Example #2

R(s) + 1 C(s)
K
- s ( s + 20 )

Closed-Loop Transfer Function is:

1
K
C (s ) s ( s + 20 ) K
= =
R (s ) 1 + K 1 s (s + 20) + K
s( s + 20 )

Use Matlab to plot Root Locus

15

10

5
Imag Axis

-5

-10

-15
-20 -15 -10 -5 0 5
Real Axis

1
 Find K for roots with ζ=.707
15

s=-10+j10
10 s + p1 = − 10 + j10 + 0
5 = 200
Imag Axis

-p2=-20 -p1=0 s + p2 = − 10 + j10 + 20

-5

= 200
-10

-15
-20 -15 -10 -5 0 5
Real Axis

Use Magnitude Criterion

Num( s) 1
K =K =1
Den( s) s + p1 * s + p2
1
K = 1 ⇒ K = 200
200 * 200
Once a point, s, is known to be on the root locus, then the
magnitude criterion can be used to find the gain K for that
point (i.e., find K at desired root locations)

2
 Find K for a C.E. root at s=-8
15

10
s + p1 = − 8 + 0 = 8
5
s=-8 s + p2 = − 8 + 20 = 12
Imag Axis

-p1=0 1
-5
-p2=-20 K =1
8 *12
⇒ K = 96
-10

-15
-20 -15 -10 -5 0 5
Real Axis

Example #3
R(s) + ( s + 3) C(s)
K (s + 1)( s + 2)
-

Closed-Loop Transfer Function is:

C ( s) K (s + 3)
=
R (s ) ( s + 1)(s + 2) + K (s + 3)
Use Matlab to find the root locus

3
 Root Locus for Example #3
1.5

0.5
Imag Axis

-0.5

-1

-1.5
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis

Modify Axes
>> axis([-5 0 -1 3]) axis([Xmin Xmax Ymin Ymax])

2.5
Find K for
2
minimum
1.5 peak time
Imag Axis

0.5

-0.5

-1
-5 -4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis

4
 K for minimum peak time
s + p1 = − 3 + j1 .4 + 1

= 2 2 + 1.4 2 = 2.4
3

2.5

2
s=-3+j1.4 s + p2 = − 3 + j1.4 + 2
1.5

= 12 + 1 .4 2 = 1.7
Imag Axis

0.5

0 O X X s + z1 = − 3 + j1 .4 + 3
-z1=-3 -p =-2 -p1=-1
= 0 2 + 1.4 2 = 1 .4
-0.5
2
-1
-5 -4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis

Use magnitude criterion

Num( s) s + z1
K =K =1
Den( s) s + p1 * s + p2
1.4
K = 1 ⇒ K ≈ 2 .9
2.4 *1.7

Check roots of: ( s + 1)( s + 2) + 2.9( s + 3) = 0

5
 Example #4
R(s) + ( s + 5) C(s)
K (s + 1)( s + 3)
-

Closed-Loop Transfer Function is:

C ( s) K ( s + 5)
=
R (s ) ( s + 1)(s + 3) + K ( s + 5)
Is the point s=-4+j2 on the root locus?

Plot the vectors

s=-4+j2
+j2

+j1
∠( s + z1) ∠ ( s + p2 ) ∠( s + p1 )

-5 -4 -3 -2 -1 0
-j1

-j2

6
 Use Phase Criterion
 Num(s ) 
angle  = 180 o ± k 360 o
 Den (s ) 
∠ (s + z1) − ∠(s + p1) − ∠( s + p2 ) = 180 o ± k 360 o

 + 2
∠(s + z1) = ∠(−4 + j 2 + 5) = tan −1 
 +1 
+2
∠ (s + z1 ) = tan −1  = 63.4
o
 +1 

Continue Phase Criterion

+2
∠(s + p1 ) = ∠(−4 + j 2 + 1) = tan −1 
 −3 
+2
∠(s + p1 ) = tan −1  = 146 .3
o
−3
+2
∠(s + p2 ) = ∠(−4 + j 2 + 3) = tan −1 
 −1 
+2
∠(s + p1 ) = tan −1  = 116 .6
o
 −1 

7
 Add Phase Angles
∠ (s + z1) − ∠ (s + p1 ) − ∠(s + p2 ) =
63.4o − 146 .3o − 116 .6o = −199 .5o

s=-4+j2 is not on this

root locus

Rules #1-#3 for Root Locus

• Put polynomial in standard form,
Num( s ) K ( s + z1 )( s + z 2 )...( s + z m )
1 + Kf ( s ) = 1 + K =1+ =0
Den( s ) ( s + p1 )( s + p2 )...( s + pn )

