Chapter 7A

Root locus
(Sketch)

ADEEL ARIF
[email protected]
Controlling a close loop system
We want to add a controller to the forward path of the system,
so that we can control its output.

Plant
R(s) C(s)
X G(s)

H(s)
𝐶𝐶 𝑠𝑠 𝐺𝐺(𝑠𝑠)
Feedback =
𝑅𝑅 𝑠𝑠 1 + 𝐺𝐺 𝑠𝑠 𝐻𝐻(𝑠𝑠)
Controlling a close loop system
We want to add a controller to the forward path of the system,
so that we can control its output.

Controller Plant
R(s) C(s)
X Gc(s) G(s)

H(s)

Feedback
Controlling a close loop system
We want to add a controller to the forward path of the system,
so that we can control its output.

Controller Plant
R(s) C(s)
X Gc(s) G(s)

H(s)
𝐶𝐶 𝑠𝑠 𝐺𝐺𝑐𝑐 𝑠𝑠 𝐺𝐺(𝑠𝑠)
Feedback =
𝑅𝑅 𝑠𝑠 1 + 𝐺𝐺𝑐𝑐 𝑠𝑠 𝐺𝐺 𝑠𝑠 𝐻𝐻(𝑠𝑠)
Controlling a close loop system
We want to add a controller to the forward path of the system,
so that we can control its output.

Proportional
Controller Plant
R(s) C(s)
X K G(s)

H(s)
𝐶𝐶 𝑠𝑠 𝐾𝐾𝐺𝐺(𝑠𝑠)
Feedback =
𝑅𝑅 𝑠𝑠 1 + 𝑲𝑲𝐺𝐺 𝑠𝑠 𝐻𝐻(𝑠𝑠)
Controlling a close loop system
We want to add a controller to the forward path of the system,
so that we can control its output.

Proportional
Controller Plant
R(s) C(s)
X K G(s)
(Stability)
Defines the
locations
H(s) of poles

𝐶𝐶 𝑠𝑠 𝐾𝐾𝐺𝐺(𝑠𝑠)
Feedback =
𝑅𝑅 𝑠𝑠 1 + 𝑲𝑲𝐺𝐺 𝑠𝑠 𝐻𝐻(𝑠𝑠)
For example
For example

The close loop ratio can be determined as:

For example

The close loop ratio can be determined as:

Poles of the system:

The poles of the system

(stability) changes, as the
value of K changes.
For example

Let’s move values of k from

zer0 to infinity.

Over Critically Under

Undamped
damped damped damped
For example

Let’s move values of k from

zer0 to infinity
k=0 k=0

X X

Over Critically Under

Undamped
damped damped damped
For example

Let’s move values of k from

zer0 to infinity
k=0 k=0

X X X X
k = 1.25 k = 1.25

Over Critically Under

Undamped
damped damped damped
For example

Let’s move values of k from

zer0 to infinity
k=0 k = 2.25 k=0

X X XX X X
k = 1.25 k = 1.25

Over Critically Under

Undamped
damped damped damped
For example

Let’s move values of k from

zer0 to infinity X k = 2.5

k=0 k = 2.25 k=0

X X XX X X
k = 1.25 k = 1.25
X k = 2.5

Over Critically Under

Undamped
damped damped damped
For example
∞

X k = 8.5

Let’s move values of k from

zero to infinity. X k = 2.5

k=0 k = 2.25 k=0

X X XX X X
k = 1.25 k = 1.25
X k = 2.5

X k = 8.5

Over Critically Under

Undamped
damped damped damped
For example
∞

X k = 8.5

Let’s move values of k from

zero to infinity. X k = 2.5

k=0 k = 2.25 k=0

X X XX X X
k = 1.25 k = 1.25
X k = 2.5

X k = 8.5

Over Critically Under

Undamped
damped damped damped
For example
∞

X k = 8.5

Let’s move values of k from

zero to infinity. X k = 2.5

k=0 k = 2.25 k=0

X X XX X X
k = 1.25 k = 1.25
X k = 2.5

X k = 8.5

Over Critically Under

Undamped
damped damped damped
Definition
Root Locus (RL)
∞
(k is positive)
X
The locus traced by the k = 8.5

values of system’s poles, as

the value of k approaches X k = 2.5

from zero to positive infinity.

