Lecture-6

Root Locus Method

[Link] By

Dr. Ramana Pilla

Department of EEE
Professor & HoD
GMR Institute of Technology

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 Root Locus Method

❑ Definition: The Root Locus Method is a graphical technique used to analyze how the roots (or poles) of
a closed-loop transfer function move in the s-plane as a system parameter (usually gain, K) is varied
from 0 to ∞.

❑ Purpose:
▪ To study stability and transient response of control systems.
▪ To help in controller design by choosing suitable gain.

❑ Advantages:
▪ Provides visual insight into system behavior.
▪ Useful for controller design and gain tuning.
▪ Helps predict how adding poles/zeros affects system performance.

❑ Applications:
▪ PID controller tuning
▪ System performance improvement
▪ Compensator design (lead/lag)
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 Angle and Magnitude Criterion
❑ The characteristic equation of the closed loop transfer function is given as
1+G(s)H(s)=0
G(s)H(s)=-1
 G ( s ) H ( s ) = 1 180

❑ Magnitude = G ( s) H ( s) = 1

❑ Phase Angle = G ( s) H ( s) =  ( 2q + 1)180o , where q is a positive integer.

❑ Any point on the root locus must satisfy either the magnitude condition or the angle condition.

❑ Since K is not known in the function G(s)H(s), it is difficult to get G ( s ) H ( s) = 1 at any point in the s-
plane, and this condition is unsuitable to check the existence of any point on the root locus. So, use the
angle criterion to check the existence.
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Solved Example-1: Check whether the point s=-3+j5 lies on the root locus of a system having
G(s)H(s)=K/(s+1)(s+5). Determine the corresponding value of K.
Solution: Given that
K
G(s) H (s) =
( s + 1)( s + 5)
K K
G ( s) H ( s) |s = −3+ j 5 = =
( −3 + j5 + 1)( −3 + j5 + 5) ( −2 + j5)(2 + j5)
K K K
= = =  − 180
(5.3851111.8)  5.385168.2 29180 29
G ( s) H ( s) |s =−3+ j 5 = −180
Since the angle condition is satisfied, point −3 + j5 lies on the root locus of the given system.
To find the value of K,
K
G ( s) H ( s) s = −3+ j 5 = 1  = 1  K = 29
29

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Solved Example-2 : Check whether the points (-1+ j) and (-3+j) lie on the root locus of a system given by
G(s)H(s)=K/(s+1)(s+2). Use the angle condition..
Solution: Given that
K
(i ) G ( s) H ( s) =
( s + 1)( s + 2)
K K K
G(s) H (s) s =−1+ j = = =  − 135
(−1 + j + 1)(−1 + j + 2) (1 + j ) j 1.414
G ( s ) H ( s ) s =−1+ j  −180
Since the angle condition is not satisfied, point (−1 + j) does not lie on the root locus of the given system.
K
(ii ) G ( s) H ( s) =
( s + 1)( s + 2)
K K K
G(s) H (s) s =−3 + j = = = 71.56
(−3 + j + 1)(−3 + j + 2) (1 − 3 j ) 3.162

G ( s ) H ( s ) s =−3 + j  −180

Since the angle condition is not satisfied, point (−3 + j) does not lie on the root locus of the given system.
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 Relation between Poles and Zeros of OLTF with Poles of CLTF
❑ To discuss the relation between poles and zeros of open-loop transfer function (OLTF) with poles of
.
closed-loop transfer function (CLTF), let us consider
N ( s)
G(s) H (s) = K
D( s)
where K is the gain of the OLTF, N(s) is the numerator polynomial in s and D(s) is the denominator
polynomial in s.
Case (a):
❑ OLTF zeros can be obtained by taking, G(s)H(s)=0
KN ( s )
 =0
D( s)
 N ( s ) = 0  K  0
Therefore, OLTF zero can be obtained from, N(s)=0 ---(1)

Case (b):
❑ OLTF poles can be obtained by taking, G(s)H(s)=∞
KN ( s )
or =
D( s)
 D( s) = 0
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❑ Therefore, OLTF poles can be obtained from, D(s)=0 ---(2)

Case (c):
❑ CLTF pole can be obtained by taking, 1+G(s)H(s)=0
KN ( s )
 1+ =0
D( s)
 D( s ) + KN ( s) = 0

▪ If K = 0, then D(s) = 0. Then, it is same as (2) and gives OLTF poles. Therefore, closed-loop poles are same as
open-loop poles for K = 0.
 D( s) 
▪ If K = ∞, D( s) + KN ( s) = N ( s)  K + = 0  N ( s) = 0 . It is same as (1) and gives OLTF zeros. Therefore, closed-
 N ( s) 
loop poles are same as open-loop zeros for K = ∞.
▪ Thus, the root locus starts from open-loop pole at K = 0 and ends at open-loop zero at K = ∞.

