CONTROL

SYSTEMS
Chapter 5 : Root Locus Diagram
 

 GATE Objective & Numerical Type Solutions

Question 1 [Work Book] [GATE EC 1990 IISc-Bangalore : 2 Marks]
The transfer function of a closed loop system is
K
T (s)  where K is the path gain. The root locus plot of the system is
s  (3  K )s 1
2

(A) (B)
jw
jw K=3

K=1

s
s K=0

K=3

(C) (D)
jw
jw
K =¥

s
K =0 K =0 s

K =¥

Ans. (B)
K
Sol. Given : T (s) 
s  (3  K )s 1
2

K
 s  3s  1
K 2
T ( s)  2 …… (i)
s  3s  Ks  1 1  Ks
s  3s  1
2

Transfer function for positive feedback is given by,

G(s)
T ( s)  …… (ii)
1  G(s)H (s)
On comparing equation (i) and (ii), we get
K
G (s)  , H (s)  s
s  3s  1
2

Characteristic equation is
s 2  3s  1  0

  1 
 3 9  4
Poles at s   0.381,  2.6180 …… (iii)
2
Both poles lie at negative real axis.
Locate the open loop poles and zeros on the s-plane, and any point on the real axis is part of root locus if
the total number of open loop poles and zeros to the right of the point is even (complimentary root locus).
jw

CRL CRL
s
–2.618 –0.381 0

Fig. Pole-zero diagram

The characteristic equation is given by,
1  G (s)H (s)  0
s   3s  K s  1  0
s 2  3s  1 …… (iv)
K s  s 2  3s  1  K 
s
Breakaway/break-in points can be calculated as,
dK
0
ds
dK s (2 s  3)  ( s 2  3 s  1)
 0
ds s2
dK
 2 s 2  3s  s 2  3s  1  0
ds
s2 1  0  s  1
From equation (iv), we get
(  1) 2  3(  1)  1 ……. (v)
K  1
1
jw
s = –1, valid
breakaway point

s
–2.618 –0.381 0
s = 1, valid
break-in point
The root locus branch crosses the imaginary axis is determined by applying Routh Hurwitz criterion to
the characteristic equation.
Routh Tabulation :
s2 1 1
s1 K 3 0  Row of zero
s0 1
The intersection of root locus plot with imaginary axis is given by the value of K obtained by solving the
following equation.
K 3  0  K 3 …… (vi)

  2 
 By using equation (iii), (v) and (vi) option (B) is satisfied.
jw
K=3

K=1
K=0 K=0 K =¥
s
–2.618 –1 –0.381 0 1

K=3

Hence, the correct option is (B).

Question 2 [Work Book] [GATE EE 1991 IIT-Madras : 1 Mark]
K (s  a)
A unity feedback system has an open loop transfer function of the form KG(s)  ; b  a which
s2 (s  b)
of the loci shown in figure can be valid root-loci for the system?
(A) (B)
jw
jw

s
s –b –a 0
–b –a 0

(C) (D)
jw jw

s s
–b –a 0 –b –a 0

Ans. (A, C)
Sol. Number of open loop pole P = 3 at s = 0, 0 and – b .
Number of open loop zero Z = 1 at s = – a.
The intersection point of asymptotes on the real axis is called centroid.
Centroid is given by,


 Real partsof polesin G(s)H (s)   Real partsof zerosin G(s)H (s)  
PZ
0  b  a  (b  a )
  0 ….. (i)
3 1 2
Angle of asymptotes :
(2   1)  180 0 where,   0, 1, 2, ........... ( P  Z  1)
A 
PZ

If P  Z  2   0, 1 A  900 , 2700

  3 
 Now consider two cases.
4
Case I : a and b = 12
3
 4
K s 
K ( s  a)
 2
3
KG (s)  2
s ( s  b) s ( s  12)
A point on the real axis lies on the root locus if the sum of the number of open loop poles and the open
loop zeros on the real axis to the right hand side of this point is odd.
jw

