ISTANBUL AYDIN UNIVERSITY

FACULTY OF ENGINEERING
ELECTRICAL & ELECTRONICS ENGINEERING DEPT.

EEE362: CONTROL SYSTEMS

8. Root Locus Technique
Part - II

Instructor:
Assist. Prof. Dr. Mohammed ALKRUNZ
Electrical & Electronics Engineering Department
 Plotting the Root Locus,,,

Example:

Plot the root locus for the given system:

𝑹(𝒔) + 𝑠+1 𝒀(𝒔)

𝑘
− 𝑠2 𝑠 + 4

Solution:
𝒔+𝟏
1) The open-loop function is: 𝒌𝑮 𝒔 𝑯 𝒔 = 𝟐
𝒔 𝒔+𝟒

2) Poles of 𝐺 𝑠 𝐻(𝑠) are: 𝑠1 = 0, 𝑠2 = 0, and 𝑠3 = −4 (𝒏 = 𝟑)

Zeros of 𝐺 𝑠 𝐻(𝑠) are: 𝑠1 = −1 (𝒎 = 𝟏)

3) Number of asymptotes are: 𝜶 = 𝒏 − 𝒎 = 𝟑 − 𝟏 = 𝟐

Dr. M. Alkrunz
May 10, 2023 2
EEE362: Control Systems
 Plotting the Root Locus,,,
Solution (Cont.):

𝟏𝟖𝟎 𝟏𝟖𝟎
4) The angles of asymptotes are: 𝜽 = ±𝒓 = ±𝟏 = ± 𝟗𝟎𝒐
𝜶 𝟐

𝑷𝒐𝒍𝒆𝒔− 𝒁𝒆𝒓𝒐𝒔 𝟎−𝟒 − −𝟏 𝟑

5) The asymptote locations are: 𝝈𝒂 = = = − 𝟐 = −𝟏. 𝟓
𝜶 𝟐

6) The break-away points are:

𝑁(𝑠) 𝑠+1
𝐺 𝑠 𝐻 𝑠 = =
𝐷(𝑠) 𝑠 3 + 4𝑠 2

𝑑 𝑑
𝑁 𝑠 𝐷 𝑠 −𝐷 𝑠 𝑁 𝑠 =0
𝑑𝑠 𝑑𝑠
𝑠 + 1 3𝑠 2 + 8𝑠 − 𝑠 3 + 4𝑠 2 1 = 0
2𝑠 3 + 7𝑠 2 + 8𝑠 = 0
𝒔𝟏 = 𝟎
𝒔𝟐, 𝟑 = −𝟏. 𝟕𝟓 ± 𝒋𝟎. 𝟗𝟕 Not valid, complex
Dr. M. Alkrunz
May 10, 2023 3
EEE362: Control Systems
 Plotting the Root Locus,,,
Solution (Cont.):
𝑰𝒎(𝒔)

−𝟏. 𝟓
𝟗𝟎𝒐
× o ×
×
𝟗𝟎𝒐 −𝟏 𝑹𝒆(𝒔)
−𝟒

Dr. M. Alkrunz
May 10, 2023 4
EEE362: Control Systems
 Plotting the Root Locus,,,

Example:

Plot the root locus for the given system:

𝑹(𝒔) + 𝑠+1 𝒀(𝒔)

𝑘
− 𝑠2 𝑠 + 9

Solution:
𝒔+𝟏
1) The open-loop function is: 𝒌𝑮 𝒔 𝑯 𝒔 = 𝟐
𝒔 𝒔+𝟗

2) Poles of 𝐺 𝑠 𝐻(𝑠) are: 𝑠1 = 0, 𝑠2 = 0, and 𝑠3 = −9 (𝒏 = 𝟑)

Zeros of 𝐺 𝑠 𝐻(𝑠) are: 𝑠1 = −1 (𝒎 = 𝟏)

3) Number of asymptotes are: 𝜶 = 𝒏 − 𝒎 = 𝟑 − 𝟏 = 𝟐

Dr. M. Alkrunz
May 10, 2023 5
EEE362: Control Systems
 Plotting the Root Locus,,,
Solution (Cont.):

𝟏𝟖𝟎 𝟏𝟖𝟎
4) The angles of asymptotes are: 𝜽 = ±𝒓 = ±𝟏 = ± 𝟗𝟎𝒐
𝜶 𝟐

𝑷𝒐𝒍𝒆𝒔− 𝒁𝒆𝒓𝒐𝒔 𝟎−𝟗 − −𝟏 𝟖

5) The asymptote locations are: 𝝈𝒂 = = = − 𝟐 = −𝟒
𝜶 𝟐

6) The break-away points are:

𝑁(𝑠) 𝑠+1
𝐺 𝑠 𝐻 𝑠 = =
𝐷(𝑠) 𝑠 3 + 9𝑠 2

𝑑 𝑑
𝑁 𝑠 𝐷 𝑠 −𝐷 𝑠 𝑁 𝑠 =0
𝑑𝑠 𝑑𝑠
𝑠 + 1 3𝑠 2 + 18𝑠 − 𝑠 3 + 9𝑠 2 1 = 0
𝑠 3 + 6𝑠 2 + 9𝑠 = 0
𝒔𝟏 = 𝟎
𝒔𝟐, 𝟑 = −𝟑
Dr. M. Alkrunz
May 10, 2023 6
EEE362: Control Systems
 Plotting the Root Locus,,,
Solution (Cont.):
𝑰𝒎(𝒔)

−𝟒

𝟗𝟎𝒐
× o ×
×
𝟗𝟎𝒐
−𝟏 𝑹𝒆(𝒔)
−𝟗

−𝟑

Dr. M. Alkrunz
May 10, 2023 7
EEE362: Control Systems
 Plotting the Root Locus,,,
Let us return back to the first discussion, 𝒌=∞ 𝑰𝒎(𝒔)

Then, characteristic equation is: 𝒌=𝟓

2
𝑠 + 2𝑠 + 𝑘 = 0
× 𝒋𝟐

𝒌=𝟐
𝒌 𝒔𝟏 𝒔𝟐
𝒌=𝟎 𝒌=𝟏 × 𝒋 𝒌=𝟎

0 0 −2 × ×
× ×
1 −1 −1 −𝟐 −𝟏 𝑹𝒆(𝒔)

2 −1 + 𝑗 −1 − 𝑗
× 𝒌=𝟐
−𝒋

⋮ ⋮ ⋮ × −𝒋𝟐
𝒌=𝟓
5 −1 + 𝑗2 −1 − 𝑗2
⋮ ⋮ ⋮ 𝒌=∞

∞ ∞ ∞ • Characteristic equation is an order 2, then for each

value of “k” we have two poles on s-plane.
• This means that if characteristic equation from order
“n”, then the location of “n” poles change as “k”
varies from 0 to infinity.
Dr. M. Alkrunz
May 10, 2023 8
EEE362: Control Systems
 Angle & Magnitude Conditions,,,

 If we have a pole and we want to know if this pole lies on the root locus or
not?!!

 In order to answer this question, first we should investigate the angle and
magnitude conditions.

For a general closed-loop system, then, characteristic equation is:

𝟏 + 𝒌 𝑮 𝒔 𝑯(𝒔) = 𝟎
𝑘 𝐺 𝑠 𝐻 𝑠 = −1

As s-plane is complex, then we can re-write the above equation as:

𝒌 𝑮 𝒔 𝑯 𝒔 = −𝟏 + 𝒋𝟎

 𝑘𝐺 𝑠 𝐻(𝑠) = 1
 ∠ 𝑘𝐺 𝑠 𝐻 𝑠 = ±180° , ±540° , ±900° , ……, ±𝑟 180°

Dr. M. Alkrunz
May 10, 2023 9
EEE362: Control Systems
 Angle & Magnitude Conditions,,,
So, for any value of “s” to be located on the root locus, then it must satisfies the
previous mentioned equation.

Angle Condition:
∠ 𝐺 𝑠 𝐻 𝑠 = ±𝑟 180° , 𝑟 = 1, 3, 5, 7, … …

Magnitude Condition:
𝑘 𝐺 𝑠 𝐻(𝑠) = 1

Then, you can check your pole “s” if is located on the root locus or not by checking
the angle condition. If this pole gives an odd multiple value of ±180° , then it is
located on the root locus and there is a value of “k” that achieves this pole.

What is this values of “k”?!!

𝟏
𝒌=
𝑮 𝒔 𝑯(𝒔)
Dr. M. Alkrunz
May 10, 2023 10
EEE362: Control Systems
 Angle & Magnitude Conditions,,,

Example:

Consider the open-loop system:

𝑘
𝐺 𝑠 𝐻 𝑠 =
𝑠 𝑠+2 𝑠+4
Find whether (𝒔 = −𝟎. 𝟕𝟓) and (𝒔 = −𝟏 + 𝒋𝟒) are on the root locus or not?

