UEEA 3423 Control Systems

Chap 6 – Root Locus

Dr. Pei Song Chee

Email: cheeps@utar.edu.my
Room Location: KB Block, Level 3, GE37
FACULTY OF ENGINEERING AND SCIENCE

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UEEA 3423 Control Systems

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 Outline

1.0 Introduction of Root Locus.

2.0 Properties of Root Locus.
3.0 Procedure in plotting Root Locus.
4.0 Case studies (Example).
5.0 Introduction of MATLAB in control (brief).
6.0 Summary.

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 1.0 Introduction

Camera
Subject position Amplifier Camera position

G(s)

Motor

Consider the developed object tracking camera has

Object Tracking Camera

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1.0 Introduction

K=10
K=7  When K increase, CL poles get
closer.
K=2 K=1  With further increase, K have
imaginary part, moving vertically.
 This is path of the CL poles as
gain is varied, this is called root
locus.

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1.0 Introduction

Analysis on the poles with K varies.

Two poles start at −0.2192 and −2.2808 move toward each other. Eventually, the
two closed loop poles meet at s = -1.25, and after they collide, they begin to
move vertically, so they become complex - and acquire an imaginary part.

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1.0 Introduction

Analysis on the transient response with K varies.

The root locus also show the transient response when the gain, K
varied.

 K<3.125, the poles are real, overdamped.

 K=3.125, the poles are real and overlapped, Camera
critically damped.
 K>3.125, complex poles, underdamped.
 Root locus din’t cross to RHP, system is stable

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Object Tracking Camera
1.0 Introduction

RL is a way of presenting graphical information about a

system's behaviour, and widely used tool for design of
closed loop systems, when K varies from 0 to infinity.

In Examination, you will need a

graph paper to plot root locus (Will
be provided during exam) 10
 2.0 Properties of RL

Why we need to examine the properties of RL?

Rapid sketch for higher order system without factorising the denominator.

Consider a close loop transfer function:

KG(s)
T(s) =
1+ KG(s)H(s)

A pole, s exists when the characteristic in the denominator become

zero.
1+ KG(s)H(s) = 0

KG(s)H(s) = -1 11
2.0 Properties of RL

The angle of the number is an odd multiple of 180° by taking the

polar form

<KG(s)H(s) = (2k+1) 180 ° If k=0,1,2

Try with the transfer function of the object tracking camera:

G(s) = 5K
s (10s+25)

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3.0 Root Locus Sketching

Root Locus sketching rules

 Rule 1: # branches = # poles.
 Rule 2: Symmetrical about the real axis.
 Rule 3: Real-axis segments are to the left of an odd
number of real-axis finite poles/zeros.
 Rule 4: RL begins at poles, ends at zeros.
 Rule 5: Asymptotes: angles, real-axis intercept.
 Rule 6: Real-axis break-in and breakaway points.
 Rule 7: Imaginary axis crossings (transition to instability)
 Rule 8: Angle of departure and arrival.
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3.0 Root Locus Sketching

Rule 1: # branches = # poles.

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3.0 Root Locus Sketching

zeros poles

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3.0 Root Locus Sketching

Rule 2: Symmetrical about the real axis.

Symmetrical

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3.0 Root Locus Sketching

Rule 3: Real-axis segments are to the left of an odd number of real-

axis finite poles/zeros.

Real Axis
-2 -1 0

Consider the close loop transfer function as:

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3.0 Root Locus Sketching

Rule 4: RL begins at poles, ends at zeros.

Rule 4

Zeros Poles
-4 -3 -2 -1
Rules 3

Consider the close loop transfer function as:

K (s+3) (s+4)
T(s) =
(s+1) (s+2)
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3.0 Root Locus Sketching

There still have Rules 5, 6 and 7.

But Wait !!!

Let us take a BREAK and do some exercise to get yourself familiarise.

Take out a piece of paper and draw the Root Locus given the transfer
function listed on the white board, based on the 4 RULES.

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3.0 Root Locus Sketching

Rule 5: Asymptotes: angles, real-axis intercept.

We want to find:
1. The intersection of the asymptotes, Xa (on real axis, symmetrical)
2. Angle of the asymptotes, Ɵa

{0+(−2 )+(−1)} (0)

(3−0)

Consider the close loop transfer function as:

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3.0 Root Locus Sketching

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3.0 Root Locus Sketching

(3−0)

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3.0 Root Locus Sketching

Asymptote

Asymptote

-2 -1 0

Asymptote

Consider the close loop transfer function as:

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3.0 Root Locus Sketching

Rule 6: Real-axis break-in and breakaway points.