RL
s
–12 – 4/3 0

Fig. Pole-zero diagram

From equation (i),
 4
 12  
16
σ  3
   5.33
2 3
Breakaway/Break-in point can be calculated as,
dK
0
ds
Characteristic equation is given by,
1  G (s)H (s)  0
 4
K s 
1 2
3
0
s ( s  12)
 s 2 ( s  12) ( s 3  12 s 2 )
K 
 4  4
s  s 
 3  3
 4
 s    3s  24 s    s  12 s 
2 3 2

3

dK
2
ds  4
s 
 3
0  3 s 3  24 s 2  4 s 2  32 s  s 3  12 s 2
0  2 s 3  16 s 2  32 s

0  s(s2 8s 16)

0  s(s 4)2
s = 0, – 4, – 4
There are repeated poles at origin so there is a breakaway point at origin.

  4 
 (64  12 16) 128
For s = – 4, K   48
 4 8
4  3
 3
So, s = – 4 is also a valid breakaway point.
K =¥ jw

K =0 K = 48 K =¥ K = 0, 0
s
– 12 - 5.33 – 4/3 0

s=–4
K =¥
breakaway point
Case II :
a = 2, b = 4
K (s  2)
KG (s) 
s2 (s  4)
A point on the real axis lies on the root locus if the sum of the number of open loop poles and the open
loop zeros on the real axis to the right hand side of this point is odd.
jw

RL
s
–4 –2 0

Fig. Pole-zero diagram

 (b  a )  (4  2)
From equation (i),    1
2 2
Breakaway/Break-in point can be calculated as,
dK
0
ds
Characteristic equation is given by,
1  G ( s) H ( s)  0
 s 2 ( s  4) ( s 3  4 s 2 )
K 
( s  2) ( s  2)
dK ( s  2) (3s 2  8s )  ( s 3  4 s 2 )

ds ( s  2) 2
0  3s 3  8s 2  6s 2  16s  s 3  4s 2
2s 3  10s 2  16 s  0
s (2s 2  10s  16)  0
s  0, s   2.5  j1.322
For existence of complex breakaway/break-in point it must satisfy angle criteria.

  5 
 At s   2.5  j1.322,
(2.5  j1.322)
KG(s) 
(2.5  j1.322)2 (2.5  j1.322  4)
By using calculator,
0
 KG ( s ) = +125.05 (Not an odd multiple of 1800 )
It does not satisfy angle criterion. Hence, this is not a valid breakaway point.
jw
K =¥

K =0 K =¥ K = 0, 0
s
–4 –2 –1 0

K =¥
Hence, the correct options are (A) and (C) both.
Question 7 [Practice Book] [GATE IN 1992 IIT-Kanpur : 2 Marks]
A unity feedback system has open loop poles (  2  j 2) and 0. It has a single zero at (  4  j 0) . The angle
of departure in degree of the root locus branch starting from the pole (  2  j 2) is___________.
Sol. Figure to calculate angle of departure is shown in below.
(- 2 + 2 j ) jw Poles
P2 Zeros
+2 j

f p1
f z1
s
-4 -2 0 P1
Z1
f p2
-2 j
P3
(- 2 - 2 j )

Angle of departure at complex poles :

The angle of departure from an open loop complex pole is given by (for K  0)
d  1800  ( p  z )
z : Sum of all the angles subtended by zeros.
p : Sum of all the angles subtended by remaining poles.
At pole (  2  2 j ) ,
 2
 p1  1800  tan1    1350
 2
 p 2  900
 2
z1  tan1    450
 2
 p   p1   p 2  1350  900  2250

  6 
 z z1  450
 d 1800  (2250  450 )  00
At pole (  2  2 j ) ,
d 00  00
  Hence, the answer is 0.
Question 14 [Practice Book] [GATE EE 2002 IISc-Bangalore : 5 Marks]
2(s  )
The open loop transfer function of a unity feedback system is given by G(s)  . Sketch
s(s  2)(s  10)
the root locus as  varies from 0 to  . Find the angle and real axis intercept of the asymptotes, breakaway
points and the imaginary axis crossing points, if any.
2(s )
Sol. Given : G(s)  , H (s)  1
s(s  2)(s 10)
Characteristics equation is given by,
1  G (s)H (s)  0
2(s )
1 0
s(s  2)(s 10)
s(s2 12s  20  2)  2  0
2
1 0 …… (i)
s(s  12s  22)
2

