Chapter 7

Root-locus Analysis

Chapter Objective:
Root-locus construction
Stability analysis using root-loci

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 Root-locus Analysis
Developed in 1948 by W.R. Evans
Used as a design tool for the selection of a particular
parameter value.
A graphical technique to determine the roots of the
closed-loop characteristic equation of the system as a
function of one system parameter (usually the loop gain).
Based on the relationship, which exist between the poles
of the closed-loop poles and the poles and zeros of the
open-loop transfer function.

Feb-17 ME2142 - C7 C7.2

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 Significant of root loci Example 1
Consider the control system as represented below.

The C.L.T.F. of the system is

The CLCE is 4 0
What is the root of this CLCE for different
values of K?
There are 4 cases as follows
For K=0, 4, 0
For K<4, 2 4
For K=4, 2
For K>4, 2 4

Feb-17 ME2142 - C7 C7.3

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 Significant of root loci Example 2
Consider another control system as represented below.

C.L.T.F. is 6

K = 240
4
C.L.C.E is 10 24
2
K s1 s2 s3
0 0 4 6 -18 -16 -14 -12 -10 -8 -6 -4 -2 2
1 0.0424 3.8785 6.0791 Real axis
-2
2 0.0864 3.7624 6.1511
4 0.1799 3.5406 6.62795 -4

8 0.3961 3.1099 6.494

-6
17 1.5677 j0.1368 6.8645
44 1.1975 j2.086 7.6049
100 0.7195 j3.3411 8.561
240 j4.899 10
300 0.2252 j5.3532 10.4504
Feb-17 ME2142 - C7 C7.4
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 Construction of Root Loci
Basis of Root Loci
Consider a general feedback system as shown below

Closed-loop transfer function is

Closed-loop characteristic equation is
1 0 or 1
From the above we have
1

Magnitude Criterion
and
2 1 2 1 180

Angle Criterion
These equations form the basis of root loci.
Feb-17 ME2142 - C7 C7.5
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 Magnitude and Angle Criteria
Magnitude Criterion Angle Criterion
1 2 1
In general, G(s) and H(s) are usually rational function of s.


where and are the zeros and poles of the open-loop transfer function.
Using the magnitude and angle criteria, we have
Magnitude Criterion
1

Angle Criterion

2 1 180

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 Magnitude and Angle Criteria Example1
Magnitude Criterion Angle Criterion
1 2 1
Consider an example of

Angle Criterion Im

s-test point 2

-p2
2 1 180
Magnitude Criterion 1
1
Re
1 -z1 -p1

-p3

Feb-17 ME2142 - C7 C7.7

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 Magnitude and Angle Criteria Example2
Magnitude Criterion Angle Criterion
1 2 1
Consider a feedback system of
R(s) Y(s)
1 1
K
+ s (s+1)
- C.L.C.E: 0

Case I: 0.5 0.5

Angle Criterion
135 45 180
is a closed loop for some value of
Magnitude Criterion
1 1
0.5 0.5 0.5 0.5 1
0.5
Case II: 1
Angle Criterion
225 270 2 1 180
is not a root of the C.L.C.E.!
Feb-17 ME2142 - C7 C7.8
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 Properties of Root Loci 1-2
In general, the open-loop transfer function can be written in its
rational form as

,

where
, are the zeros and poles of the open-loop transfer function, respectively
is known as the numerator polynomial
is known as the denominator polynomial.
Property 1:
0, 0 and 0 can only have roots which are either
REAL or in its COMPLEX CONJUGATE PAIR.
Property 2:
Total number of loci = ,
Proof:
C.L.C.E. is 1 0 0

Hence C.L.C.E has roots.

Feb-17 ME2142 - C7 C7.9

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 Properties of Root Loci 3
We can write the C.L.C.E. in
Property 3: 1
The root loci always STARTS at 0
open-loop poles and ENDS at open- For large (i.e. where the loci ends),
loop zeros, the remaining loci go to
0, hence, we have
infinity.
Proof: 0 Open loop zeros

From the C.L.C.E. we have Case I: 0

0
root loci move toward open-
At the beginning, 0, therefore the loop zeros
C.L.C.E. becomes
0 Open loop poles Case II:
For large , we can write
Therefore, root loci always start at
1
open-loop poles.

n root loci end at
infinity.