k=0 k = 2.25 k=0

Complementary Root Locus X X XX X X

(CRL)
k = 1.25 k = 1.25
X
(k is negative)
k = 2.5

The locus traced by the X k = 8.5

values of system’s poles, as
the value of k approaches ∞
from zero to negative infinity.
Stable/Unstable?
Definition
Root Locus (RL)
∞
(k is positive)
X
The locus traced by the k = 8.5

values of system’s poles, as

the value of k approaches X k = 2.5

from zero to positive infinity.

k=0 k = 2.25 k=0

Complementary Root Locus X X XX X X

(CRL)
k = 1.25 k = 1.25
X
(k is negative)
k = 2.5

The locus traced by the X k = 8.5

values of system’s poles, as Using value of ‘k’,
the value of k approaches ∞
from zero to negative infinity. 1- System Design
2- Effect of variation Stable/Unstable?
How to find Root Locus?

There can be three approaches to find root locus of a system.

• Computing methods (MATLAB)

• Analytical methods

• Quick Sketching rules

How to find Root Locus?

There can be three approaches to find root locus of a system.

• Computing methods (MATLAB)

• Analytical methods

• Quick Sketching rules

https://www.mathworks.com/help/control/ref/tf.rlocus.html;jsessionid=a6849c31d5cb8ee84fc0334a4205
How to find Root Locus?

There can be three approaches to find root locus of a system.

• Computing methods (MATLAB)

K. Steiglitz, "An analytical approach
to root loci," in IRE Transactions on
• Analytical methods Automatic Control, vol. 6, no. 3, pp.
326-332, September 1961, doi:
10.1109/TAC.1961.1105212.
• Quick Sketching rules

https://ieeexplore.ieee.org/document/1105212?arnumber=1105212
How to find Root Locus?

There can be three approaches to find root locus of a system.

• Computing methods (MATLAB)

• Analytical methods

• Quick Sketching rules

Sketching Root locus – Rule 1
As the value of ‘k’ increases from zero to infinity, the roots move from the
poles of G(s) to zeros of G(s)
Sketching Root locus – Rule 1
As the value of ‘k’ increases from zero to infinity, the roots move from the
poles of G(s) to zeros of G(s)
R(s) C(s)
𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 = 𝑘𝑘 𝐺𝐺(𝑠𝑠) X k G(s)
𝑘𝑘 𝐺𝐺(𝑠𝑠)
𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 =
1 + 𝑘𝑘 𝐺𝐺(𝑠𝑠)

Unity feedback system with proportional controller

Sketching Root locus – Rule 1
As the value of ‘k’ increases from zero to infinity, the roots move from the
poles of G(s) to zeros of G(s)
R(s) C(s)
𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 = 𝑘𝑘 𝐺𝐺(𝑠𝑠) X k G(s)
𝑘𝑘 𝐺𝐺(𝑠𝑠)
𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 =
1 + 𝑘𝑘 𝐺𝐺(𝑠𝑠)

𝑁𝑁(𝑠𝑠)
𝐶𝐶𝐶𝐶: = 1 + 𝑘𝑘 𝐺𝐺 𝑠𝑠 = 1 + 𝑘𝑘 =0 Unity feedback system with proportional controller
𝐷𝐷(𝑠𝑠)
Sketching Root locus – Rule 1
As the value of ‘k’ increases from zero to infinity, the roots move from the
poles of G(s) to zeros of G(s)
R(s) C(s)
𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 = 𝑘𝑘 𝐺𝐺(𝑠𝑠) X k G(s)
𝑘𝑘 𝐺𝐺(𝑠𝑠)
𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 =
1 + 𝑘𝑘 𝐺𝐺(𝑠𝑠)

𝑁𝑁(𝑠𝑠)
𝐶𝐶𝐶𝐶: = 1 + 𝑘𝑘 𝐺𝐺 𝑠𝑠 = 1 + 𝑘𝑘 =0 Unity feedback system with proportional controller
𝐷𝐷(𝑠𝑠)

𝐶𝐶𝐶𝐶: = 𝐷𝐷 𝑠𝑠 + 𝑘𝑘 𝑁𝑁 𝑠𝑠 = 0

𝑫𝑫(𝒔𝒔)
𝒌𝒌 =
𝑵𝑵(𝒔𝒔)
Sketching Root locus – Rule 1
As the value of ‘k’ increases from zero to infinity, the roots move from the
poles of G(s) to zeros of G(s)
R(s) C(s)
𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 = 𝑘𝑘 𝐺𝐺(𝑠𝑠) X k G(s)
𝑘𝑘 𝐺𝐺(𝑠𝑠)
𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 =
1 + 𝑘𝑘 𝐺𝐺(𝑠𝑠)