Modified characteristic equation is given by,

1  G '( s ) H '( s )  0 …… (ii)
On comparing equation (i) and (ii), we get
2
G '(s)H '(s) 
s(s 12s  22)
2

G '( s ) H '( s )   1
2
 1
s ( s 2  12 s  22)
1 3
  s  12 s 2  22 s 
2
Concept of root contour :
Number of poles, P =3 at s  0,  2.26,  9.74 .
Number of zero, Z = 0.
jw

RL RL s
-10 -2 0

Fig. Pole-zero diagram

  7 
 Number of asymptotes, P  Z  3  0  3
The intersection point of asymptotes on the real axis is called centroid.
Centroid is given by,


 Real parts of polesin G '(s)H '(s)   Real parts of zerosin G '(s)H '(s)  
PZ
(0  2.26  9.74)  0
  4 Ans.
3
Angle of asymptotes :
(2   1)  180 0 where,   0, 1, 2, ........... ( P  Z  1)
A 
PZ

If P  Z  3   0, 1, 2 A  600 , 1800 , 3000

Angle of asymptotes are 600, 1800 , 3000.               Ans.

Breakaway/break-in point can be calculated as,
d
0
ds
d  s 3  12 s 2  22 s 
ds  2  0

3 s 2  24 s  22  0
s   1.06,  6.94
s = – 6.94 invalid jw
Breakaway point

s
-10 -2 0

s = – 1.06 valid
Breakaway point
Rejecting s   6.94 as it doesn’t lies on root locus.
Hence, valid break away point s   1.06. Ans.
The root locus branch crosses the imaginary axis is determined by applying Routh Hurwitz criterion to
the characteristic equation.
Characteristics equation is given by,
1  G '( s ) H '( s )  0

s3 12s2  22s  2  0
s3 1 22
s2 12     2
264  2 
s1 0  Row of zero
12
s0 2
The intersection of root locus plot with imaginary axis is given by the value of  obtained by solving the
following equation.

  8 
 264  2
0
12
  132
Auxiliary equation is formed using s 2 row,
12s2  2  0
12s2  264  0
s   j 4.690 Ans.
The root contour diagram is shown in below figure.
jw
a = 132 a=¥
j 4.69
a=¥ a=0 a=0 a=0
s
-10 -2 0
- j 4.69
a=¥
s = – 1.06 a = 132

Question 27 [Practice Book] [GATE EC 2009 IIT-Roorkee : 2 Marks]

The feedback configuration and the pole-zero locations of G ( s )  s 2  2 s  2 are shown below. The root
2

s  2s  2
locus for negative values i.e. for    K  0 , has breakaway/break-in points and angle of departure at
pole P (with respect to the positive real axis) equal to
jw

K G(s)
s
P

(A)  2 and 0 0 (B)  2 and 450 (C)  3 and 0 0 (D)  3 and 450

Ans. (B)
s2  2s  2
Sol. Given : G(s) 
s2  2s  2
jw

K G(s)
s
P

Root locus for negative value of K represents the inverse root locus.
The characteristics equation is given by,
1  G (s) H (s)  0  

  9 
 s2  2s  2 jw
1 K 0
s2  2s  2 j
00
s  2s  2
2
- 45 0
- 900
K 
s2  2s  2
  Breakaway/break-in point can be calculated as, s
-1 1
dK
0
ds
 ( s 2  2 s  2)(2 s  2)  ( s 2  2 s  2)(2 s  2)  00
   0  -j P
 ( s 2
 2 s  2) 2

      4s2  8  0  
      s 2 
  Angle of departure for a complex pole 1 – j is given by,

 d  (  z    p ) Inverse root locus

where p  sum of all the angles subtended by remaining poles

z  sum of all the angles subtended by zeros

 d  (0 0  4 5 0 )  ( 9 0 0 )  4 5 0

Hence, the correct option is (B).