• Plot open-loop poles (X) and zeros (O)

on complex plane
• Root locus is on the real axis to the left
of an odd number of open-loop poles
and zeros (gives angle of 180°)

8
 Rules #4-#5 for Root Locus
• Number of linear asymptotes = n-m,
angle to 1st one (equally spaced) is
180 °
φa =
n−m
• If n-m>1, center of linear asymptotes
found by
1  n m 

σa =
 ∑
n − m i =1
( − pi ) − ∑ ( − z )
j 
 j =1 

Rules #6-#8 for Root Locus

• Determine the breakaway points on the real
axis (if any).
• Use the Routh-Hurwitz criteria to evaluate
imaginary axis crossings (if any)
– look for a row of zeros in the S0 or S1 rows
• Evaluate the angle of departure from
complex poles (and angle of arrival at
complex zeros) by the angle criteria

9
 Rules #9-#10 for Root Locus
• Sketch in the remainder of the root locus.
– Use the angle criteria to determine suitability of any
questionable points.
• The gain K at any root location can be
found by the magnitude criteria,

s + z1 s + z 2 ... s + zm
K =1
s + p1 s + p2 ... s + pn

Example #5
R(s) + ( s + 2) C(s)
K
- s ( s + 1)( s + 3)( s + 4)

Closed-Loop Transfer Function is:

C ( s) K ( s + 2)
=
R (s ) s ( s + 1)(s + 3)(s + 4) + K ( s + 2)
Apply root locus steps 1, 2, 3, 4, 5, and 7 to this problem

10
 Root Locus #5
8

2
Imag Axis

-2

-4

-6

-8
-6 -5 -4 -3 -2 -1 0 1 2
Real Axis

Example #6
R(s) + 1 C(s)
K
- s ( s + 4)( s + 25)

Closed-Loop Transfer Function is:

C ( s) K
=
R (s ) s ( s + 4)(s + 25) + K
Apply root locus steps 1, 2, 3, 4, 5, and 7 to this problem

11
 Root Locus #6
30

20

10
Imag Axis

-10

-20

-30
-30 -25 -20 -15 -10 -5 0 5
Real Axis

Example #7
R(s) + s ( s − 4) C(s)
K
- (s + 1)( s + 5)

Closed-Loop Transfer Function is:

C (s ) K ( s + 2)
=
R (s ) ( s − 1)(s + 3)(s + 4) + K ( s + 2)
Apply root locus steps 1, 2, 3, 4, 5, and 7 to this problem

12
 Root Locus #7
1.5

0.5
Imag Axis

-0.5

-1

-1.5
-6 -5 -4 -3 -2 -1 0 1 2 3 4 5
Real Axis

Example #8
R(s) + ( s + 8) C(s)
K
- s ( s + 1)( s + 2)

Closed-Loop Transfer Function is:

C ( s) K (s + 8)
=
R (s ) s ( s + 1)(s + 2) + K (s + 8)
Apply root locus steps 1, 2, 3, 4, 5, and 7 to this problem

13
 Root Locus #8
4

1
Imag Axis

-1

-2

-3

-4
-9 -8 -7 -6 -5 -4 -3 -2 -1 0 1
Real Axis

Example #9
R(s) + 1 C(s)
K
- s ( s 2 + 4 s + 8)

Closed-Loop Transfer Function is:

C ( s) K
=
R (s ) s ( s 2 + 4 s + 8) + K

Apply root locus steps 1, 2, 3, 4, 5, and 7 to this problem

14
 Root Locus #9
5

1
Imag Axis

-1

-2

-3

-4

-5
-8 -6 -4 -2 0 2 4
Real Axis

Example #10
R(s) + ( s 2 + 2 s + 101) C(s)
K
- (s + 5)( s 2 + 2 s + 17 )

Closed-Loop Transfer Function is:

C (s ) K ( s 2 + 2 s + 101)
=
R (s ) ( s + 5)( s 2 + 2 s + 17) + K (s 2 + 2s + 101)
Apply root locus steps 1, 2, 3, 4, 5, and 7 to this problem

15
 Root Locus #10
10

2
Imag Axis

-2

-4

-6

-8

-10
-7 -6 -5 -4 -3 -2 -1 0 1 2
Real Axis

16