Solution:
For (𝒔 = −𝟎. 𝟕𝟓):
1 1
𝐺 𝑠 𝐻 𝑠 = = = −0.328 = 0.328 ∠ −180°
−0.75 −0.75 + 2 −0.75 + 4 −3.047
∠ 𝐺 𝑠 𝐻 𝑠 = −180 = ±𝑟 180 Then, this pole is on the root locus.

For (𝒔 = −𝟏 + 𝒋𝟒):
1
𝐺 𝑠 𝐻 𝑠 = = −0.0071 + 𝑗0.0094 = 0.012 ∠126.87°
−1 + 𝑗4 −1 + 𝑗4 + 2 −1 + 𝑗4 + 4
∠ 𝐺 𝑠 𝐻 𝑠 = 126.87 ≠ ±𝑟 180 Then, this pole is not on the root locus.
Dr. M. Alkrunz
May 10, 2023 11
EEE362: Control Systems
 Angle & Magnitude Conditions,,,

Example:

Consider the open-loop system :

𝑘 𝑠+3 𝑠+4
𝐺 𝑠 𝐻 𝑠 =
𝑠+1 𝑠+2
a) Is (𝒔 = −𝟐 + 𝒋𝟑) on the root locus?

𝑠+3 𝑠+4 −2 + 𝑗3 + 3 −2 + 𝑗3 + 4
𝐺 𝑠 𝐻 𝑠 = = = 0.4 − 𝑗1.13 = 1.2 ∠ − 70.51°
𝑠+1 𝑠+2 −2 + 𝑗3 + 1 −2 + 𝑗3 + 2
∠ 𝐺 𝑠 𝐻 𝑠 = −70.51 ≠ ±𝑟 180 No, it is not on the root locus

𝟐
b) Is (𝒔 = −𝟐 + 𝒋 ) on the root locus?
𝟐

2 2
𝑠+3 𝑠+4 −2 + 𝑗 +3 −2 + 𝑗 +4
𝐺 𝑠 𝐻 𝑠 = = 2 2 = −3 = 3 ∠ − 180°
𝑠+1 𝑠+2 2 2
−2 + 𝑗 +1 −2 + 𝑗 +2
2 2
Dr. M. Alkrunz
May 10, 2023 12
EEE362: Control Systems
 Angle & Magnitude Conditions,,,

∠ 𝐺 𝑠 𝐻 𝑠 = −180 = ±𝑟 180 Yes, it is on the root locus

There is a value of “k” that achieve it:

2 2
1 𝑠+1 𝑠+2 −2 + 𝑗 +1 −2 + 𝑗 +2
𝑘= = = 2 2 = 0.333
𝐺 𝑠 𝐻(𝑠) 𝑠+3 𝑠+4 2 2
−2 + 𝑗 +3 −2 + 𝑗 +4
2 2

Dr. M. Alkrunz
May 10, 2023 13
EEE362: Control Systems
 Angle & Magnitude Conditions,,,
To have more application, let us consider one previous example. As it is clear that (𝑠 = −3) is
located on the root locus, and for sure there is a value of “k” that achieves this pole. Then, let
us prove that and find this value of “k”.
𝑰𝒎(𝒔)

𝑠+1
𝐺 𝑠 𝐻 𝑠 =
𝑠2 𝑠 + 9
At 𝑠 = −3:
−3 + 1
𝐺 𝑠 𝐻 𝑠 = = −0.037
−3 2 −3 + 9
−𝟒
= 0.037 ∠ − 180°
𝟗𝟎𝒐
× o ×
× 𝑹𝒆(𝒔) 𝑘 =
𝑠2 𝑠 + 9 (−3)2 −3 + 9
𝟗𝟎𝒐 =
−𝟏
−𝟗 𝑠+1 −3 + 1
= 27
−𝟑
Try to check the idea for 𝒔 = −𝟒 by
yourself.

Dr. M. Alkrunz
May 10, 2023 14
EEE362: Control Systems
 Angle & Magnitude Conditions,,,
Let us consider another application for one previous example again.