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 Properties of Root Locus

❑ The root locus starts from an open-loop pole, i.e., at K=0 and terminates at an open-loop zero, i.e., at K= ∞.
❑ The number of separate root locus branches are equal to either the number of open-loop poles or the
number of open-loop zeros, whichever is greater.
❑ A section of root locus lies on the real axis if the total number of open-loop poles and zeros to the right of
the section is odd.
❑ The root locus is symmetrical with respect to real axis.
❑ At some point, on the root locus between two open-loop poles, the root locus breaks away.
❑ For higher values of K, the root locus can be approximated by asymptotic lines, and these asymptotic lines
intersect at a point on the real axis.
❑ The asymptotic lines make an angle with negative real axis at an intersection point (centre of gravity).
❑ If the root locus intersects the imaginary axis, then the points of intersection are conjugate.
❑ From the open-loop complex pole, the root locus departs by making an angle with the horizontal line.
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 Procedure for Construction of Root Locus
❑ 1. Symmetry: The root locus plot is always symmetrical with respect to the real axis in s-plane.

❑ 2. Starting and ending points: The root locus originates from an open loop pole i.e at K=0 and
terminates at an open loop zero i.e at K= ∞.

❑ 3. Number of Loci: Number of separate root loci (N) depends upon the number of poles (P) and zeros
(Z) of the loop transfer function
N=Z for Z>P
N=P for P>Z
Where Z= number of finite zeros of G(s)H(s)
P= number of finite poles of G(s)H(s)
Thus, the number of separate root locus is equal to the number of poles or zeros whichever is greater.

❑ 4. Existence on real axis: Some of the loci will lie on the real axis. A point on the real axis will lie on the
real axis if and only if the sum of OLTF poles and zeros to the right of the point is odd.

❑ 5. Number of Asymptotic lines: Asymptote is defined as a line on which the root locus touches at
infinity. For the function G(s)H(s) having P finite poles and Z finite zeros, the number of asymptotes is
given by n=(P-Z).
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❑ 6. Angle of asymptotes: Since the number of poles is greater than number of zeros, i.e P>Z, P-Z branches
will move to infinity and these branches move along the asymptote. For root locus, the angle of asymptote
is given by
(2q + 1)
=
P−Z
Where q is positive integer having values 0,1,2……up to q=(P-Z)

❑ 7. Centre of Asymptote or Centroid: For the function G(s)H(s) having P finite poles and Z finite zeros,
the number of asymptotes is n=(P-Z). These asymptotes intersect on the real axis in s-plane at appoint
called centroid and is given by
 poles of G ( s) H ( s) −  zero of G ( s) H ( s)
=
P−Z
❑ 8. Break-away/break-in point: Break-away point is defined as the point at which root locus comes out
of the real axis and break-in point is defined as a point at which root locus enters the real axis. The break-
away or break-in points are the points on the root locus at which multiple root of the characteristic
equation occur.

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❑ Steps to determine the break-away/break-in points:
▪ Find the characteristic equation of the system, i.e. 1+G(s)H(s)=0.
▪ Write K in terms of s, i.e. K=f(s).
▪ Derive dK/ds and put dK/ds =0
▪ The roots of the equation, dK/ds =0 are the break-away/break-in points. If the value of K is positive
for any root of dK/ds =0 , the root(s) is(are) valid break-away/break-in point(s).