𝑁𝑁(𝑠𝑠)
𝐶𝐶𝐶𝐶: = 1 + 𝑘𝑘 𝐺𝐺 𝑠𝑠 = 1 + 𝑘𝑘 =0 Unity feedback system with proportional controller
𝐷𝐷(𝑠𝑠)

𝐶𝐶𝐶𝐶: = 𝐷𝐷 𝑠𝑠 + 𝑘𝑘 𝑁𝑁 𝑠𝑠 = 0
For Zeros, N(s) = 0
𝑫𝑫(𝒔𝒔)
𝒌𝒌 =
𝑵𝑵(𝒔𝒔) For Poles, D(s) = 0
Sketching Root locus – Rule 1
As the value of ‘k’ increases from zero to infinity, the roots move from the
poles of G(s) to zeros of G(s)
R(s) C(s)
𝑂𝑂𝑂𝑂𝑂𝑂𝑂𝑂 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 = 𝑘𝑘 𝐺𝐺(𝑠𝑠) X k G(s)
𝑘𝑘 𝐺𝐺(𝑠𝑠)
𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶 𝑙𝑙𝑙𝑙𝑙𝑙𝑙𝑙 𝑔𝑔𝑔𝑔𝑔𝑔𝑔𝑔 =
1 + 𝑘𝑘 𝐺𝐺(𝑠𝑠)

𝑁𝑁(𝑠𝑠)
𝐶𝐶𝐶𝐶: = 1 + 𝑘𝑘 𝐺𝐺 𝑠𝑠 = 1 + 𝑘𝑘 =0 Unity feedback system with proportional controller
𝐷𝐷(𝑠𝑠)

(Ending of RL)
𝐶𝐶𝐶𝐶: = 𝐷𝐷 𝑠𝑠 + 𝑘𝑘 𝑁𝑁 𝑠𝑠 = 0
For Zeros, N(s) = 0 𝑘𝑘 = ∞
𝑫𝑫(𝒔𝒔)
𝒌𝒌 =
𝑵𝑵(𝒔𝒔) For Poles, D(s) = 0 𝑘𝑘 = 0
(Beginning of RL)
Sketching Root locus – Rule 1
What does that mean?
Sketching Root locus – Rule 1
What does that mean?
𝐶𝐶𝐶𝐶: = 𝐷𝐷 𝑠𝑠 + 𝑘𝑘 𝑁𝑁 𝑠𝑠 = 0

(Beginning of RL)
(Ending of RL)
As 𝑘𝑘 = 0 ,  D(s) = 0
As 𝑘𝑘 = ∞,  D(s) + ∞ N(s) = 0
Sketching Root locus – Rule 1
What does that mean?
𝐶𝐶𝐶𝐶: = 𝐷𝐷 𝑠𝑠 + 𝑘𝑘 𝑁𝑁 𝑠𝑠 = 0

(Beginning of RL)
(Ending of RL)
As 𝑘𝑘 = 0 ,  D(s) = 0
As 𝑘𝑘 = ∞,  D(s) + ∞ N(s) = 0

Zeros Poles
Poles Zeros
Sketching Root locus – Rule 1
What does that mean?
𝐶𝐶𝐶𝐶: = 𝐷𝐷 𝑠𝑠 + 𝑘𝑘 𝑁𝑁 𝑠𝑠 = 0

(Beginning of RL)
(Ending of RL)
As 𝑘𝑘 = 0 ,  D(s) = 0
As 𝑘𝑘 = ∞,  D(s) + ∞ N(s) = 0

RL (CLP)
And ends at
starts from
Zeros Poles the values
the values
Poles Zeros of zeros of
of poles of
G(s)
G(s)

X 0
Sketching Root locus – Rule 1
How to apply?
np = Number of poles
nz = Number of zeros

If np = nz

o X
Sketching Root locus – Rule 1
How to apply?
np = Number of poles
nz = Number of zeros

If np = nz

o X
Sketching Root locus – Rule 1
How to apply?
np = Number of poles
nz = Number of zeros

If np = nz If np > nz If np < nz

o X X o X o o X
Sketching Root locus – Rule 1
How to apply?
np = Number of poles
nz = Number of zeros

If np = nz If np > nz If np < nz

o X ∞
X o X ∞
o o X
Sketching Root locus – Rule 2
The real axis to the left of an odd number of OL poles and zeros is part
of the RL.
If np > nz
np is odd
Sketching Root locus – Rule 2
The real axis to the left of an odd number of OL poles and zeros is part
of the RL.
If np > nz
np is odd
Sketching Root locus – Rule 2
The real axis to the left of an odd number of OL poles and zeros is part
of the RL.
If np > nz
np is even

