GEL 425

Chapter 10 :
Root Locus

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 Presentation of complex number
jω Rectangular form

Add, Subtraction (4  j 3)  (1  j )  5  j 4
3

σ Polar form
4
Rectangular form: 4 + j3 Multiplication 537  2  12
Polar form :  5  2(37  12 )  1025
magnitude=5, angle = 37
537  2  12
Division
5
 49
2

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 Presentation of complex number

a  jb r   r  a b
2 2

b
b
  arctan  
r
a
θ a  r cos 
a
b  r sin 

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 Vector representation of a transfer function
m

 zero lengths i s  zi
M  n1
 pole lengths
 s  pi
i 1

m
 ( s  zi )
i 1
F (s)  n
 ( s  pi )
i 1

  zero angles  pole angles

m n
  ( s  z )  ( s  p )
i i
i 1 i 1

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 Evaluating F(s) at s=-3+4j
(𝑠 + 1) 𝐹𝑖𝑛𝑑 𝐹(𝑠) 𝑎𝑡 𝑠 = −3 + 𝑗4
𝐹 𝑠 =
𝑠(𝑠 + 2)

𝑎𝑡( −3+4𝑗)
𝑣𝑒𝑐𝑡𝑜𝑟 𝑧𝑒𝑟𝑜 (𝑠 + 1) lim 𝑗𝑤 + 1 → 20∠116,6°
𝑗𝑤→(−3+4𝑗)

𝑎𝑡( −3+4𝑗)
𝑣𝑒𝑐𝑡𝑜𝑟 𝑃𝑜𝑙𝑒 (𝑠 + 2) lim 𝑗𝑤 + 2 → 17∠104°
𝑗𝑤→(−3+4𝑗)

𝑎𝑡( −3+4𝑗)
𝑣𝑒𝑐𝑡𝑜𝑟 𝑃𝑜𝑙𝑒 (𝑠) lim 𝑗𝑤 → 5∠126,9°
𝑗𝑤→(−3+4𝑗)

20∠116,6° 20
𝑀∠𝜃 = 5∠126,9°∗ =5 ∠116,6° − 104° − 12,9° = 0,217∠ − 114,3°
17∠104° 17

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 What is root locus and why is it needed?

• Fact I:
• poles of closed-loop system are an important key to describe a performance of the
system (transient response, i.e. peak time, %overshoot, rise time), and stability of
the system.
• Fact II:
• closed-loop poles are changed when varying gain.
• Implication:
• Root locus = paths of closed-loop poles as gain is varied.

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 Defining the Root Locus

Cameraman Object Tracking using infrared In closed loop

Varying K, closed-loop poles are moving!!! 7

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 Defining the Root Locus Pole plot from Table root locus

Transient:
• 𝐾 < 25 𝑜𝑣𝑒𝑟𝑑𝑎𝑚𝑝𝑒𝑑
• 𝐾 = 25  𝑐𝑟𝑖𝑡𝑖𝑐𝑎𝑙𝑙𝑦 𝑑𝑎𝑚𝑝𝑒𝑑
• 𝐾 > 25  𝑢𝑛𝑑𝑒𝑟𝑑𝑎𝑚𝑝𝑒𝑑

• Settling time remains the same under underdamped responses.

Stability:
• Root locus never crosses over into the RHP, system is always stable.
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 Stability using Root locus

Root locus never crosses over into the RHP, system is

always stable.

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 Defining the Root Locus

𝑝𝑜𝑙𝑒𝑠 𝑎𝑟𝑒 𝑟𝑒𝑎𝑙 𝑓𝑜𝑟 𝑔𝑎𝑖𝑛𝑠 𝑙𝑒𝑠𝑠 𝑡ℎ𝑎𝑛 25. 𝑃𝑜𝑙𝑒𝑠 𝑎𝑟𝑒 𝑐𝑜𝑚𝑝𝑙𝑒𝑥𝑒𝑠 𝑓𝑜𝑟 𝑔𝑎𝑖𝑛𝑠 𝑎𝑏𝑜𝑣𝑒 25,
"𝒕𝒉𝒆 𝒔𝒚𝒔𝒕𝒆𝒎 𝒊𝒔 𝒐𝒗𝒆𝒓𝒅𝒂𝒎𝒑𝒆𝒅. " 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 𝑖𝑠 𝑢𝑛𝑑𝑒𝑟𝑑𝑎𝑚𝑝𝑒𝑑.

𝑨𝒕 𝒂 𝒈𝒂𝒊𝒏 𝒐𝒇 𝟐𝟓, 𝒕𝒉𝒆 𝒑𝒐𝒍𝒆𝒔 𝒂𝒓𝒆 𝒓𝒆𝒂𝒍 𝒂𝒏𝒅 𝒎𝒖𝒍𝒕𝒊𝒑𝒍𝒆

𝒄𝒓𝒊𝒕𝒊𝒄𝒂𝒍𝒍𝒚 𝒅𝒂𝒎𝒑𝒆𝒅

It is this representation of the paths of the closed-loop poles as the gain is varied that we call a root locus.
For most of our work, the discussion will be limited to positive gain, or 𝐾 > 0. 10
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 Defining the Root Locus

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 Concept of Root Locus

Closed-loop transfer function

KG ( s )
T ( s) 
1  KG ( s ) H ( s )
Characteristic equation (Poles of T(s))

KG(s) H (s)  1  1180

magnitude KG(s) H (s)  1

phase KG ( s ) H ( s )  ( 2k  1)180

o

k  1,2,3,...
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 Concept of Root Locus

If there is any point on the root locus, its magnitude and phase will be
consistant with the follows:

magnitude KG(s) H (s)  1

phase KG( s) H ( s)  (2k  1)180

k  1,2,3,...

