ROOT LOCUS

CONSTRUCTION RULES
1. K= 0 points
Starting points
Poles of G(s)H(s)
Let n be the number of finite poles
2. K = ∞ points
Terminating points
Zeros of G(s)H(s)
Let m be the number of finite zeros
3. Number of branches
Greater of m, n
4. Asymptotes : The branches of root locus which tends to
infinity
2𝑞+1 Π
θ= q = 0,1,2-----│n-m-1│
𝑛−𝑚
5. Centroid (Intersection of asymptotes)
Σ(finite poles) – Σ(finite zeros)
σ = number of finite poles (n)− number of finite zeros (m)
6. Root locus on real axis
A point on the real axis lies on the locus if the number of
open-loop poles and zeros on the real axis to the right of this
point is odd.
6. Root locus on imaginary axis
The point where the root locus intersects the imaginary and
the value of k can be determined from Routh criteria
8. Break Points
points at which multiple roots of the
characteristic equation
𝑑𝑘
=0
𝑑𝑠
Solve for s?
9. Angle of Departure (Complex poles)
The angle at which the root locus leaves
from a complex pole
Ød = 180o - (sum of angles of vectors to a
complex pole in question from other poles- sum of
angles of vectors to a complex pole in question from
other zeros)
10. Angle of Arrival (Complex zeros)
The angle at which the root locus enters
to a complex zero
Øa = 180o - (sum of angles of vectors to a
complex zero in question from other zeros- sum
of angles of vectors to a complex zero in
question from other poles)
11. The root locus is symmetrical about the real
axis
12. The open loop gain k at any point on the
locus
𝑝𝑟𝑜𝑑𝑢𝑐𝑡𝑠 𝑜𝑓 𝑝ℎ𝑎𝑠𝑜𝑟 𝑙𝑒𝑛𝑔𝑡ℎ𝑠 𝑓𝑟𝑜𝑚 𝑡ℎ 𝑝𝑜𝑖𝑛𝑡 𝑡𝑜 𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑝𝑜𝑙𝑒𝑠
 Problem 1
The open loop transfer function of a unity
𝑘
negative feed back system is given by
𝑠(𝑠+1)(𝑠+2)
Draw the root locus as the value of k varies from
zero to Infinity
 Solution
Construction Rules:
1. K = 0 points 0, -1, -2 n = 3
2. K = ∞ points ∞,∞,∞ m = 0
3. Number of branches = 3
2𝑞+1 Π
4. Asymptotes = q = 0,1,2
𝑛−𝑚
= 600, 1800, 3000
5. Centroid (Intersection of asymptotes)
0−1−2 − (0)
σ= = -1
(3−0)
6. Root locus on real axis lies between
0 and -1
-2 and -∞
7. Root locus on imaginary axis
Characteristic equation 1 + G(s)H(s) = 0
s3+3s2+2s+k = 0
Draw the Routh table
s3 1 2
s2 3 k
6−𝑘
s1 0
3
s0 k 0
For Stability k should lie between 0 and 6
When k = 6, the root locus intersects the imaginary
axis at s = ±j√2 rad/sec
8. Break Points
𝑑𝑘
=0
𝑑𝑠
s3+3s2+2s+k = 0
k = -(s3+3s2+2s)
𝑑𝑘
= -(3s2+6s+2) =0
𝑑𝑠
s = -0.42, -1.58
k s=-0.42 = 0.38
k s=-1.58 = -0.38
Therefore s=-0.42 is a valid break away point.
9. Root locus is symmetrical with real axis
10. Angle of Departure
No complex Poles
11. Angle of Arrival
No complex zeros
12. The value of k at any point on the locus
Graphical/Analytical
 Problem 2
The open loop transfer function of a unity
𝑘(𝑠+3)
negative feed back system is given by
(𝑠+1)(𝑠+2)
Draw the root locus as the value of k varies from
zero to Infinity
 Solution
Construction Rules:
1. K = 0 points -1, -2 n=2
2. K = ∞ points -3, ∞ m=1
3. Number of branches = 2
2𝑞+1 π
4. Asymptotes =
𝑛−𝑚
Number of asymptotes = n-m = 1
θ=π
5. Centroid (Intersection of asymptotes)
−1−2)−(−3
σ= =0
2−1
6. Root locus on real axis lies between
-1 and -2
-3 and -∞
7. Root locus on imaginary axis
Characteristic equation 1 + G(s)H(s) = 0
s2+ (k+3)s + (2+3k) = 0
Draw the Routh table
s2 1 2+3k
s1 k +3 0
s0 2+3k 0
For Stability k must be greater than -0.66
• Root locus never intersects imaginary axis
8. Break Points
𝑑𝑘
=0
𝑑𝑠
s2+ 3s +2 +k(s+3) = 0
k = -(s2+3s+2)/(s+3)
𝑑𝑘
= s2+6s+7 =0
𝑑𝑠
s = -1.59, -4.4
k s=-1.59 = 0.17
k s=-4.4 = 5.8
Therefore s = - 1.59 is a valid break- away point
and s = - 4.4 is a valid break- in point
9. Root locus is symmetrical with real axis
10. Angle of Departure
No complex Poles
11. Angle of Arrival
No complex zeros
12. The value of k at any point on the locus
Graphical/Analytical
• Prove that the root locus is in the form of
Circle
Centre = -3,0
Radius = √2
>> num=[1 3];
>> den=[1 3 2];
>> rlocus(num,den)
 Problem 3
The open loop transfer function of a unity
𝑘(𝑠+1)(𝑠+2)
negative feed back system is given by 𝑠(𝑠+3)