Feb-17 ME2142 - C7 C7.10

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 Properties of Root Loci 4
Case I: and are real.
Property 4:
If , , then
For a point on the locus to lie on the 180
real axis, there must exist an ODD
If , , then
number of finite poles and zeros to
0
the RIGHT of that point.
Proof: Case II: and exist in complex
From the angle criterion, we have conjugate pair.
2 1 180 Then,
Say, let be a point on the locus 0
that lies on the real axis. Then, Similarly,
0

Say, there are and of open-loop
poles and zeros that are on the right of .
Using the angle criterion, we have
180
2 1 180
Let us consider the angle behaviour The above equation is true only when
for various cases of and . is ODD is ODD
Hence Property 4 is proved.
Feb-17 ME2142 - C7 C7.11
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 Properties of Root Loci 5
(ii)
Property 5:
For large , the OLTF can be
i. Total number of asymptotes = approximated as
ii. Angle of asymptotes is
2 1
Hence,
iii. Intersection of asymptotes and the 1
real axis occurs along the real axis
at
Compare this with the angle criterion, we
have
2 1 180
Proof: 2 1 180

(i) This property is discussed in
previous slide.

Feb-17 ME2142 - C7 C7.12

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 Properties of Root Loci 5a
Property 5: (Continued) Therefore,

iii. Intersection of asymptotes and the
real axis occurs along the real axis
at


Comparing the coefficient of yields
Proof:

(iii) We can write the CLCE in the
form of

For the point on real axis, we have

and

Also, for large ,

Feb-17 ME2142 - C7 C7.13

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 Properties of Root Loci Example 1
Example1: Property 4: Loci will lie between
Construct the root loci for the -1 and -2
system below. -3 and -4
Property 5:
2 1 180
90
3 1
1 3 4 2
3
3 1
Solution:
OLTF:
System order: 3, 1
OL poles: 1, 3, 4
OL zeros: 2
Property 2: # of loci = n = 3
Property 3: The loci will start from the
open loop poles. One of them will go
towards -2, and the remaining two will
go to infinity.

Feb-17 ME2142 - C7 C7.14

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 Properties of Root Loci 6
Property 6: The CLCE is
4 3 4 0
The break away and break in points
can be obtained by To find the break away and break in
points, we rewriting the CLCE as
0 4 3
4
Illustration:
Differentiate w.r.t. , we have
Consider a unity feedback system 8 13
with its OLTF 0
4 4
2.27, 5.73
1 3
2
Root Locus
Further verification will shows that
2.27 corresponds to a maximum point
0.96 0.92 0.86 0.76 0.58 0.35

1.5
0.984
Break which is associated with the breakaway
away point
point.
1

0.996
Imaginary Axis (seconds-1)

5.73 refers to a minimum

0.5
And,
7 6 5 4 3 2 1
0
point which is associated with the
-0.5
0.996
break-in point.
-1

-1.5
Break in
0.984

point 0.96 0.92 0.86 0.76 0.58 0.35

-2
-8 -7 -6 -5 -4 -3 -2 -1 0
Real Axis (seconds -1)

Feb-17 ME2142 - C7 C7.15

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 Properties of Root Loci 6a
Break-away and break-in points
Consider a general OL transfer function Similarly, we have
1

The CLCE will be
Therefore, to find the break away and break-
0 or in points, we solve for
Differentiate w.r.t. s and equating to zero yields 1 1
0
d
0
Example:
0 From previous example, we have
4
We have
1 3
Solving
1 1 1
0
1 3 4
8 13
0
Hence, 1 3 4
2.27, 5.73
1

Feb-17 ME2142 - C7 C7.16

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 Angle Criterion
2 1
Properties of Root Loci 7
Property7: Therefore,
The angle of departure of a locus
from a pole at is given by lim lim

2 1 180
2 1 180

The angle of arrival of a locus 2 1 180

from a zero at is given by
2 1 180 Example :
180 j

Proof:
From the angle criterion, we have
2 1 180

Taking the limit of , we have

LHS:
lim

Feb-17 ME2142 - C7 C7.17

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 Properties of Root Loci Example 2
Example2: Property 4: Loci will lie between
Construct the root loci for the -2 and -
system below. Property 5:
2 1 180
180
3 2