❑ 9. Intersection of root locus with imaginary axis: The point of intersection of root locus with the
imaginary axis in s-plane can be determined by applying the RH criterion, which gives the critical values
of K and at the intersection point.
❑ Steps to determine the intersection of root locus with imaginary axis:
▪ Find the characteristic equation of the system, i.e 1+G(s)H(s)=0.
▪ Develop Routh’s array in terms of K
▪ Find Kmar that creates one of the rows of the Routh’s array as a row of zeros.
▪ Frame the auxiliary equation A(s)=0 with the help of the coefficients of arrow just above the row of
zeros.
▪ The roots of auxiliary equation A(s)=0 for K=Kmar gives the inter section points of the root locus with
imaginary axis.
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❑ 10. Angle of departure/arrival:
▪ The root locus leaves from a complex pole and arrives at a complex zero. These two angles are known as
angle of departure and angle of arrival, respectively.
▪ The angles of departure and arrival of root locus at the complex poles and zeros respectively depend
upon the contribution of angles due to other poles and zeros of the loop transfer function G(s)H(s).
▪ The angle of departure is given by
d = 1800 −  p +  z
▪ The angle of arrival is given by
a = 1800 + p − z
Where, фp is the sum of the angles due to other poles and фz is the sum of the angles due to other zeros

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Solved Example-3: Sketch the root locus plot for the systems whose OLTF is given as
G(s)H(s)=K/s(s+1)(s+3).
K
Solution: Given that G ( s ) H ( s ) =
s ( s + 1)( s + 3)
❑ Root locus is symmetrical about real axis.
❑ The root locus plot starts from a pole i.e. at at K = 0 and terminates at an open-loop zero i.e. at K = ∞.
❑ The poles are given as: s=0 s=-1 s=-3
❑ Number of poles = P = 3
Number of zeros = Z = 0
Number of root locus branches = N = P = 3
Number of asymptotic lines = n = P – Z = 3
❑ The angle of asymptotic lines with negative real axis
(2q + 1)180
= , q = 0,1, 2
P−Z
= 180 / 3, 3 180 / 3, 5 180 / 3
= 60, 180, 300
❑ The centroid is given as
Sum of poles − Sum of zeros −(0 − 1 − 3) − (0)
Centroid = = = −1.33
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❑ Break-away points:
The C.E. is given as 1+G(s) H(s) = 0
K
1+ =0
s ( s + 1)( s + 3)
 K = -s(s + 1) (s + 3)
 K = -s3 -4s 2 -3s
dK
= 0  3s 2 + 8s + 3 = 0  s1 = −0.45, s2 = −2.21
ds
The valid break-away points are B1= –0.45 (since K is positive for s1).
❑ Intersection points of the root locus branches with imaginary axis:
The C.E. is given as, 1 + G(s) H(s) = 0. 3
s 1 3
K
1+ =0 s2 4 K
s ( s + 1)( s + 3)
s1 (12 − K ) / 4 0
 K = -s(s + 1) (s + 3) s0 K 0
 s3 +4s 2 + 3s+K=0
For a stable system, K > 0, (12 – K)/4 > 0 K>0 & K < 12.
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For a stable system, the
maximum value of K is 12.
For K >12, the roots lie on
the RHS of the s-plane, and
hence, K = 12 is the value for
marginal stability.
The auxiliary equation of the
system is
4s2 + K = 0
4s2 + 12 = 0
 s = ± j 1.73

The complete root locus plot

for the above mentioned
system is as shown in the
figure .