Draw the root locus as the value of k varies from

zero to Infinity
 Solution
Construction Rules:
1. K = 0 points 0, -3 n=2
2. K = ∞ points -1, -2 m=2
3. Number of branches = 2
2𝑞+1 Π
4. Asymptotes =
𝑛−𝑚
Number of asymptotes = 0
5. Centroid (Intersection of asymptotes)
No centriod
6. Root locus on real axis lies between
0 and -1
-2 and -3
7. Root locus on imaginary axis
Characteristic equation 1 + G(s)H(s) = 0
Never intersects imaginary axis
8. Break Points
𝑑𝑘
=0
𝑑𝑠
s3+3s2+2s+k = 0
k = -(s2+3s)/(s2+3s+2)
no break point
9. Root locus is symmetrical with real axis
10. Angle of Departure
No complex Poles
11. Angle of Arrival
No complex zeros
12. The value of k at any point on the locus
Graphical/Analytical
>> num=[1 3 2];
>> den=[1 3 0];
>> rlocus (num,den)
 Problem 4
The open loop transfer function of a unity
𝑘(𝑠+1)
negative feed back system is given by (𝑠2+4𝑠+13)
Draw the root locus as the value of k varies from
zero to Infinity
 Solution
Construction Rules:
1. K = 0 points -2+3j, -2-3j n=2
2. K = ∞ points -1, ∞ m=1
3. Number of branches = 2
2𝑞+1 π
4. Asymptotes =
𝑛−𝑚
Number of asymptotes = n-m = 1
θ=π
5. Centroid (Intersection of asymptotes)
−2−2)−(−1
σ= = -3
2−1
6. Root locus on real axis lies between
-1 and -∞
7. Root locus on imaginary axis
Characteristic equation 1 + G(s)H(s) = 0
s2+ (k+4)s + (13+k) = 0
Draw the Routh table
s2 1 13+k
s1 k +4 0
s0 13+k 0
• Root locus never intersects imaginary axis
8. Break Points
𝑑𝑘
=0
𝑑𝑠
s2+ 4s +13 +k(s+1) = 0
k = -(s2+4s+13)/(s+1)
𝑑𝑘
= s2+2s-9 = 0
𝑑𝑠
s = -4.16, 2.16
k s=-4.16 = 4.3
k s=2.16 = -8.3
Therefore s = -4.16 is a valid break- in point
9. Root locus is symmetrical with real axis
10. Angle of Departure at -2+j3 is
θd = 180 - [θ1-θ2]
θ1 = 90
θ2 = 180- tan−1 3/1 = 108.4
θd = 198.4
Similarly angle of departure at -2-3j is given by -198.4
11. Angle of Arrival
No complex zeros
12. The value of k at any point on the locus
Graphical/Analytical
>> num=[1 1];
>> den=[1 4 13];
>> rlocus (num,den)
 Problem 5
The open loop transfer function of a unity
𝑘
negative feed back system is given by 𝑠(𝑠2+8𝑠+32)
Draw the root locus as the value of k varies from
zero to Infinity
 Solution
Construction Rules:
1. K = 0 points 0, -4+4j, -4-4j n=3
2. K = ∞ points ∞, ∞ , ∞ m=0
3. Number of branches = 3
2𝑞+1 π
4. Asymptotes =
𝑛−𝑚
Number of asymptotes = n-m = 3
θ = 60,180,300
5. Centroid (Intersection of asymptotes)
−4−4)−(0
σ= = -2.67
3−0
6. Root locus on real axis lies between
0 and -∞
7. Root locus on imaginary axis
Characteristic equation 1 + G(s)H(s) = 0
s3 +8s2+ 32s + k = 0
Draw the Routh table
s3 1 32
s2 8 k
256−𝑘
s1 0
8
s0 k 0