Solution:
OLTF: double
poles
System order: 3, 2
OL poles: 0, 0, 2
OL zeros: 2
Property 2: # of loci = n = 3
Property 3: The loci will start from the
open loop poles. 2 of them will go
towards 2 , and the remaining one
will go to infinity.
Feb-17 ME2142 - C7 C7.18
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 Properties of Root Loci Example 2a
Example2: (Continued)
HG
Solution:
OLTF:
System order: 3, 2
OL poles: 0, 0, 2
OL zeros: 2
Property 7: Angle of arrival
We have
2 1 180 2 double
1
2 1 180 90 90 2 180 tan poles
2
129.6

Feb-17 ME2142 - C7 C7.19

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Slide 19

HGS1 Mistake in this diagram.

Hong Geok Soon, 10/15/2015
 Intersection of loci with imaginary axis
Consider the feedback system with

3 2 2
From the root loci plot, as K increases, the
closed-loop poles migrate toward the right-half 4

plane.
3
What is the value of K that the closed-loop
poles lie on the imaginary axis? 2

We have, CLCE is a 1

5 8 6 0

Im ag A xis
0
Two Approaches:
Method 1: -1

Let in the CLCE and yields -2

5 8 6 0
-3
8 6 5 0
Imaginary Part: 6 5 0 6/5
-4
-4 -3 -2 -1 0 1 2
Real Axis

Real Part: 8 8.16

Feb-17 ME2142 - C7 C7.20

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 Intersection of loci with imaginary axis
3 2 2 1 8
CLCE is 5 8 6 0
5 6 0
Method 2:
5 8 1 6 34
Use Routh Hurwitz Array, we have
34 5 5
6 5 0 34
5 6 5
204 25 0 5 0
34
8.16
5

Feb-17 ME2142 - C7 C7.21

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 Summary to Root Locus Method
Consider a feedback system with its
CLCE as The loci on real axis will only lie on
1 0 the LEFT of ODD number of poles
and zeros
where
Angles of Departure and Arrival
Departure from OL poles

Each locus originates at the open- 2 1 180

loop pole , and the number of

individual loci is equal to . Arrival to OL zeros

of them terminate at each of the 2 1 180

open-loop zeros
The remaining n loci will Break-away and Break-in points
approach along asymptotes Determine by solving
Angle of asymptotes 0
2 1 180

intersect the real axis at

Feb-17 ME2142 - C7 C7.22

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 Worked Example 1
Typical root locus construction
Consider a system as shown below
Property 5:
2 1 180
180
2 1

OLTF:
System order: 2, 1
OL poles: 0, 1
OL zeros: 2
Property 2: # of loci = 2
Property 3: Start from 0 and -1 and
end in 2 and -infinity.
Property 4: Loci will lie between
0 and -1
-2 and -

Feb-17 ME2142 - C7 C7.23

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 Worked Example 1a
Typical root locus construction
Consider a system as shown below For 0.5858 (break-away)
0.17
For 3.4142 (break-in)
5.83

Property 7: By observation,
Break-away: between 0 and -1.
Break-in: to the left of -1.
Rewriting the CLCE, we have
1
2
Differentiating and equating to zero
yields
4 2
0 Break-in Break-away
2
0.5858, 3.4142

Feb-17 ME2142 - C7 C7.24

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 Worked Example 2
Typical root locus construction
Consider a system as shown below
Property 5:
2 1 180
180, 60
4 1

OLTF:
System order: 4, 1
OL poles: 1, 0, 2 2 3
OL zeros: 1
Property 2: # of loci = 4
Property 3: Start from 1,
0, 2 2 3 and end in 1 and
infinity.
Property 4: Loci will lie between
0 and 1
-1 and -
Feb-17 ME2142 - C7 C7.25
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 Worked Example 2a
Typical root locus construction
Consider a system as shown below

Property 6: Fore break-in/away pts.

1 4 16
1
3 10 21 8 16
0
1
3 10 21 24 16 0
0.448, 2.263, 0.759 2.163

Ignore

Feb-17 ME2142 - C7 C7.26

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 Worked Example 2b
Typical root locus construction
Consider a system as shown below

Property 6: Angles of departure.