Note that: phase is an odd multiple of 180

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 Concept of Root Locus

• For the previous example

𝐾
𝐾𝐺 𝑠 𝐻 𝑠 =
𝑠(𝑠 + 10)

Same for all the other poles in the tables the result of KG(s)H(s)is always equal to -1 14
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 Example
• Is the point (−2 + 3𝑗 )a closed-loop pole for some value of gain? Or is the point on the root locus?

K ( s  3)( s  4)
KG( s) H ( s) 
( s  1)( s  2)

s  2  3i
( s  4)  2  3i M1  22  32 M1 

3.606
1  atan
3
2 1  56.31 deg
( s  3)  1  3i M2  12  32 M2  3.162

2  atan 
3
1
2  71.565 deg

( s  2)  3i M3  32 M3  3

3  atan    3  90 deg

( s  1)  1  3i M4  12  32 M4  3.162
1   2  3   4 
 
4  atan 1  180deg
3
4 
56.31o  71.57o  90o  108.43o  70.55o
108.435 deg

-2+3j is not on the root locus!!! 15

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 Example
• What about the point (2 + 𝑗 2/2 )a closed-loop pole for some value of gain? Or is the point on the root locus?

K ( s  3)( s  4)
KG( s) H ( s) 
( s  1)( s  2)

s  2  i
2
2

( s  4)  2  0.707i M1  22  0.7072 M1  2.121

1  atan  
0.707
2
1  19.469 deg 𝑗 2/2

( s  3)  1  0.707i M2  12  0.7072 M2  1.225

2  atan  
0.707
1
2  35.26 deg
2
( s  2)  0.707i M3  0.7072 M3  0.707

3  atan    3  90 deg
𝜃1 + 𝜃 2- 𝜃 3- 𝜃 4=-180,0
( s  1)  1  0.707i M4  12  0.7072
M4  1.225 1 𝑀3𝑀4
𝐾𝐺 𝑠 𝐻(𝑠) = 1 𝐾= = = 0,333
𝐺 𝑠 𝐻(𝑠) 𝑀1𝑀2
 
4  atan 1
0.707
180deg 4  144.74 deg

1  2  3  4  180.011 deg 16
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 Example

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 Sketching the Root Locus

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 Sketching the Root Locus

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 Root-locus sketching rules

a branch is the path that one pole traverses,

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 Root-locus sketching rules

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 Root-locus sketching rules

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 Root-locus sketching rules

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 Root-locus sketching rules

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 Root-locus sketching rules

Breakaway and break-in points satisfy the

relationship

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 Root-locus sketching rules

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 Root-locus sketching rules

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 Summary: Root Locus sketching rules

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 Root Locus sketching rules

𝐾(𝑠+3)
• Sketch root locus for the system having : 𝐾𝐺 𝑠 𝐻 𝑠 = 𝑠(𝑠+1)(𝑠+2)(𝑠+4)

• Rule 1 : number of branches is equal to 4

• Rule 2 : symmetrical about real axis
• Rule 3 : real axis segments are at the left of an odd number of finite Poles/ zero
• Rule 4 : RL begins at poles and end at zeros
• Rule 5 : asymptote , solve :

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

Very complicated to solve but we know that the break in point is between ( -2and0)

Rule 7 : imaginary axis crossing see slide 26

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 Root Locus sketching (example)

• Sketch the root locus and its asymptotes for a unity feedback system that has the forward transfer function
𝐾
• 𝐺 𝑠 =
(𝑠+2)(𝑠+4)(𝑠+6)
• First, find the asymptotes. Next draw root locus following the rules for sketching.

x x x

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 Sketching a Root Locus and Finding Critical Points

Sketch the root locus for the system and find the following:
a. The exact point and gain where the locus crosses the 0.45 damping ratio line

• First sketch the root locus.

• Rule 3, the real-axis segment is found to be between -2 and -4.
• Rule 4 tells us that the root locus starts at the open-loop poles and ends at
the open-loop zeros.
• These two rules alone give us the general shape of the root locus.

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 Frequency and Gain at Imaginary-Axis Crossing using rooth criterion (rules 7)

A complete row of zeros yields the possibility for

imaginary axis roots
only ( row 𝑠1 ) For positive values of gain K

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 Angles of Departure and Arrival

If we assume a point on the root locus 𝜖 close to a complex pole or zero, the sum of angles drawn from all
finite poles and zeros to this point is an odd multiple of 180.

Open-loop poles and zeros and calculation of angle of departure Open-loop poles and zeros and calculation of angle of arrival
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 example

a.

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 example

𝜃1
−(σ2 − 4σ + 13) 𝑑𝐾
K= → = −σ2 − 4σ + 21 → σ = −7
(σ + 2) 𝑑σ
Substituting , k=18

𝜃1 − 𝜃2 − 𝜃 = 180
𝜃2

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 Damping ration and pole location

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