EE-379

LINEAR CONTROL SYSTEMS

Lecture No 20

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 8 (nn 6th Ed)
ROOT LOCUS TECHNIQUES
8.1 Introduction
8.2 Defining the Root Locus

Instructor: Dr. Farid Gul

Class: BEE 4A/B
Electrical Engineering Department

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Variation of system performance
with changes in parameter K

For K = 1 For K = 10 For K = 100

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3
 Definition
The closed-loop poles of the feedback control system

are the roots of the characteristic equations:

1  KG( s ) H ( s)  0

The root locus is the path of the poles traced

out in the s-plane as a system parameter varies
from zero to infinity

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 Introduction
• Root locus is a graphical representation of the closed-loop poles
as a system parameter is varied.
• Provides a qualitative description of systems performance.
• Provides solution for systems of order higher than two.
• Provide a graphical representation of system’s stability.

• Two concepts that will be reviewed beforehand:

i. Control system problem
ii. Complex numbers representation as vectors

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The Control System
Problem

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• The open-loop transfer function is defined
as KG(s)H(s)
• Poles of the ‘KG(s)H(s)’ are easily
found, since these poles arise from
simple cascaded first- or second-order
subsystems
• Variations in K do not affect the
location of any pole of this function

• Poles of the closed-loop transfer

function, T(s) = KG(s)/[l + KG{s)H(s)],
are difficult to find
(Require factoring the closed-loop
system's characteristic polynomial)
• The closed-loop poles change with
changes in system gain K

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Antenna Azimuth Position Control System

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 θi(s) θo(s)
G(s)

G(s) = KpKK1KmKg/(s(s+am)(s+a)+ KpKK1KmKg)

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 G ( s) 
( s  1) N ( s)
 G
s ( s  2 ) DG ( s )

H (s) 
( s  3)  N H ( s )
Closed loop TF
( s  4 ) DH ( s)
KG ( s )
T ( s) 
1  KG ( s ) H ( s )
Open loop TF
KN G ( s ) DH ( s)
K ( s  1) ( s  3) T (s) 
KG ( s ) H ( s )  DG ( s ) DH ( s )  KN G ( s ) N H ( s)
s ( s  2)( s  4)
K ( s  1) ( s  4 )
T ( s) 
s ( s  2)( s  4)  K ( s  1) ( s  3)
The poles of KG(s)H(s) are:
0, -2, and -4 K ( s  1) ( s  4 )
T ( s) 
s 3  (6  K ) s 2  (8  4 K ) s  3K
The zeros of KG(s)H(s) are:
- 1 and - 3 The poles of T(s) are not immediately known
and are dependent on K
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Vector Representation of
Complex Numbers

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A complex number, s = σ + jω,
described in Cartesian coordinates
can be graphically represented by a
vector

The complex number can also

be described in polar form with
magnitude M and angle θ.

F(s) = (s + a) {a function of s}

Substituting the complex number

s = σ + jω yields

F(s) = (a + σ) + jω
another complex number (represented by a vector)
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• F(s) = (s + a), has a zero at -a

• Translate the vector ‘a’ units to the

left

• Alternate representation of the

complex number that originates at
the zero of F(s) and terminates on
the point s = σ + jω

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 We conclude that (s + a) is a complex number
and
can be represented by a vector drawn from the
zero of the function to the point s.

For example,

( s  7 ) s 5 j 2
is a complex number drawn
from the zero of the function, -7,
to the point s, which is 5 +j2

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Evaluation of F(s) m

( s  z1 ) ( s  z2 ) L ( s  zm ) P( s  z )
i
F (s)   i 1

( s  p1 ) ( s  p2 ) L ( s  pn ) n

P( s  p )
j 1
j

Magnitude of F(s)
m

P zero lengths P (sz ) i

|(s -zi)| is magnitude of the vector
drawn from the zero of F(s) at -zi to
M  i 1
P pole lengths n

P (s p )
j 1
j
the point s
|(s -pj)| is magnitude of the vector
drawn from the pole of F(s) at -pj to
Angle of F(s) the point s
q  �zero angles - �pole angles A zero angle is the angle of a vector
m n drawn from the zero of F(s) at - z , to
the point s, measured from the
positive real axis.
q  ��( s  zi ) - ��( s  p j )
m n A pole angle is the angle of a vector
drawn from the pole of F(s) at - p , to
the point s, measured from the 16
 Assignment

Example 8.1 and

Exercise 8.1

Don’t submit

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Defining the Root Locus

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a. Camera System
automatically follows a
subject

b. block diagram.

c. closed-loop transfer
function.

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 s 2  10s  K  0

Pole location as a function of gain for the Camera system.

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s 2  10s  K  0

The root locus facilitates

the analysis and design of
higher-order systems
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???
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