2 1 180

106.1 90 120 130.9 180

54.5
Similarly, the other angle of departure is 54.5

Feb-17 ME2142 - C7 C7.27

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 Worked Example 2c
Typical root locus construction
Consider a system as shown below Equating first column, row to zero
we have
59 832 0
23.3 and 35.7
Property 6: Value of K crosses the
imaginary axis.
We have the C.L.C.E. as
3 12 16 0
Forming the Routh Table, we have
Possible alternative loci
1 12
3 16 0
52
3
59 832
0
52

Feb-17 ME2142 - C7 C7.28

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 Worked Example 3
Damping ratio and natural frequency
Consider a system as shown below
Property 5:
R 1 C
+
K
s(s+2) 2 1 180
- 90
2 0
0 2
1
2 0
OLTF: Property 6: Break-away point
System order: 2, 0 2

OL poles: 0, 2 2 2 0
OL zeros: Nil 1
Property 2: # of loci = 2
Property 3: Start from 0, 2
and end in infinity.
Property 4: Loci will lie between
0 and -2

Feb-17 ME2142 - C7 C7.29

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 Worked Example 3a
Damping ratio and natural frequency
Consider a system as shown below Say, we want a CLCE to have .
R 1 C
K we have,
+ s(s+2)
-
1 1
cos 45 2
2
Say, we need to find a value of K Using the magnitude criterion yields
such that the closed-loop system 1 1
has a damping ratio of . 1 1 2
2
Say, for a typical 2nd order C.E., we
have
2 0
Roots of this is
1 , for, 0 1

Feb-17 ME2142 - C7 C7.30

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 Worked Example 4
Changing of other parameter
For the control system below, what System order: 2, 1
is the effect on the closed-loop OL poles:
characteristic equation? OL zeros: 0
R 1 Property 2: # of loci = 2
C
+
-
s(s+a) Property 3: Start from and end in 0 and
infinity.
Property 4: Loci will lie between 0 and -
CLCE:
1 Property 5:
1 0 2 1 180
180
2 1
1 0
Property 6: Break-in point
1 0 1
1
Hence, we can view this as if, we 1
are having 0

" " 1
1 At 1, 2

Feb-17 ME2142 - C7 C7.31

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 Worked Example 4a
Changing of other parameter

Feb-17 ME2142 - C7 C7.32

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 Worked Example 5
Question: Solution:
The figure shows a feedback control
(i) From the block diagram, we have
system controlled by a P-D controller with
unity feedback.
1
R(s) E(s) U(s) C(s)
Kp(1+Tds)
1
s(1+0.2s)
1 0.2
+
-
1 1 0.2
1 2
0.2 1
1
1 0.2
(i) Derive the transfer function of and
For steady state error to unit ramp
hence determine the range of such input, we have 1
2 . Hence
that the steady state error subject to
lim
unit ramp input is less than 0.05. 0
0.2 1 1 1
(ii) With 20, sketch the root locus of lim 2 2
0 0.2 1
the system with varied from 0 to .
Hence,
(iii) Hence, determine the value of such
1
that the closed-loop system is critically 0.05 20
damped.

Feb-17 ME2142 - C7 C7.33

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 Worked Example 5
Solution: (ii) (Continued) 1 0.2

For varying , with 20, we rewrite the CLCE as 0.2 1
0.2 1 20 20 0
Rewrite the CLCE into
1 0
.
For root loci construction, we have 2 and 1.
OL poles: 2.5 9.68 Im

9.68
OL zeros: 0 8

# of asymptotes: 2 1 1 6

Angle of asymptote: 180 4

Re

-12 -10 -8 -6 -4 -2.5 2

-2

-4

-6

-8

-9.68

Feb-17 ME2142 - C7 C7.34

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 Worked Example 5
Solution: (ii) (Continued) (iii) Based on the root loci sketch
. above, the closed-loop system will
Re-writing the CLCE as , we have be critically damped when the loci
. is on the break-in point.
0
i.e. at 0.15.
10 (Ignore the +ve root)
.
Im

0.15 9.68

8
Angle of departure:
6

180 4

2.5 9.68 0 2.5 9.68 2.5 9.68 180 Re

9.68 -12 -10 -8 -6 -4 -2.5 2

tan 90 180 -2
2.5
104.5 90 180 165.5 -4

Similarly, the other angle of departure will be 165.5. -6

-8

-9.68

Feb-17 ME2142 - C7 C7.35

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 The End

Feb-17 ME2142 - C7 C7.36

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