The Root Locus Method

Dr. Fouad Al-Sunni

Outline

The Root Locus Method Closed-loop p poles p Plotting the root locus of a transfer function Choosing a value of K from root locus Closed-loop response Key MATLAB commands used: feedback, feedback rlocfind, rlocus, sgrid, step, pzmap, zpk , rltool

Root Locus Method

Closed-loop response depends on the location of closed-loop poles. If system has a variable design parameter (e.g., a simple gain adjustment or the location of compensation p zero), ), then the closed-loop p pole p locations depend on the value of the design parameter. The root locus of a system is the plot of the paths (loci) of all possible closed loop poles as the design parameter takes on a range of possible values.

The poles that provide the desired closed-loop response are selected and the proper value of the design parameter is thereby established. The closed-loop poles are the roots of the system's system s characteristic equation. Since finding the roots of polynomials of degree higher than 3 is laborious, graphical aids were devised in the late 1940s to help construct the root loci. Recently, computer-aided design tools such as Matlab provide a convenient computer solution. The older, older graphical aids are still relevant since the ability to quickly sketch root loci by hand is invaluable in making fundamental decisions early in the design process and in checking Matlab results.

Closed Loop Poles

Closed-Loop Transfer Function

C ( s) G ( s) = R( s) 1 + G ( s) H ( s)

Where G(s) is the forwardpath transfer function and H(s) is the feedback-path transfer function

Characteristic Equation The poles of the closed loop y are values of s such system that 1 + G(s) H(s) = 0 or G(s) H(s) = -1 If G(s)H(s) =k num(s)/den(s), then this equation has the form:

den( s ) + k num( s ) = 0 den( s ) + num( s ) = 0 k

Geometric Properties
Num( s ) 1+ K =0 Den( s ) Num( s ) K = 1 Den( s )

Complex number =>Amplitude and angle Num( s ) Magnitude Condition

K Den( s ) =1
or Amplitude relation

Num( s ) K = 180 360o Den( s )

Angle Condition or Angle relation

Example
K G (s)H (s) = sN K sN
i

(
j = N +1

s + 1)
j

k =1 n

s + 1)

(
j = N +1

s + 1)
j

k =1 n

s + 1)

=1&

(1 + 2q ) *180D f for K i > 0 ( k s + 1) Ns ( j s + 1) = D 2 * q * 180 for K i < 0 k j

Questions 1

As 0 K , Where the root locus starts and where it ends.

1 EX 1 : 1 + K s ( s + 2) s+3 EX 2 : 1 + K s +1 ( s + 1)( s + 2) EX 3 : 1 + K s ( s + 3)

Answer

As K ranges from 0 to infinity the closed-loop poles migrate from the open-loop poles to the open-loop zeros. The path of a closed-loop pole on the s-plane is called a branch of the root locus. No matter what we pick k to be, the closed-loop system must always have n poles, where n is the number of poles of GH(s). The root locus must have n branches, each branch starts at a pole of GH(s) ( ) and g goes to a zero of GH(s). ( ) If GH(s) has more poles than zeros (as is often the case), m < n and we say that GH(s) has zeros at infinity. In this case, the limit of GH(s) ( ) as s -> infinity y is zero. The number of zeros at infinity y is nm, the number of poles minus the number of zeros, and is the number of branches of the root locus that go to infinity (asymptotes).

Question 2

As 0 K , What is the part of the real axis that belongs to the Root locus.

( s + 1)( s + 2) =0 EX 1 : 1 + K s ( s + 3)

Root Locus Example

R( ) R(s) +

E( ) E(s)

K s ( s + 2)

C(s)

The closed closed-loop transfer function is

C (s) K = R( s) s( s + 2) + K

The characteristic equation is 2 s + 2s + K = 0 Consider the characteristic roots as K =0.

R Root Locus L Example E l

s = 1 1 K

loci of closedclosed-loop roots

K

For K = 0 the closedclosed-loop poles are at the openopen-loop poles. For 0 < K < 1 the closedclosed-loop poles are on the real axis. Fo K > 1 the closedFor closed-loop poles are complex, with a real value of 1 and an imaginary value increasing with gain K .

K=1

X
K=0

X
2

Root Locus Example: Step Responses

Step Responses
1.6 1.4 1.2

K = 50.0 K = 15.0 K = 2.0 K = 1.0 K = 0.5

Amplit tude

1 0.8 0.6 0.4 0.2 0 0

K=1

X
K=0

X
2

10

Time (sec.)