• Root locus intersects imaginary axis at s = ± 5.66

• The value of at the point is 256
8. Break Points
𝑑𝑘
=0
𝑑𝑠
s2+ 4s +13 +k(s+1) = 0
k = -(s3+8s2+32s)
𝑑𝑘
= 3s2+16s+32 = 0
𝑑𝑠
s = -2.67±1.89j
Therefore there is no valid break points
9. Root locus is symmetrical with real axis
10. Angle of Departure at -4+j4 is
θd = 180 - [θ1+θ2]
θ1 = 90
θ2 = 180- tan−1 1 = 135
θd = -450
Similarly angle of departure at -4-4j is given by 450
11. Angle of Arrival
No complex zeros
12. The value of k at any point on the locus
Graphical/Analytical
 Problem 6
The open loop transfer function of a unity
𝑘(𝑠+3)(𝑠+4)
negative feed back system is given by (𝑠+1)(𝑠+2)
Draw the root locus as the value of k varies from
zero to Infinity
 Problem 7
The open loop transfer function of a unity
negative feed back system is given by
𝑘(𝑠+3)
𝑠(𝑠+1)(𝑠+2)(𝑠+4)

Draw the root locus as the value of k varies from

zero to Infinity
 Problem 8
The open loop transfer function of a unity
𝑘(𝑠−3)(𝑠−5)
negative feed back system is given by (𝑠+1)(𝑠+2)
Draw the root locus as the value of k varies from
zero to Infinity
 Problem 9
The open loop transfer function of a unity
𝑘(𝑠2−4𝑠+20)
negative feed back system is given by (𝑠+2)(𝑠+4)
Draw the root locus as the value of k varies from
zero to Infinity
 Problem 10
The open loop transfer function of a unity
negative feed back system is given by
𝑘
𝑠(𝑠+4)(𝑠2+4𝑠+20)

Draw the root locus as the value of k varies from

zero to Infinity
 Problem 11
The open loop transfer function of a unity
negative feed back system is given by
𝑘
𝑠(𝑠+3)(𝑠2+2𝑠+2)

