑠)
𝑑𝐾
⇒ = −(3𝑠 2 + 10𝑠 + 6)
𝑑𝑠
𝑑𝐾
Then =0
𝑑𝑠
𝑠 = −2.549 (𝑟𝑒𝑗𝑒𝑐𝑡𝑒𝑑)
 ቊ 1
𝑠2 = −0.785

B. T. C. Quỳnh - ĐHCN tp. HCM 39

 3.3 The root locus method
Example 1:
- The intersection of the root locus with the imaginary axis:
Method 1: Using the Hurwitz’s criterion
(1)  𝑠 3 + 5𝑠 2 + 6𝑠 + 𝐾 = 0 (2)
Stability condition:
𝐾>0 𝐾>0
ቊ ቊ  0 < 𝐾 < 30 ⇒ 𝐾𝑔ℎ = 30
𝑎1 𝑎2 − 𝑎0 𝑎3 > 0 5×6−1×𝐾 >0
Substitute 𝐾𝑔ℎ = 30 into the equation (2) and solve the equation, we have
the intersections of the root locus with the imaginary axis.
𝑠1 = −5
𝑠 3 + 5𝑠 2 + 6𝑠 + 30 = 0  ൞ 𝑠2 = 𝑗 6
𝑠3 = −𝑗 6

B. T. C. Quỳnh - ĐHCN tp. HCM 40

 3.3 The root locus method
Example 1:
- The intersection of the root locus with the imaginary axis:
Method 2:
(1)  𝑠 3 + 5𝑠 2 + 6𝑠 + 𝐾 = 0 (2)

Substitute 𝑠 = 𝑗𝜔 into the equation (2):

(𝑗𝜔)3 +5(𝑗𝜔)2 +6(𝑗𝜔) + 𝐾 = 0
 −𝑗𝜔3 − 5𝜔2 + 6𝑗𝜔 + 𝐾 = 0
𝜔=0
ቊ
−𝜔 3 + 6𝜔 = 0 𝐾=0
 ቊ 
−5𝜔2 + 𝐾 = 0
ቊ𝝎 = ± 𝟔
𝑲 = 𝟑𝟎

B. T. C. Quỳnh - ĐHCN tp. HCM 41

 3.3 The root locus method
Example 1:

B. T. C. Quỳnh - ĐHCN tp. HCM 42

 3.3 The root locus method
Example 2:
- Sketch the root locus of the system shown below when 𝐾 = 0 → +∞.

𝐾
𝐺 𝑠 =
𝑠(𝑠2 +8𝑠+20)

- Solution:
- The characteristic equation of the system:
𝐾
1+𝐺 𝑠 =0  1+ =0 (1)
𝑠(𝑠 2 +8𝑠+20)
- Poles: 𝑝1 = 0 𝑝2,3 = −4 ± 𝑗2
- Zeros: none

B. T. C. Quỳnh - ĐHCN tp. HCM 43

 3.3 The root locus method
Example 2:
- RL has 3 branches that begin
at 3 poles of 𝐺0 𝑠 and all of them go
to infinity approaching 3 asymptotes
- The asymptotes:

𝜋
𝛼1 = 𝑙=0
3
𝜋
⇒ 𝛼2 = − 𝑙 = −1
3
𝛼3 = 𝜋 𝑙=1
0+ −4+𝑗2 +(−4−𝑗2) −0 8
= = −
3−0 3
B. T. C. Quỳnh - ĐHCN tp. HCM 44
 3.3 The root locus method
Example 2:
- The segments on the real axis
belong to RL: −∞; 0
- The break points:
(1)  𝐾 = −((𝑠 3 + 8𝑠 2 + 20𝑠)
𝑑𝐾
⇒ = −(3𝑠 2 + 16𝑠 + 20)
𝑑𝑠
𝑑𝐾
Then =0
𝑑𝑠
𝑠1 = −3.33 (2 break points
 ቊ
𝑠2 = −2 accepted)

B. T. C. Quỳnh - ĐHCN tp. HCM 45

 3.3 The root locus method
Example 2:
- The intersection of the root locus with the imaginary axis:
(1)𝑠 3 + 8𝑠 2 + 20𝑠 + 𝐾 = 0 (2)
Substitute 𝑠 = 𝑗𝜔 into the equation (2):
(𝑗𝜔)3 +8(𝑗𝜔)2 +20(𝑗𝜔) + 𝐾 = 0
 −𝑗𝜔3 − 8𝜔2 + 20𝑗𝜔 + 𝐾 = 0
3 + 20𝜔 = 0
 ቊ−𝜔
−8𝜔2 + 𝐾 = 0
𝜔=0
ቊ
𝐾=0