s2  2s  2
Note : In the original GATE question paper function was G(s)  . This function has a zero in
s2  2s  2
right half of s-plane and poles in left half of s-plane but in pole-zero diagram of G ( s ) the poles are given
in the right half and zeros in left half of s-plane. To correct the question function G ( s ) has been modified
s2  2s  2
to G(s)  2 .
s  2s  2

Question 8 [Work Book] [GATE IN 2009 IIT-Roorkee : 2 Marks]

A unity feedback system has the transfer function
K(s  b)
s2 (s  20)
The value of b for which the loci of all the three roots of the closed loop characteristic equation meet at a
single point is
(A) 10 (B) 20 (C) 3 0 (D) 40
9 9 9 9
Ans. (B)
K (s  b)
Sol. Given : G(s) 
s2 (s  20)
Characteristic equation is given by,
1  G (s)  0

  10 
 K (s  b)
1 0
s 2 (s  20)
s 2 (s  20)  K (s  b)  0

( s3  20s 2 )
K 
( s  b)
dK
0
ds
 ( s  b ) (3s 2  40 s )  ( s 3  20 s 2 ) (1) 
 0
 (s  b)2 
3 s 3  3b s 2  4 0 s 2  4 0 b s  s 3  2 0 s 2  0
2 s 3  (3 b  2 0 ) s 2  4 0 b s  0
s [ 2 s 2  (3 b  2 0 ) s  4 0 b ]  0
s  0 and 2 s 2  (3 b  2 0 ) s  4 0 b  0
There is repeated poles at origin so there is a breakaway point in origin i.e. s  0.
Solving quadratic equation, we get
 (20  3b)  (20  3b) 2  320b
s
2 2
 (20  3b)  400  120b  9b 2  320b
s
4
200 400
 (20  3b)  3 b2  b
s 9 9
4
 20 
 (20  3b )  3 (b  20)  b  
 9 
s
4
Case - I : When b  20  2.22
9 s = – 6.67 valid jw
breakaway point
 20 
 20   3 
Breakaway point, s  
 9    20   6.66
s
4 3 - 20 - 20
Case - II : When b  20 9

Breakaway point, s   20  3  20   20 [Not valid]

4
The loci of all these roots can meet at a single point only if the breakaway point exists between
20
 20  s   b. When b   2.22 the breakaway point exists at s   6.66 which lies between
9
 20  s   b. In such case the open loop transfer function of the system becomes as under,
 20 
K s 
G( s) H ( s)  2
9 
s ( s  20)
The intersection point of asymptotes on the real axis is called centroid.

  11 
 Centroid is given by,
 Real part of poles in G (s )H (s )   Real part of zeros in G (s )H (s )

PZ
20
 20 
σ 9   8.88
3 1
The number of asymptotes, N  Z  3 1  2
Angle of asymptotes :
(2   1)  180 0 where,   0, 1, 2, ........... ( P  Z  1)
A 
PZ
If P  Z  2   0, 1  A  900 , 2700

The root locus of the system is shown in below figure.

K =¥ jw

K =0 K =¥ K = 0, 0
s
– 20 – 20/9 0

s = – 6.67
K =¥
breakaway point
Hence, the correct option is (B).
Question 31 [Practice Book] [GATE IN 2012 IIT-Delhi : 2 Marks]
The open loop transfer function of a unity negative feedback control system is given by
s 2  4s  8
G(s)  . The angle θ , at which the root locus approaches the zeros of the system, satisfies
s ( s  2)( s  8)

1 1 3 1
(A)     tan   (B)    tan 1  
 4 4  3
 1  1
(C)    tan1   (D)    tan1  
2  4 4  3
Ans. (D)
Sol. Open loop transfer function of a unity feedback system is
s 2  4s  8
G( s) H ( s) 
s( s  2)( s  8)
s2  4s  8  0

 4  42  4  8  4  16  32
s 
2 2
s   4  4 j  2  j 2
2
Number of open loop poles, P = 3 at s = 0, –2 and – 8.
Number of open loop zero, Z = 2 at s = – 2 + j2 and – 2 – j2.
Pole-zero pattern is shown below.

