Aims
Learn a specific technique which shows how
changes in one of a systems parameter
(usually the controller gain, K)
will modify the location of the closed-loop poles
in the s-domain.
Definition
The closed-loop poles of the negative feedback control:
1 KGs H s 0
are the roots of the characteristic equation:
1 KGs H s 0
The root locus is the locus of the closed-loop poles
when a specific parameter (usually gain, K)
is varied from 0 to infinity.
Root Locus Method
The value of s in the s-plane that make the loop gain
KG(s)H(s) equal to -1 are the closed-loop poles
(i.e.
)
1 KGs H s 0 KGs H s 1
KG(s)H(s) = -1 can be split into two equations by
equating the magnitudes and angles of both sides
of the equation.
Angle and Magnitude Conditions
KG s H s 1
KG s H s 1
2l 1
KG
s
H
s
180
l 0,1, 2,
G s H s 1 K
2l 1
G
s
H
s
180
l 0,1, 2,
Independent of K
Learning Steps
1)
Sketch the root locus of the following system:
2) Determine the value of K such that the damping
ratio of a pair of dominant complex conjugate
closed-loop is 0.5.
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.
First step: Draw the n poles and m zeros of G(s)H(s)
using x and o respectively
Step #1
Draw the n poles and m
zeros of G(s)H(s) using x
and o respectively.
1
G s H s
ss 1s 2
3 poles:
p1 = 0; p2 = -1; p3 = -2
No zeros
Step #1
Draw the n poles and m
zeros of G(s)H(s) using x
and o respectively.
1
G s H s
ss 1s 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
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
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
Rule #3
Assuming n poles and m zeros for G(s)H(s):
The root loci for very large values of s must be
asymptotic to straight lines originate on the real axis
at point:
zi
n pi
m
s
nm
radiating out from this point at angles:
180 o 2l 1
l
nm
Third step: Determine the n - m asymptotes of the root loci.
Locate s = on the real axis. Compute and draw angles.
Draw the asymptotes using dash lines.
Step #3
Determine the n - m
asymptotes:
Locate s = on the real axis:
s
p1 p2 p3 0 1 2
1
30
3
Compute and draw angles:
180 2l 1 l 0,1, 2,
nm
1800 2 0 1
0
60
0
30
0
180 2 1 1 1800
1
30
Draw the asymptotes using
dash lines.
Step #3
Determine the n - m
asymptotes:
Locate s = on the real axis:
s
p1 p2 p3 0 1 2
1
30
3
Compute and draw angles:
180 2l 1 l 0,1, 2,
nm
1800 2 0 1
0
60
0
30
0
180 2 1 1 1800
1
30
Draw the asymptotes using
dash 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.
Step #4
Find the breakpoints.
Express K such as:
1
K
s s 1s 2
G( s ) H ( s )
K s 3 3s 2 2 s
Set dK/ds = 0 and solve for the
poles.
3s 2 6s 2 0
s1 1.5774, s2 0.4226
Step #4
Find the breakpoints.
Express K such as:
1
K
s s 1s 2
G( s ) H ( s )
K s 3 3s 2 2 s
Set dK/ds = 0 and solve for the
poles.
3s 2 6s 2 0
s1 1.5774, s2 0.4226
Rule #1 Again
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
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
Points on root locus satisfy:
j?
1 KGs H s 0
Substitute s=j into the
characteristic equation and
solve for .
0 or 2
- j
Learning Steps
1)
Sketch the root locus of the following system:
2) Determine the value of K such that the damping
ratio of a pair of dominant complex conjugate
closed-loop is 0.5.
See class notes