ቊ𝝎 = ± 𝟐𝟎
𝑲 = 𝟏𝟔𝟎

B. T. C. Quỳnh - ĐHCN tp. HCM 46

 3.3 The root locus method
Example 2:
- The departure angle of the root locus from the pole 𝑝2
𝜃2 = 1800 − arg 𝑝2 − 𝑝1 + arg 𝑝2 − 𝑝3
= 1800 − arg −4 + 𝑗2 − 0 + arg −4 + 𝑗2 − −4 − 𝑗2
= 1800 − arg −4 + 𝑗2 + arg 𝑗4
= −63.50

B. T. C. Quỳnh - ĐHCN tp. HCM 47

 3.3 The root locus method
Example 2:

B. T. C. Quỳnh - ĐHCN tp. HCM 48

 3.3 The root locus method
Example 3:
- Sketch the root locus of the system shown below when 𝐾 = 0 → +∞.

𝐾(𝑠+1)
𝐺 𝑠 =
𝑠(𝑠+3)(𝑠2 +8𝑠+20)

- Solution:
- The characteristic equation of the system:
𝐾(𝑠+1)
1+𝐺 𝑠 =0  1+ =0 (1)
𝑠(𝑠+3)(𝑠 2 +8𝑠+20)
- Poles: 𝑝1 = 0 𝑝2 = −3 𝑝3,4 = −4 ± 𝑗2
- Zeros: 𝑧1 = −1

B. T. C. Quỳnh - ĐHCN tp. HCM 49

 3.3 The root locus method
Example 3:
- RL has 4 branches that begin
at 4 poles of 𝐺0 𝑠 , 1 branch ends at
1 zero and 3 remaining branches go
to infinity approaching 3 asymptotes
- The asymptotes:

𝜋
𝛼1 = 𝑙=0
3
𝜋
⇒ 𝛼2 = − 𝑙 = −1
3
𝛼3 = 𝜋 𝑙=1
0+ −3 + −4+𝑗2 +(−4−𝑗2) −(−1) 10
= = −
3−0 3
B. T. C. Quỳnh - ĐHCN tp. HCM 50
 3.3 The root locus method
Example 3:
- The segments on the real axis
belong to RL: −∞; −3 , −1; 0
- The break points:
𝑠(𝑠+3)(𝑠2 +8𝑠+20)
(1)𝐾 = −
𝑠+1
𝑑𝐾 3𝑠4 +26𝑠3 +77𝑠2 +88𝑠+60
⇒ = −
𝑑𝑠 (𝑠+1)2
𝑑𝐾
Then =0
𝑑𝑠
𝑠1 = −3.67 ± 𝑗1.05 (𝑟𝑒𝑗𝑒𝑐𝑡𝑒𝑑)
 ቊ
𝑠2 = −0.66 ± 𝑗0.97 (𝑟𝑒𝑗𝑒𝑐𝑡𝑒𝑑)

B. T. C. Quỳnh - ĐHCN tp. HCM 51

 3.3 The root locus method
Example 3:
- The intersection of the root locus with the imaginary axis:
(1)𝑠 4 + 11𝑠 3 + 44𝑠 2 + (60 + 𝐾)𝑠 + 𝐾 = 0 (2)
Substitute 𝑠 = 𝑗𝜔 into the equation (2):
(𝑗𝜔)4 +11(𝑗𝜔)3 + 44(𝑗𝜔)2 +(60 + 𝐾)𝑗𝜔 + 𝐾 = 0
 𝜔4 − 11𝑗𝜔3 − 44𝜔2 + (60 + 𝐾)𝑗𝜔 + 𝐾 = 0
−11𝜔3 + (60 + 𝐾)𝜔 = 0
 ቊ
𝜔4 − 44𝜔2 + 𝐾 = 0
𝜔=0
ቊ
𝐾=0
𝜔=0
ቈ
൞ −11𝜔2 + 60 + 𝐾 = 0 ቊ𝝎 = ±𝟓. 𝟖𝟗𝟑
𝑲 = 𝟑𝟐𝟐
𝐾 = 44𝜔2 − 𝜔4
𝜔 = ±𝑗1.314
൜ (𝑟𝑒𝑗𝑒𝑐𝑡𝑒𝑑)
𝐾 = −61.7
B. T. C. Quỳnh - ĐHCN tp. HCM 52
 3.3 The root locus method
Example 3:
- The departure angle of the root locus from the pole 𝑝3
𝜃3 = 1800 − arg 𝑝3 − 𝑝1 + arg 𝑝3 − 𝑝2 + arg 𝑝3 − 𝑝4 + arg(𝑝3 − 𝑧1 )
arg −4 + 𝑗2 − 0
= 1800 − + arg −4 + 𝑗2 − (−3)
+ arg −4 + 𝑗2 − −4 − 𝑗2
+argሾ −4 + 𝑗2 − −1 ]
arg −4 + 𝑗2
= 1800 − + arg −1 + 𝑗2
+ arg 𝑗4
+arg(−3 + 𝑗2)
= −33.70

B. T. C. Quỳnh - ĐHCN tp. HCM 53

 3.3 The root locus method
Example 3:

B. T. C. Quỳnh - ĐHCN tp. HCM 54