𝑘 𝑰𝒎(𝒔)
𝐺 𝑠 𝐻 𝑠 =
𝑠 3 + 4𝑠 2 + 𝑠 − 6
𝒌 =? ‼
−𝟎. 𝟏𝟑𝟏𝟓
Here, we have imaginary poles
𝑠1,2 = ± 𝑗𝑎 and 𝑠3 = −𝑝
−𝟏. 𝟑𝟑 𝟔𝟎𝒐
𝒌 =? ‼
Here, we have origin poles
𝑠1 = 0, 𝑠2 = −𝑎, and 𝑠3 = −𝑝
× × ×
𝑹𝒆(𝒔)
−𝟑 −𝟐 𝟏

𝟔𝟎𝒐

Dr. M. Alkrunz
May 10, 2023 15
EEE362: Control Systems
 Angle & Magnitude Conditions,,,
• The closed-loop characteristic equation is: 𝒔𝟑 + 𝟒𝒔𝟐 + 𝒔 + 𝒌 − 𝟔 = 𝟎
• Then, we have 3 closed-loop poles.

For 𝒔𝟏, 𝟐 = ± 𝒋𝒂 , and 𝒔𝟑 = −𝒑

Then the closed-loop characteristic equation is:

𝑠 + 𝑗𝑎 𝑠 − 𝑗𝑎 𝑠 + 𝑝 = 0
𝑠 3 + 𝑝𝑠 2 + 𝑎2 𝑠 + 𝑎2 𝑝 = 0

By equating the two characteristic equations together, then:

𝒑=𝟒 𝑎2 = 1 𝑘 − 6 = 𝑎2 𝑝
𝑘−6=4
𝒂=𝟏
𝒌 = 𝟏𝟎

Therefore, the value “𝑘 = 10” achieves the poles: 𝒔𝟏, 𝟐 = ±𝒋 and 𝒔 = −𝟒

Dr. M. Alkrunz
May 10, 2023 16
EEE362: Control Systems
 Angle & Magnitude Conditions,,,
• The closed-loop characteristic equation is: 𝒔𝟑 + 𝟒𝒔𝟐 + 𝒔 + 𝒌 − 𝟔 = 𝟎
• Then, we have 3 closed-loop poles.

For 𝒔𝟏 = 𝟎, 𝒔𝟐 = −𝒂, and 𝒔𝟑 = −𝒑

Then the closed-loop characteristic equation is:

𝑠 𝑠+𝑎 𝑠+𝑝 =0
𝑠 3 + 𝑎 + 𝑝 𝑠 2 + 𝑎𝑝𝑠 = 0

By equating the two characteristic equations together, then:

1 𝟏 𝟏
𝑎+𝑝=4 𝑘−6=0 2
𝑝 − 4𝑝 + 1 = 0 𝒂= = = 𝟎. 𝟐𝟔𝟖
𝑎= 𝒑 𝟑. 𝟕𝟑𝟐
𝑝
𝑎𝑝 = 1 𝒌=𝟔 1 𝑝1 = 0.268 (𝑁𝑜𝑡 𝑣𝑎𝑙𝑖𝑑)
+𝑝=4
𝑘−6= 0 𝑝 𝒑𝟐 = 𝟑. 𝟕𝟑𝟐

Therefore, the value “𝑘 = 6” achieves the poles: 𝒔𝟏 = 𝟎, 𝒔𝟐 = −𝟎. 𝟐𝟔𝟖 and 𝒔𝟑 = −𝟑. 𝟕𝟑𝟐

Dr. M. Alkrunz
May 10, 2023 17
EEE362: Control Systems
 Angle & Magnitude Conditions,,,
Let us consider another application for one previous example again.

𝑘 𝑰𝒎(𝒔)
𝐺 𝑠 𝐻 𝑠 =
𝑠 3 + 4𝑠 2 + 𝑠 − 6 𝒌 = 𝟏𝟎 Here, we have
−𝟎. 𝟏𝟑𝟏𝟓
imaginary poles
𝑠1,2 = ± 𝑗 and 𝑠3 = −4

−𝟏. 𝟑𝟑 𝟔𝟎𝒐 𝒌=𝟔

Here, we have origin poles
𝑠1 = 0, 𝑠2 = −0.268, 𝑠3 = −3.732

× × ×
𝑹𝒆(𝒔)
−𝟑 −𝟐 𝟏
You can also check that using
𝟔𝟎𝒐 Routh-Hurwitz Method

Stable 6 < 𝑘 < 10

Margin Stable 𝑘 = 10
Unstable 𝑘 < 6 or 𝑘 > 10
Dr. M. Alkrunz
May 10, 2023 18
EEE362: Control Systems
 *Questions

Dr. M. Alkrunz
May 10, 2023 19
EEE362: Control Systems
 *Thanks
Dr. M. Alkrunz
May 10, 2023 20
EEE362: Control Systems