  12 
 jw
A
j2

f p1
B f p2 f p3
s
-8 C -2 D 0

f z1
- j2

Angle of arrival at complex zeros :

The angle of arrival for an open loop complex zero is given by (for K  0)
a  1800  ( p  z )

z : Sum of all the angles subtended by remaining zeros.

p : Sum of all the angles subtended by poles.
At s   2  2 j ,
 2  3
 p1    tan 1      
 2 4 4

AC  tan 1  2   tan 1  1 
 p 2  tan  1    
BC 6 3

 p3 
2

 z1 
2
3 1 
 p   p1   p 2   p 3   tan 1   
4  3 rad 2

 z   z1 
2
 3  1 
 a  180 0     tan 1    
 4 2  3  rad 2 
3 1 7 1  1
a     tan 1     tan 1      tan 1  
4  3 rad 4  3 rad 4  3 rad
 1  1  jw
a    tan 1       tan 1   
4  3  rad 4  3  rad 
 1 s
a   tan 1   -
7p -
p
(CW)
4  3 rad 4
(CCW) 4

Hence, the correct option is (D).

  13 
Question 10 [Work Book] [GATE EC 2014 (Set 3) IIT-Kharagpur : 2 Marks]
In the root locus plot shown in the figure, the pole/zero marks and the arrows have been removed. Which
one of the following transfer functions has this root locus?
jw

s
1

(A) s 1 (B) s4 (C) s7 (D) ( s  1)( s  2)

( s  2)( s  4)( s  7) ( s  1)( s  2)( s  7) ( s  1)( s  2)( s  4) ( s  7)( s  4)
Ans. (B)
Sol. The given root locus plot is shown below.
jw

s
1

For option (A), (B) and (C) :

Since P > Z branches will start from each of the location of open loop pole and terminate at the location
of zeros. The remaining P – Z branches will approach to infinity.
Angle of asymptotes :
(2   1)  180 0 where,   0, 1, 2, ........... ( P  Z  1)
A 
PZ

If P  Z  2   0, 1 A  900 , 2700

It means that root locus branches will approach to infinity with angle 900 and 2700 .
The intersection point of asymptotes on the real axis is called centroid.
Centroid is given by,


 Real partsof polesin G(s)H (s)   Real partsof zerosin G(s)H (s)  
PZ
For option (A),   2  4  7  1   6
3 1
The root locus for option (A) can be drawn as shown below.

  14 
 jw

s
-7 -6 -4 -2 -1

Fig. (A)
For option (B),   1  2  7  4   3
3 1
The root locus for option (B) can be drawn as shown below.
jw

s
-7 -4 -2 -1

Fig. (B)
For option (C),   1  2  4  7  0
3 1
The root locus for option (C) can be drawn as shown below.
jw

s
-7 -4 -2 -1

Fig. (C)
For option (D),    7  4  1  2  
22
The root locus for option (D) can be drawn as shown below.
jw

s
-7 -4 -2 -1

Fig. (D)
Hence, the correct option is (B).

  15 
Question 1 [Work Book] [GATE EC 2014 (Set 4) IIT-Kharagpur : 2 Marks]
The characteristic equation of a unity negative feedback system is 1  KG ( s )  0 . The open loop transfer
function G ( s ) has one pole at 0 and two poles at – 1. The root locus of the system for varying K is shown
in the figure.
jw

x = 0.5 A
-1
3
(0, 0)
s
-1 O

The constant damping ratio line, for   0.5 , intersects the root locus at point A. The distance from the
origin to point A is given as 0.5. The value of K at point A is________.
Ans. 0.32 to 0.41
Sol. The given root locus for varying K is shown below.
jw
K =¥

x = 0.5 A
-1
K = 0, 0 3
K =¥ K =0
s
-1 X O

K =¥

K
Given : G(s)H (s)  ,   0 .5, OA = 0.5.
s(s 1)2
We know that,  cos1    600
In  A X O , cos θ  OX
OA
1 1
OX  OA cos 60 0  0.5  
2 4