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Solved Example-4: Sketch the root locus plot for the systems whose OLTF is given as
G(s)H(s)=K/s(s+1)(s+3)(s+4).
K
Solution: Given that G( s) H ( s) =
s( s + 1)( s + 3)( s + 4)
❑ Root locus is symmetrical about real axis.
❑ The root locus plot starts from a pole i.e. at at K = 0 and terminates at an open-loop zero i.e. at K = ∞.
❑ The poles are given as s=0 s=-1 s=-3 s=-4
❑ Number of poles = P = 4
Number of zeros = Z = 0
Number of root locus branches = N = P = 4
Number of asymptotic lines = n = P – Z = 4
❑ The angle of asymptotic lines with negative real axis
(2q + 1)180
= , q = 0,1, 2,3
P−Z
= 180 / 4, 3 180 / 4, 5 180 / 4, 7 180 / 4
= 45, 135, 225, 315
❑ The centroid is given as
Sum of poles − Sum of zeros (0 − 1 − 3 − 4) − (0) −8
Centroid = = = = −2
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❑ Break-away points:
The C.E. is given as 1+G(s) H(s) = 0
K
1+ =0
s ( s + 1)( s + 3)( s + 4)
 K = -s(s + 1) (s + 3) (s + 4)
 K = -(s 4 + 8s3 + 19s 2 + 12s)
dK
= 0  4 s 3 + 24s 2 + 38s + 12 = 0  s1 = −0.418, s2 = −2, s3 = −3.581
ds
The valid break-away points are B1= –0.418 and B2= –3.581 (since K is positive for s1 and s3).
❑ Intersection points of the root locus branches with imaginary axis:
The C.E. is given as, 1 + G(s) H(s) = 0. s4 1 19 K
K
1+ =0 s3 8 12 0
s ( s + 1)( s + 3)( s + 4)
 K = -s(s + 1) (s + 3) (s + 4) s2 17.5 K 0
 s 4 + 8s3 + 19s 2 + 12s+K=0 s1 (210 − 8 K )17.5 0 0
For a stable system, (210 – 8K)/17.5 > 0K < 26.25. s0 K 0 0
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For a stable system, the
maximum value of K is 26.25.
For K > 26.25, the roots lie on
the RHS of the s-plane, and
hence, K = 26.25 is the value
for marginal stability.

The auxiliary equation of the

system is
17.5s2 + K = 0
17.5s2 + 26.25 = 0
 s = ± j 1.224.

The complete root locus plot

for the above-mentioned
system is as shown in the
figure .
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Solved Example-5: The open loop t.f. of a control system is given by G(s)H(s)=K/s(s+6)(s2+4s+13).
Sketch the root locus plot and determine (a) The break-away points, (b) The angle of departure from
complex poles and (c) The stability condition
Solution: Given that
K
G ( s) H ( s) =
s( s + 6)( s 2 + 4s + 13)
❑ Root locus is symmetrical about real axis.
❑ The root locus plot starts from a pole, , i.e., at K = 0 and terminates at an open-loop zero, i.e., at K = ∞.
❑ The poles are given as
s = 0, s = −6, s2 + 4s + 13 = 0
P1 = 0, P2 = −6, P3 = −2 + j3, P4= −2 − j3
Number of poles = P = 4
Number of zeros = Z = 0
Number of root locus branches = N = P = 4
Number of asymptotic lines = n = P − Z = 4
❑ The angle of asymptotic lines with negative real axis
(2q + 1)180
= where = 0,1, 2,3
P−Z
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 = 180/4, 3×180/4, 5×180/4, 7×180/4
= 45, 135, 225, 315.
❑ The centroid is given as
Sum of poles − Sum of zeros (0 − 6 − 2 + j 3 − 2 − j3) − (0)
Centroid = = = −2.5
P−Z 4−0
❑ Break-away points:
The C.E. is given as, 1+G(s)H(s) = 0
K
1+ =0
s ( s + 6)( s + 4s + 13)
2

K = -s(s + 6)(s 2 + 4s + 13)

K = -(s 4 + 10s3 + 37s 2 + 78s)
dK
= 0  4s3 +30s 2 +74s+78 = 0
ds
 s1 = -4.2, s 2 = -1.65 + j1.38, s3 = -1.65 - j1.38.
The valid break-away point is B1= −4.2 (since K is positive for s1).

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❑ Intersection points of the root locus branches with imaginary axis:
The C.E. is given as, 1 + G(s)H(s) = 0
s4 + 10s3 + 37s2 + 78s + K = 0
s4 1 37
s3 10 78
s2 29.2 K
s1 78 − 0.34 K 0
s0 K 0
For the stable system, K > 0, 78 −0.34 K > 0
K > 0, K < 228.4.
For the stable system, the maximum value of K is 228.4. For K > 228.4, the roots lie on the RHS of the
s-plane; hence, K = 228.4 is the value for marginal stability.
The auxiliary equation is, 29.2s2 + K = 0 s = ±j2.8.
❑ Angle of departure
d 1= ( −2 + j 3) = 180 − (p1 + p 2 + p 4 ) = 180 - (123 - 35 - 90) = -70, d 2 = ( −2 − j 3) = +70