Observation:
If two real poles and one real zero with zero to the
left of both poles and the distances of the two poles
from the zero are respectively a and b, then the RL
includes a circle of radius ab centered on the zero.
Sketching Root locus – Rule 3

Centroid =
Sketching Root locus – Rule 3
Sketching Root locus – Rule 3
Sketching Root locus – Rule 3
Sketching Root locus – Rule 3
Sketching Root locus – Rule 3
Sketching Root locus – Rule 3
Homework
Sketching Root locus – Rule 4
Graphical method to check that a given point is on the RL
Sketching Root locus – Rule 4
Graphical method to check that a given point is on the RL

Is point A on the RL?

Sketching Root locus – Rule 4
Graphical method to check that a given point is on the RL

Is point A on the RL?

Sketching Root locus – Rule 4
Graphical method to check that a given point is on the RL
Sketching Root locus – Rule 6

The point where the locus leaves

the real axis, 𝜎𝜎1, is called the
breakaway point, and the point
where the locus returns to the real
axis, 𝜎𝜎2, is called the break-in
point.
Sketching Root locus – Rule 6
Given the characteristic equation,

1 + 𝑘𝑘 𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠 = 0
Sketching Root locus – Rule 6
Given the characteristic equation,

1 + 𝑘𝑘 𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠 = 0

−1
𝑘𝑘 = = 𝑃𝑃(𝑠𝑠)
𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠
Sketching Root locus – Rule 6
Given the characteristic equation,

1 + 𝑘𝑘 𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠 = 0

−1
𝑘𝑘 = = 𝑃𝑃(𝑠𝑠)
𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠

Then, Breakaway and break-in

point will be maximum if,

𝑑𝑑𝑑𝑑 𝑑𝑑𝑃𝑃(𝑠𝑠)
= =0
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
Sketching Root locus – Rule 6
Given the characteristic equation,

1 + 𝑘𝑘 𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠 = 0

−1
𝑘𝑘 = = 𝑃𝑃(𝑠𝑠)
𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠

Then, Breakaway and break-in

point will be maximum if,

𝑑𝑑𝑑𝑑 𝑑𝑑𝑃𝑃(𝑠𝑠)
= =0
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
Sketching Root locus – Rule 6
Given the characteristic equation,

1 + 𝑘𝑘 𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠 = 0

−1
𝑘𝑘 = = 𝑃𝑃(𝑠𝑠)
𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠

Then, Breakaway and break-in

point will be maximum if,

𝑑𝑑𝑑𝑑 𝑑𝑑𝑃𝑃(𝑠𝑠)
= =0
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
Sketching Root locus – Rule 6
Given the characteristic equation,

1 + 𝑘𝑘 𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠 = 0

−1
𝑘𝑘 = = 𝑃𝑃(𝑠𝑠)
𝐺𝐺 𝑠𝑠 𝐻𝐻 𝑠𝑠

Then, Breakaway and break-in

point will be maximum if,

𝑑𝑑𝑑𝑑 𝑑𝑑𝑃𝑃(𝑠𝑠)
= =0
𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
Sketching Root locus – Rule 6
Sketching Root locus – Rule 6
Other quick rules/observations

• When roots are complex, the appear in conjugate pairs.

• At no time, the same roots will cross over their paths.

• If there are not enough poles and zeros to make a pair then, the extra
lines go to or come from infinity
(Lost Friend)

• If there is at least two lines to infinity, then the sum of all roots at
every value of ‘k’ is constant.
Think about it and we will discuss in the next class

What could be the effects of adding zeros or poles in a system.

For example:

10
𝐺𝐺(𝑠𝑠) =
(𝑠𝑠 + 1)(𝑠𝑠 + 10)
Think about it and we will discuss in the next class

What could be the effects of adding zeros or poles in a system.

For example:

10
𝐺𝐺(𝑠𝑠) =
(𝑠𝑠 + 1)(𝑠𝑠 + 10)

Sketch and observe for:

5 10
𝐺𝐺(𝑠𝑠) = ×
𝑠𝑠 (𝑠𝑠 + 1)(𝑠𝑠 + 10)

10
𝐺𝐺(𝑠𝑠) = 5𝑠𝑠 ×
(𝑠𝑠 + 1)(𝑠𝑠 + 10)
End