Draw the root locus as the value of k varies from

zero to Infinity
 Problem 12
The open loop transfer function of a unity
𝑘(𝑠2+6𝑠+10)
negative feed back system is given by (𝑠2+2𝑠+10)
Draw the root locus as the value of k varies from
zero to Infinity
 Solution
Construction Rules:
1. K = 0 points -1+3j, -1-3j n=2
2. K = ∞ points -3+j, -3-j m=2
3. Number of branches = 2
2𝑞+1 π
4. Asymptotes =
𝑛−𝑚
Number of asymptotes = n-m = 0
5. Centroid (Intersection of asymptotes)
No Centroid
6. Root locus on real axis
7. Root locus on imaginary axis
8. Break Points
𝑑𝑘
=0
𝑑𝑠
k = -(s2+2s+10)/(s2+6s+10)
𝑑𝑘
= 4s2-40 = 0
𝑑𝑠
s = ±3.16
k s=3.16 = -0.66
k s=-3.16 = -13.3
Therefore there is no valid break point
9. Root locus is symmetrical with real axis
10. Angle of Departure at -1+j3 is
θd = 180 - [θ1-(θ2 + θ3)]
θ1 = 90
θ2 = tan−1 2/2 = 45
θ3 = tan−1 4/2 = 63.4
θd = 180-[90-(45+63.4)] = 198.4
Similarly angle of departure at -1-3j is given by -198.4
11. Angle of Arrival at -3+j is
θa = 180 - [θ1-(θ2 + θ3)]
θ1 = 90
θ2 = 270 − tan−1 2/2 = 225
θ3 = 180 − tan−1 4/2 = 117
θa = 180 - [90-(225+117)] = 432 (72)
Similarly angle of arrival at -3-j is given by -432 (-72)
12. The value of k at any point on the locus: Graphical/Analytical
 Problem 13
The open loop transfer function of unity
k(s+0.2)
feedback system is given by 2
s (s+3.6)
Sketch the root locus of the system
 Solution
Construction Rules:
1. K = 0 points 0, 0, -3.6 n=3
2. K = ∞ points -0.2, ∞, ∞ m=1
3. Number of branches = 3
2𝑞+1 π
4. Asymptotes =
𝑛−𝑚
Number of asymptotes = n-m = 2
θ = 90,270
5. Centroid (Intersection of asymptotes)
−3.6)−(−0.2
σ= = -1.7
3−1
6. Root locus on real axis lies between
-0.2 and -3.6
7. Root locus on imaginary axis
Characteristic equation 1 + G(s)H(s) = 0
s3 +3.6s2+ ks + 0.2k = 0
Draw the Routh table
s3 1 k
s2 3.6 0.2k
s1 0.94𝑘 0
s0 0.2k 0
Root locus never intersects imaginary axis
 𝑑𝑘
8. Break Points =0
𝑑𝑠
s3 +3.6s2+ k(s + 0.2) = 0
k = -(s3+3.6s2)/(s + 0.2)
𝑑𝑘
= 2s3+4.2s2 +1.44s = 0
𝑑𝑠
s = 0, -1.67, -0.43
K s=0 = 0
K s= -1.67 = 3.66
K s= -0.43 = 2.5
Therefore s=-0.43, -1.67 are valid break
points
9. Root locus is symmetrical with real axis
10. Angle of Departure
No complex poles
11. Angle of Arrival
No complex zeros
12. The value of k at any point on the locus
Graphical/Analytical
 Problem 14
The open loop transfer function of unity
k(s+1.33)
feedback system is given by 2
s (s+12)
Sketch the root locus of the system
 Problem 15
The open loop transfer function of a unity
𝑘
negative feed back system is given by 𝑠(𝑠2+4)
Draw the root locus as the value of k varies from
zero to Infinity
 Problem 16

Rs   K  0.5 C s 

 s  s0.5s  1

2
 Problem 17
The open loop transfer function of unity
2s + (p + 6)
feedback system is given by G(s) = 2
s + 5s + 6
Sketch the root locus of the system with `p' as
the parameter to be varied.
 Solution
2s + (p + 6)
Given that G(s) = 2 and H(s) = 1:
s + 5s + 6
The closed loop transfer function is given by
G(s) 2s + p + 6
=
1 + G(s)H(s) s2 + 7s + 12 + p
The Characteristic equation of the system is
s2 + 7s + 12 + p = 0
An equivalent system with the same characteristic equation
𝑝
and p as the gain is 1 + 2 =0
s + 7s + 12
So, the root locus of an equivalent unity feedback system
𝑝
with open-loop transfer function with 2 is
s + 7s + 12
considered
 Problem
The open loop transfer function of a unity
𝑘
negative feed back system is given by
𝑠(𝑠+1)(𝑠+2)
Draw the root locus as the value of k varies from
zero to Infinity. Determine the value of k such
that the damping ratio is 0.5
 References
1. Control Engineering by Nagrath & Gopal, New
Age International Publishers
2. Engineering control systems - Norman S. Nise,
John WILEY & sons , fifth Edition
3. Modern control Engineering-Ogata, Prentice
Hall
4. Automatic Control Systems- B.C Kuo, John
Wiley and Sons