❑ The complete root locus plot is as shown in the figure

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(a) The break-away point is B1 = –4.2
(b) The angle of departure from
complex pole is
d 1= ( −2 + j 3) = −70
d 2 = ( −2 − j 3) = +70
(c) The system is stable if
0 < K < 228.4

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Solved Example-6: Sketch the root locus plot of the system whose OLTF is given as
G(s)H(s)=K(s+1)(s+2)/(s+0.1)(s-1).
Solution: Given that
K ( s + 1)( s + 2)
G ( s) H ( s) =
( s + 0.1)( s − 1)
❑ Root locus is symmetrical about real axis.
❑ The root locus plot starts from a pole i.e. at K = 0 and terminates at an open-loop zero, i.e., at K = ∞.
❑ The poles are given as
s = -0.1, s = 1
The zeros are given as
s = −1, s = −2
Number of poles = P = 2
Number of zeros = Z = 2
Number of root locus branches = N = P = 2
Number of asymptotic lines = n = P − Z = 0
❑ There is no need to find out the angle of asymptotic lines with negative real axis.
❑ There is no need to find out the centroid.

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❑ Break-away points:
The C.E. is given as, 1+G(s)H(s) = 0
K ( s + 1)( s + 2)
1+ =0
( s + 0.1)( s − 1)
( s + 0.1)( s − 1) s 2 − 0.9s − 0.1
K= =− 2
( s + 1)( s + 2) s + 3s + 2
dK
= 0  0.9s 2 + 4.2s - 1.5 = 0  s1 = -0.282, s 2 = -1.3589.
ds
The valid break-away point are B1 = 0.282 and B2 = 1.3589.
❑ Intersection points of the root locus branches with imaginary axis:
The C.E. is given as, 1 + G(s)H(s) = 0 s2 1 + K 2 K − 0.1
s2 − 0.9s − 0.1K(s2 + 3s + 2) = 0 s1 3K − 0.9 0
(1 + K)s2 + (3K − 0.9)s + 2K − 0.1 = 0 s 0 2 K − 0.1 0
For the stable system,
3K-0.9 > 0  K > 0.3
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❑ For the stable system, the maximum values of K is 0.3. For K > 0.3, the roots lie on the RHS of the
s-plane, and hence, K = 0.3 is the value for marginal stability.
The auxiliary equation is
(1 + K ) s 2 + 2 K – 0.1 = 0
 1.3s 2 + 0.5 = 0
 s =  j 0.62
❑ The complete
root locus plot is
as shown in the
figure.

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Solved Example-7: The C.E. of the system is given as s3+2s2+(K+1)s+3K=0. Sketch the complete root
locus plot.
Solution: The C.E. of the system is
1+ G (s) H (s) = 0
s 3 + 2s 2 + ( K + 1) s + 3K = 0
s 3 + 2 s 2 + s + ( s + 3) K = 0
K ( s + 3)
1+ =0
s ( s 2 + 2s + 1)
K ( s + 3) K ( s + 3)
 G(s) H (s) =
s ( s 2 + 2s + 1) s( s + 1) 2
❑ Root locus is symmetrical about real axis.
❑ The root locus plot starts from a pole , i.e., at K = 0 and terminates at an open-loop zero, i.e., at K = ∞.
❑ The poles are given as s=0 s=-1 s=-1
The zeros are given as s=-3
Number of poles = P = 3
Number of zeros = Z = 1
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 Number of root locus branches = N = P = 3
Number of asymptotic lines = n = P − Z = 2
❑ The angle of asymptotic lines with negative real axis
(2q + 1)180
= where = 0,1
P−Z
= 180/2, 3×180/2=90, 270
❑ The centroid is given as
Sum of poles − Sum of zeros (0 − 1 − 1) − ( −3)
Centroid = = = 0.5
P−Z 3 −1
❑ Break-away points:
The C.E. is given as, 1+G(s)H(s) = 0
s3 + 2s2 + (K+1)s + 3K = 0
K ( s + 3)
1+ =0
s( s + 2s + 1)
2