  16 
 AX
sin θ 
AO

3 3
AX  AO sin 600  0.5  
2 4
1 3
So, the coordinate of A is j .
4 4
We know that the co-ordinate of point A of the given root locus i.e. magnitude condition.
G( s ) H ( s )  1

1 3
Applying magnitude condition at  j , we get
4 4
K
G(s)H (s) 
s(s 1)2
K K
G ( s) H ( s)  2
 2
 1 3    1 3   1 3  3 3
 j    j   1  j   j 
 4 4 
  4 4    4 4  4 4 

K
G( s) H ( s) 1 j 3  1 1
1
4 4 2
1 3 9 3 2 2
     
 16 16   16 16 
K  0.375
Hence, the answer is 0.375.
Alternatively :
Graphical calculation of K :
jw

A
3
= 0.433
4
P
s
X O
-1
0.25

0.75

From figure, AP  (0.75) 2  (0.433) 2  0.866

  17 
 and OA  0.5
Product of vector lengthsdrawn from thepolesof G(s)H (s) to A
K
Product of vector lengthsdrawn from thezerosof G(s)H (s) to A
0.866  0.866  0.5
K   0.375
1
Hence, the answer is 0.375.
Question 3 [Work Book] [GATE EC 2015 (Set-01) IIT-Kanpur : 2 Marks]
The open-loop transfer function of a unity feedback configuration is given as G ( s )  K ( s  4) . The
( s  8)( s 2  9)
value of a gain K (  0) for which 1  j 2 lies on the root locus is ______ .
Ans. (25.54)
Sol. Pole-zero diagram is shown below.
jw
P j2

A B C D
s
-8 -4 -3 -1 3

Vector Lengths :
AP  (7) 2  (2) 2  53 BP  (3) 2  (2) 2  13
CP  (2) 2  (2) 2  8 DP  (4) 2  (2) 2  20
Product of vector lengthsdrawn from thepolesof G(s)H (s) to P
K
Product of vector lengthsdrawn from thezerosof G(s)H (s) to P
53  8  20
K  25.5
13
Hence, the correct option is 25.5.

Alternatively,
By magnitude criteria,
G ( s ) H ( s ) s 1 2 j  1
K ( 1  2 j )  4 
G ( s ) s   1 2 j 
 (  1  2 j )  8   (  1  2 j ) 2  9 
K 2j 3
1
7 2 j 2 2 j 4 2 j
20 8 53
K  25.5
13
Hence, the correct option is 25.5.

  18 
Question 33 [Practice Book] [GATE EE 2015 (Set-01) IIT-Kanpur : 2 Marks]
The open loop poles of a third order unity feedback system are at 0, –1, –2. Let the frequency
corresponding to the point where the root locus of the system transits to unstable region be K. Now suppose
we introduce a zero in the open loop transfer function at –3, while keeping all the earlier open loop poles
intact. Which one of the following is TRUE about the point where the root locus of the modified system
transits to unstable region?
(A) It corresponds to a frequency greater than K.
(B) It corresponds to a frequency less than K.
(C) It corresponds to a frequency K.
(D) Root locus of modified system never transits to unstable region.
Ans. (D)
Sol. Given : Number of open loop poles, P = 3 at s = 0, –1 and –2.
Open loop transfer function will be,
K
G( s ) H ( s ) 
s(s  1)(s  2)
Root locus plot is shown in figure (a).
jw
K =¥

K =¥ K =0 K =0 K =0
s
-2 -1 0

K =¥

Fig. (a)
After introducing a zero in open loop transfer function,
K (s  3)
G '(s) H '(s) 
s(s  1)(s  2)
Root locus plot is shown in figure (b).
jw
K =¥