Idea

Answer for Q2

Root Loci on the Real Axis: For k>=0 k> 0 (k< (k<=0) 0) branches on the real axis lie to the left (right) of an odd number of open open-loop loop poles and zeros. Example 1: Consider the open-loop open loop transfer function,
K( s + 7) G(s)H(s) = with K 0 s( s + 5)( s +15)( s + 20)

P ole-z ero m ap
1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1 -20

5
Im ag A x i s

-15

-10

-5

Real A x is

Symmetry about Real Axis

Symmetry: Since roots of the characteristic equation occur in complex conjugate pairs, the root loci are symmetrical with respect to the real axis.

Question 3: Asymptotic Behavior

The loci migrate to infinity (m<n) along y p with the following g asymptotes characteristics: p z
n m j i

Re al _ Axis _ Intercept =

j =1

i =1

nm

where p j and { zi } are open - loop pole and zeros

q = 0, +/-1,+/-2,

( 2q + 1)180 o / (n ( - m) ) f for K > o Angle _ of _ the _ Asymptotes = o 2q180 / (n - m) for K < 0

Question 4: Crossing of the Imaginary axis

The value Th l of f K which hi h yields i ld imaginary i i closed-loop l dl poles can be found from the last three rows of the RH array of the characteristic equation, i.e.,
s2 s1 s0 e1 ( K ) e2 ( K ) f ( K) g( K )

The value of K such that f (K ) = 0 is that which establishes imaginary closed-loop poles. Forming the auxiliary equation: Solving for s yields points where the root loci cross the imaginary axis.
e1 (K )s 2 + e2 (K ) = 0

A l of Angle f departure d t
7. The angles of departure, d from poles and arrival, a to zeroes may be found by applying the angle condition to a point very near the pole or zero.

The angle of arrival at the zero, -z1 is obtained from

az1 + ( -z1 + zi )
i =2 m

(-z + p ) = (2k + 1)
i =1 1 i

Q Question 5: leaving g or entering g the real axis Break away Point

Real axis breakaway points occur at maxima and minima of K(s). Solutions of the equation dK(s)/ds = 0 yield the breakaway points K(s) = - den(GH(s))/num(GH(s))

B k Breakaway P Points: i t

Breakaway Points: When two or more loci meet, meet, they will breakaway from this point at particular angles. The point is known as a breakaway point. point. It corresponds to multiple roots.

Some examples

x x
45

x x

B k Breakaway P Points: i t
9 The 9. Th angle l of f breakaway is 180/k where k is the number of converging loci. The location of the breakaway point is found from

Note: K = [GH ( s )]1

] 2 d [ ( ) dK = [ GH s =0 GH ( s )] d ds d ds

Also,

dK = d [GH ( s )] = 0 or 0 ds ds

d [GH ( s)] = d [N ( s) D( s)] ds ds ( s) N ( s) D( s) N = =0 2 D( s) D( s )

D( s) N ( s) N ( s) D( s) = 0

Root Locus Plot: Breakaway Point Example

Consider the following loop transfer function.

GH ( s ) = K 2 + s( s 3)

asymptotes 2j

Real axis loci exist for the full negative axis. Asymptotes: angles = ( (2 2k+1) = /3 , , 3 5 / 3
( 3 3 0 ) ( 0 ) a = = 2 3

60 4

X X
2

+1 2j

Root Locus Plot: B k Breakaway P Point i tE Example l

Determine the breakaway points from

d K d K = 3 2 ds s ( s + 3) ds s + 6 s 2 + 9 s K (3s 2 + 12 s + 9) = =0 3 2 2 ( s + 6s + 9s)
4

j
2j

X X
2

+1 2j

then
s 2 + 4 s + 3 = ( s + 1)( s + 3) = 0 s = 1 , 3

Question 6: Angle of departure d t and d angle l of f arrival i l

Departure angle from p2 . z1 = tan-1( (2/3) / ) = 33.7 p1 = tan-1(2/ (2/-1) = 116.6 -z1 p3 = 90 O
4

p 2
-p2 X
33.7

2j
116. 116 .6

X -p
90

+1

Then 33.7 (90 + 116.6 + p2 ) = 180 p2 = 352.9 = + 7.1

-pX 3

2j

How Can we determine the required K for a particular pole

10. For a point on the 10. root locus, s =s1 calculate the gain, K from " s1 + p1 s1 + p2 K = " s1 + z 1 s1 + z 2 Alternately, K may be determined graphically from the root locus plot
X

B s j
1

A
O

C
X

BCD K = A

D
X