 Root Loci break away from the real axis as the system poles
move from the real axis to the complex plane, Or return to real
axis if complex poles become real.
 This is sketch using the first 4 rules.
 Point where locus leave real axis: breakaway point.
 Point where locus return to real axis: break-in point.

Break in points Break out points

-2 -1
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3.0 Root Locus Sketching

Taking the example, find the breakout point.

Quadratic equation

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3.0 Root Locus Sketching

Refer step 3.

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3.0 Root Locus Sketching

Rule 7: Imaginary axis, Jω-crossings

(point on the root locus that separate the stable and unstable operation)

Learnt in Chapter 5

Consider the open loop transfer function as:

K

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3.0 Root Locus Sketching

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3.0 Root Locus Sketching

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3.0 Root Locus Sketching

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3.0 Root Locus Sketching

Alternatively, we could also form even polynomial by using s2 row

with K = 6.
jω

3s2 + K =0
s2 = -2 +1.4142
s= j Asymptote Rules 7

Asymptote

-2 -1 0

-0.42 (Rules 6)
Asymptote
-1.4142

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3.0 Root Locus Sketching

Rule 8: Angle of departure and arrival.

 It only applied to complex poles and zeros.
 Calculate the root locus departure angle from the complex poles.
Calculate arrival angle to the complex zeros.
The sum of angles drawn from all finite poles and zeros is odd multiple of 180°.

From the figure:

– θ1 (poles)+ θ2 + θ3 – θ4 – θ5 + θ6 = (2K+1)180°

Hence, to find θ1 ,
θ1 = θ2 + θ3 – θ4 – θ5 + θ6 – (2K+1)180°

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3.0 Root Locus Sketching

Consider the open loop transfer function as:

The example cannot be applied as it does not involved complex poles and zeros

Consider the open loop transfer function as:

T(s) = K(s+2) θ1
(s+3) (s2 + 2s+2)

Find angle of departure from the complex poles.

θ4 θ3
– θ1– θ2 + θ3 – θ4 = 180°
-3 -2 -1 0
– θ1– 90°+ tan-1 (1/1) – tan-1 (1/2) = 180°
θ1= – 251.6°=108.4 ° θ2 33
3.0 Root Locus Sketching

Let us revise back the 4 rules

 Rule 5: Asymptotes: angles, real-axis intercept.
 Rule 6: Real-axis break-in and breakaway points.
 Rule 7: Imaginary axis crossings (transition to instability)
 Rule 8: Angle of departure and arrival.

Rule 5: Asymptotes

Rule 6: Real-axis Rule 7: Imaginary

Close loop characteristic, denominator
Differentiation of K Routh –Hurwaitz criterion
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3.0 Root Locus Sketching

Rule 8: Angle of departure and arrival.

– θ1 (poles)+ θ2 + θ3 – θ4 – θ5 + θ6 = (2K+1)180°

Remember to bring your protector

geometry in your Final Exam.

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4.0 Example

Based on the rules that you learnt, solve the given transfer function.

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4.0 Example

 Rule 1: # branches = # poles.

 Rule 2, 3 and 4:

Rules 1
Rules 3
-2 -1 0
Rules 4
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4.0 Example
 Rule 5: Asymptotes: angles, real-axis intercept.

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 4.0 Example

 Rule 6: Real-axis break-in and breakaway points.

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4.0 Example

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4.0 Example

Rule 7: Imaginary axis crossings (transition to instability)

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4.0 Example

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 4.0 Example

 Rule 8: Angle of departure and arrival.

-2 -1 0

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4.0 Example

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4.0 Example

Verification using MATLAB Root Locus

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8 0.3
0.22 0.16 0.105 0.065 0.03 7

M Code 6
6
5
Num= [1 1]; 0.44 System: sys
Gain: 0 4
Den= [1 4 6 4]; 4
Pole: -1 + 1i
3
Damping: 0.707
Sys = tf (num, den) 0.7 Overshoot (%): 4.32 2
2 Frequency (rad/sec): 1.41
Rlocus (Sys) Imaginary Axis 1

grid 0

1
-2
0.7 2
3
-4
4
0.44
5
-6
6

0.22 0.16 0.105 0.065 0.03 7

-8 0.3
-2.5 -2 -1.5 -1 -0.5 80 0.5
Real Axis

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5.0 Summary

 Properties of Root Locus.

 Procedure in plotting Root Locus (8 rules).
 Case studies (Example)
 Verification by using MATLAB.

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End

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