K =0 K =0 K =0
s
-3 -2 -1 0

K =¥
Fig. (b)
From the above figure (b), it can be seen that root locus plot never crosses j-axis for all values of K.
Alternatively :
The root locus branch crosses the imaginary axis is determined by applying Routh Hurwitz criterion to
the characteristic equation.
Characteristics equation is given by,
s3  3s2  (2  K)s  3K  0

  19 
 Routh Tabulation :
s3 1 2+K
s 2
3 3K
6  3K  3K
s1 2 0
3
s0 3K

For system to be stable K > 0 i.e. for all values of K system is stable.
 Effects of addition of open loop zeros in Root Locus
(i) Root locus shifts to left away from the imaginary axis.
(ii) Relative stability of the system increases.
Hence, the correct option is (D).
Question 35 [Practice Book] [GATE EE 2016 (Set-02) IISc-Bangalore : 2 Marks]
The gain at the breakaway point of the root locus of a unity feedback system with open loop transfer
Ks
G (s) 
function ( s  1)( s  4) is

(A) 1 (B) 2 (C) 5 (D) 9

Ans. (A)
Ks
Sol. Given : G(s) 
(s 1)(s  4)
img

R-L R-L
Real
s =1 s=4

Characteristic equation
Ks
1 0
(s 1)(s  2)

( s  1)( s  4)   (s  5s  4)
2

K 
s s
For break away points
dk
0
ds
 ( s ) (2 s  5)  ( s 2  5 s  4)(1) 
  0
 s2 
 2 s 2  5s  s 2  5s  4 
  0
 s2 

  20 
 s2  4
s  2

s  2 will be valid breakaway point K s2 1

As it lies between two poles.
Hence the correct option is (A)
 IES Objective Solutions
Question 14 [Practice Book] [IES EE 2002]

Identify the correct root locus from the figures given below referring to poles and zeros at  j8 and  j10
respectively of G ( s ) H ( s ) of a single-loop control system.

jw jw

(A) (B)

s s

jw jw

(C) (D)
s s

Ans. (B)
Sol. Given : The system has poles at  j 8 and zeros at  j10 .

Hence, the transfer function can be written as

K ( s 2  100) jw
G( s) H ( s) 
( s 2  64) j10

j8
Pole zero locations are shown in figure below,
Angle of departure at pole at  j 8 s

d1  1800  
- j8
Where, z p
- j10
  21 
  p   p1  900

z  z1 z2  900  900  00

   0  900  900

 d1  1800  (900 )  900

 d at pole at  j 8
 d 2   900

Hence, the root locus is shown below, in which branches of root locus are starting from poles and are
terminating on zeros.
jw

fd 1 = + 900
ACW

fd 2 = - 900
CW

Hence, the correct option is (B).

Question 19 [Practice Book] [IES EE 2004]
A control system has G ( s ) H ( s )  K
(0  K   ) . What is the number of breakaway
s ( s  4)( s 2  4 s  20)
points in the root locus diagram?
(A) One (B) Two (C) Three (D) Zero
Ans. (C)
Sol. Given : K
G (s)H (s)  (0  K   )
s ( s  4)( s 2  4 s  20)
Characteristic equation is given by,
1  G (s)H (s)  0
K
1 0
s(s  4)(s2  4s  20)
s 4  8 s 3  36 s 2  80 s  K  0
K (s4 8s3 36s2 80s)
Breakaway point can be calculated as,
dK
0
ds
dK
  (4 s 3  24 s 2  72 s  80)  0
ds
Breakaway point is s   2 and two complex breakaway points are s   2  j 2.45 .
Existence of complex breakaway point can be calculated using angle condition.
Angle condition :
  22 
 G(s)H(s)  (2n 1)1800 n  0, 1, 2....
K
G ( s ) H ( s ) 
(  2  j 2.45)  (  2  j 2.45)  4  (  2  j 2.45) 2  4(  2  j 2.45)  20 

G(s)H(s) 1800 [Multiple of 1800 ]

So s   2  j 2.45 are the valid breakaway points.
At s  2 , K  64 [positive]
So s  2 is also a valid breakaway point.
jw
j 2.45