−( s 3 + 2 s 2 + s )
K=
s+3
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 dK
= 0  2s3 +11s 2 +12s+3 = 0
ds
 s1 = -0.36, s 2 = -1, s3 = -4.14
The valid break-away point are B1 = −0.36
❑ Intersection points of the root locus branches with imaginary axis:
The C.E. is given as, 1 + G(s)H(s) = 0
s3 + 2s2 + (K+1)s + 3K = 0
s3 1 1+ K
s2 2 3K
s1 (2 − K ) / 2 0
s0 3K 0
For the stable system, K > 0, (2-K)/2 > 0
K > 0, K < 2
For the stable system, the maximum value of K is 2. For K > 2, the roots lie on the RHS of the
s-plane; hence, K = 2 is the value for marginal stability.
The auxiliary equation is, 2s2 + 3K = 0 s = ±j1.732
❑ The complete root locus plot is as shown in the figure.
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Humility | Entrepreneurship | Teamwork & Respect for Individual | Deliver the Promise | Learning & Inner Excellence | Social Responsibility | Financial Prudence - Frugality 29
Solved Example-8: Sketch the root locus plot of the system whose OLTF is given as
G(s)H(s)=K/s(s+4)(s2+4s+13).
Solution: Given that
K
G(s) H (s) =
s ( s + 4)( s 2 + 4s + 13)
❑ Root locus is symmetrical about real axis.
❑ The root locus plot starts from a pole , i.e., at K = 0 and terminates at an open-loop zero, i.e., at K = ∞.
❑ The poles are given as
s = 0, s = −4, s2 + 4s + 13 = 0
P1 = 0, P2 = −6, P3 = −2 + j3, P4= −2 − j3
Number of poles = P = 4
Number of zeros = Z = 0
Number of root locus branches = N = P = 4
Number of asymptotic lines = n = P − Z = 4
❑ The angle of asymptotic lines with negative real axis
(2q + 1)180
= where = 0,1, 2,3
P−Z

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 = 180/4, 3×180/4, 5×180/4, 7×180/4
= 45, 135, 225, 315.
❑ The centroid is given as
Sum of poles − Sum of zeros (0 − 2 − 2 + j3 − 2 − j3) − (0)
Centroid = = = −2
P−Z 4−0
❑ Break-away points:
The C.E. is given as, 1+G(s)H(s) = 0
K
1+ =0
s ( s + 4)( s + 4s + 13)
2

K = -s(s + 4)(s 2 + 4s + 13)

K = -(s 4 + 8s3 + 29s 2 + 52s)
dK
= 0  4s3 +24s 2 +58s+52 = 0
ds
 s1 = -2, s 2 = -2 + j1.58, s3 = -2 - j1.58
The valid break-away point are B1 = −2, B2 = −2 + j1.58, B3 = −2 − j1.58
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❑ Intersection points of the root locus branches with imaginary axis:
The C.E. is given as, 1 + G(s)H(s) = 0
s4 + 8s3 + 29s2 + 52s + K = 0
s4 1 29 K
s3 8 52 0
s2 22.5 K 0
s1 52 − 0.35 K 0 0
s0 K 0 0
For the stable system, K > 0, 52 −0.35 K > 0
K > 0, K < 148.6
For the stable system, the maximum value of K is 148.6. For K > 148.6, the roots lie on the RHS of the
s-plane; hence, K = 148.6 is the value for marginal stability.
The auxiliary equation is, 22.5s2 + K = 0 s = ±j2.56
❑ Angle of departure
d 1= ( −2 + j 3) = 180 − (p1 + p 2 + p 4 ) = 180 - (125 - 55 - 90) = -90, d 2 = ( −2 − j 3) = +90

❑ The complete root locus plot is as shown in the figure

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Humility | Entrepreneurship | Teamwork & Respect for Individual | Deliver the Promise | Learning & Inner Excellence | Social Responsibility | Financial Prudence - Frugality 33
 Assignment Problems

K
Problem-1: Sketch the root locus plot of the system whose OLTF is given as G(s) H (s) =
s ( s + 2)( s 2 + 2s + 2)
[ASP-3, Page No.285]

Problem-2:Sketch the root locus plot for a unity feedback system whose OLTF is given as G(s) H (s) = (s − 1)(Ks(+s +2)(1)s + 4)
Find the range of K for which the system is stable.
[ASP-5, Page No.289]
K ( s + 1.5)
Problem-3:Sketch the root locus plot for a unity feedback system whose OLTF is given as G(s) H (s) =
s ( s + 1)( s + 5)
[ASP-7, Page No.295]

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Thank you

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