Instructor: Asst Prof Dr.
Muhammad Imran
In the preceding chapters we discussed the
relationship between the performance and
the characteristic roots of feedback system
The root locus is a powerful tool for
designing and analyzing feedback control
system, it is a graphical method by
determining the locus of roots in the s-plane
as one system parameter is changed.
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 zero), then the closed-loop
pole locations depend on the value of the
design parameter.
Definition: The root locus is the path of the
roots of the characteristic equation traced
out in the s-plane as a system parameter is
varied.
For the system shown below its transfer
function can be written as
Where characteristic polynomial is
Or
Where G(s)H(s) is a ratio of polynomials in S
It is a complex quantity and can be split into
two equations by equating angles and
magnitudes on both sides, we obtain
Angle Condition
Magnitude Condition
The value of s that will satisfy both angle and
magnitude conditions are roots of the
characteristic equation, or closed loop poles
A locus of point in the complex plane that
satisfies the angle condition alone is root
locus
In many cases, G(S)H(S) involves again
parameter K, and characteristic equation can
be written as
The root loci for the system are the loci of the
closed loop poles as the gain K is varied from
zero to infinity (K >0 meaning ve feedback)
Following key steps are involved in sketch of
root locus
Locate the poles and zeros of G(s)H(S) on s-plane
Determine root loci on the real axis
Determine the asymptotes of real loci
Find the breakaway and break-in points
Determine the angle of departure (angle of
arrival) of root loci
Find the point where root loci may cross the
imaginary axis
1. Locate poles and zeros of G(s)H(S) on real
plane
From factored form of open loop transfer function
locate the open loop poles and zeros in s-plane
Root locus plot has as many branches as there are
roots of characteristic equation
Root locus branches start from open loop poles
and terminate at zero (finite zero or zeros at
infinity)
2. Determine root locus on real axis
Root loci on real axis are determined by open loop
poles and zeros lying on it
The complex conjugate poles and zeros of open
loop transfer function have no effect on location
of root loci on real axis
Choose a test point on real axis , if total number of
real poles and real zeros to the right of this point
is odd, then this point lies on root locus
3. Determine the asymptotes of root loci
If number of poles and zeros are not same then
some zero lies at infinity and we need to compute
asymptotes
No. of asymptotes = no. of finite poles of G(S)H(S)
n no. of finite zeros of G(S)H(S) m
Angle of asymptotes =
All asymptotes intersect on real axis. This point is
obtained as
Proof: (in lecture handout)
Once S is obtained the asymptotes can be
drawn in complex plane
4. Find the breakaway and break-in points
Because of conjugate symmetry of root loci the
break-in and breakaway points either lie on real axis
or occur in complex conjugate pair
If root locus lies b/w two adjacent poles on real axis,
then at least one breakaway point exist
If root locus lies b/w two adjacent zeros (one zero
may be located at infinity) on real axis, then at least
one break-in point exist
If root locus lies b/w open loop pole and zero (finite or
infinite) on real axis, then there exist either no breakin or break away points or there may exists both
break-in & break away points
Suppose characteristic equation is given by
B(s) + K A(s) = 0
Then breakaway and break-in points can be
determined from the roots of
Proof :(Given in Lecture handout)
Where prime indicates differentiation w.r.t S
If root of last equation lies on root locus portion
of real axis , then it is actual breakaway or breakin point
If roots of last equation is not on root locus
portion of real axis , then this root corresponds
to neither breakaway nor break-in point
If roots of above equation occur in complex
conjugate pair, and it is not certain whether they
are on root locus, then check corresponding
value of K. If the value of K is positive for that
root , then root is an actual breakaway or breakin point and vise versa
5. Find the point where root loci may cross
imaginary axis
Points where root loci may intersect jw axis can be
found either by
Use of Routh stability criterion or
Put s=jw in characteristic equation, equating both real
and imaginary parts to zero and solving for w & k
the value of w found gives frequencies at which root loci
crosses imaginary axis. The value of k corresponding to
each frequency crossing gives the gain at that crossing
point
6. Determine the angle of departure (angle of
arrival) of the root locus from complex pole
(at a complex zero)
To sketch root locus with reasonable accuracy we
find direction of root loci near the complex poles
and zeros
If test point S is chosen and moved in the vicinity
of complex pole (or complex zero), the sum of the
angular contribution form all poles and zeros can
be considered to remain same
Angle of arrival (departure) can be found by
subtracting from 1800 the sum of all angles of
vectors from all poles and zeros to complex pole
(or complex zero) with appropriate signs included
Angle of departure across complex pole P2 = 1800 ( 1 + 3 + 4) + 1)
Example 1: Consider the given system, sketch
the root locus plot ?
From given system
Example 2: Consider the given system, sketch
the root locus plot ?
From given system
Following modifications should be made for
construction of root locus for positive feedback
systems
Rule 2 Modification
If total no. of real poles/zeros to the right side of test point on real
axis is even, then this point is on root locus
Rule 3 Modification
Equation for angle of asymptotes becomes
Rule 5 Modification
All angles of open loop poles /zero are subtracted from 00 instead of
1800
Example 1: Consider the given system, sketch
the root locus plot for positive feedback
system?
Root Locus is a graphical method for
determining the locations of all closed loop
poles from knowledge of location of open
loop poles and zeros as parameter (usually
gain K) is varied from 0 to infinity
In practice, root locus plot of a system may
indicate that desired performance cannot be
achieved by adjustment of gain
Sometimes system may not be stable for all
values of gain
So it become necessary to reshape root locus
technique to meet performance
specifications
In designing control system, if other than
gain adjustment is required, we must modify
the original root loci by inserting a suitable
compensator
Compensator will reshape the root locus as
desired by inserting a pair of dominant closed
loop poles at desired location
Two types of effects are encountered by
compensator
Effect s of addition of poles
Effect s of addition of zeros
Addition of poles to the open loop transfer
function has an effect of pulling the root locus
to the right
Consequences
Lowers the system relative stability
Slow down the settling time of response
Figure shows addition of pole to a single pole
system and addition of two poles to a single
pole system
Addition of zeros to the open loop transfer
function has an effect of pulling the root locus
to the left
Consequences
Make system more stable
Speed up the settling time of response
Given system is stable for small gain but
become unstable for large gain
When zero is added to the system, then it
become stable for all values of gain as shown