-4
s
0

s=–2 - j 2.45
valid breakaway
point
The number of breakaway points in the root locus diagram is three. The root locus plot is shown in below
figure.
s = – 2 + j2.45
valid breakaway jw
K =¥ point K =¥

j 2.45
K =0 K =0
s
-4 -2

- j 2.45
s = – 2 valid
breakaway point

K =¥ s = – 2 – j2.45 K =¥
valid breakaway
point
Hence, the correct option is (C).
Question 40 [Practice Book] [IES EC 2010]
If the gain of the system is reduced to zero value, the roots of the system in the s-plane
(A) Coincide with zeros (B) Move away from the zeros
(C) Move away from the poles (D) Coincide with the poles
Ans. (D)
K
Sol. Let us assume G(s) 
s ( s  a)
s  0 and s  a are open loop poles
Characteristic equation is s 2  as  K  0

  23 
 Roots of characteristic equation are
a  a  2 
s1 , s2      K 
2  2  

When K = 0, the roots are s1  0 and s2 a

i.e. they coincides with the open loop poles of system.
Hence, the correct option is (D).
Alternatively :
Root locus starts with open loop transfer function poles where K = 0 and terminates to zero where
K  .

Question 41 [Practice Book] [IES EC 2011]

4K
Given the root locus of system G( s)  what will be the gain for obtaining the damping ratio
 s  1 s  3
0.707?
jw

s
-3 -1

(A) 1 (B) 5 (C)  3 (D) 11

4 4 4 4
Ans. (B)
4K
Sol. Given : G( s)  and   1
 s  1 s  3 2
Number of open loop poles, P = 2 at s = –1 and – 3.
Number of open loop zero, Z = 0.
The intersection point of asymptotes on the real axis is called centroid.
Centroid is given by,
 real part of poles of G (s )H (s )   real part of zeros of G (s )H (s )

PZ
1  3
  2
20
Characteristic equation is given by,
1  G (s)  0
4K
1 0
( s  1)( s  3)
s2  4s  3  4K  0 …. (i)
For second-order system, characteristics equation is given by,
s2  2ns n2  0 …. (ii)

  24 
 On comparing equation (i) and (ii), we get
2n  4
n  2
n  2 2

2n  8
3  4K  2n
3  4K  8
5
K
4
Hence, the correct option is (B).
Alternatively :
Graphical analysis of K :

B jw

5 2
C A 450
s
–2 D 0
–3 –1
1 2

  0.707

 cos1    450
AB
tan 45 0  1
OA
AB  OA  2

CB  12  22  5

BD  22  12  5
Product of vector lengthsdrawn from the polesof G(s) H (s) to B
4K 
Product of vector lengthsdrawn from thezerosof G(s) H (s) to B

5 5
4K  5
1
5
K
4
Note : If zero does not exist in transfer function then we consider unity length.
Hence, the correct option is (B).

  25 
Question 47 [Practice Book] [IES EC 2011]
K ( s 2  64)
Loop transfer function of unity feedback system is G ( s )  . The correct root locus diagram for
s ( s 2  16)
the system is
jw jw

(A) s (B) s

jw
jw

(C) s (D) s

Ans. (D)
K ( s 2  64)
Sol. Given : G ( s ) 
s ( s 2  16)
Number of poles, P = 3,
Number of zeros, Z = 2
Total branches of root locus = 3
Number of asymptotes = P – Z = 1
Angle of asymptote  180 0
The system has poles at  j 4 and at s  0 and zeros at  j 8 .
Pole zero locations are shown in figure below, jw
Angle of departure at pole at  j 4 j8

d1  1800   j4

Where, z p s

 p   p 2   p3  90  90  180 0 0 0

- j4
z  z1 z2  900  900  00
- j8
  0 1800 1800
 d1  1800  (1800 )  00
 d at pole at  j 4
 d 3  00

  26 
 Hence, the root locus is shown below, in which branches of root locus are starting from poles and are
terminating on zeros, one pole will be terminating at zero present in infinite s-plane following the
asymptote of 1800 .
jw

1800 s



  27