P-1

Root Locus Method

The stability as well as the transient response of any closed-loop system depends on the location of the
closed-loop poles in the 5-plane. If some parameters of the closed-loop system are varied, there is movement
of its poles. The cognizance of such movement of the poles with small variations of the parameters is
remarkably useful in the design of the closed-loop system. In 1948 W.R. Evans introduced the root locus
technique which provides knowledge of such movement of poles by a graphical method in the 5-plane. In
Root Locus method, the parameter (K) of the system is varied from 0 to infinity. The aim of this chapter is to
introduce the Root Locus method.

FUNDAMENTALS OF ROOT LOCUS

Figure 11.1 shows a closed-loop system. The characteristic equation of this system is given by
l+G(s)H(s) = 0 (11.1)

Fig. 11.1 Feedback system

Let the transfer function of the forward path be KG'(s), where K is the gain of the system and is a
variable parameter. Equation (11.1) becomes
1 +KG'(s)H(s) = 0 (11.2)
Therefore, the closed-loop poles of the system depend on the values of K. Varying K from -®o to +©o?a
separate set of locations of the roots of the characteristic equation will be obtained. The root locus can be
achieved by joining all such locations. Root locus is defined as the locus of the plot of the locus of the closed
loop poles as a function of open-loop gain (K), when K is varied from -oo to +oo. If K is varied from 0 to +oo,
it is known as direct root locus. On the other hand, if K is varied from -oo to 0, it is termed as inverse root
locus. Usually, the root locus is used for direct root locus. If nothing is specifically mentioned, the variation
of K will be taken from 0 to +oo and the plot will be termed as root locus.
\
Example 11.1 Find the root locus of the unity feedback system having G(s) = ---as shown in Fig. El 1.1.
5 +1
 P-2

K
R(s) S+ 1
C(s)

Fig. E11.1

Solution
The characteristic equation of the system is given by
1 + G(s) H(s) = 0 (H.l)
Here H(s) = 1
Equation (1) becomes
1 + GO) * 0
or
t K
1+— r = 0
5 +1
or
5 + /T+ 1 = 0
s = -(K + l)
For K = 0, 5 = - 1
For K - oo5s = - oo
If K is varied from 0 to oo, root locus varies from - 1 to oo as shown in Fig. E 11.1 (a)

J (0

-> a

Fig. E11.1(a)

11.2 RELATION BETWEEN POLES AND ZEROS OF OLTF WITH POLES OF CLTF

To discuss the relation between open-loop transfer function (OLTF) poles and zeros with closed-loop transfer
function (CLTF) poles, let us consider Fig. 11.1 and the OLTF be

G(s)H(s) = ( 11.2)
D(s)
where K = gain of OLTF, N(s) is the numerator polynomial in 5, and DO) is the denominator polynomial in s.
(i) OLTF zeros can be obtained from
G(s)H(s) = 0
 P-3

KN(s)
or ---- = 0
D(s)

N(s) = 0 [v AT* 0] (11.3)

Therefore, OLTF zeros can be obtained from
N(s) = 0
(ii) OLTF poles can be obtained from
G(s)H(s) = oo
■N(s)
or K-
D(s)
or £>(s) = 0 (11.4)
Therefore, open-loop poles can be obtained from D(s) = 0.
(iii) CLTF poles can be obtained by using Eq. (11.1):
1 +G(s)H(s) = 0

l +* ^ = 0
D(s)

or D(s)+KN(s) = 0 (11..5)
(a) lf K = 0,DO) = 0
It is same as Eq. (11.4) and gives the OLTF poles. Therefore, closed-loop poles are same as open-loop
poles for K = 0.
(b) If K = oo, KN(s) should be larger than D(s). Therefore, KN(s) = 0.
Since K = oo, N(s) = 0.
This is same as Eq. (11.3 ) and gives open-loop zeros.
Therefore, closed-loop poles are same as open-loop zeros when K - oo.
The root locus starts from open-loop pole at K = 0 and ends at open-loop zero at K = oo.

Example 11.2 Determine where the root locus begins and ends for G(s)H(s) = K(s + 1)/(s +4).
Solution

Since G(s)H(s) = + l)/(s + 4), the open-loop transfer function pole is at s = -4 and zero is at s = - 1.
Therefore, root locus begins at s = -4 at K = 0 and ends at s = -1 at K = oo.

Example 11.3 Determine where the root locus begins and ends for G(s)H(s) = +^—P (s +3 +7)
(s +2- j) 0 +2 +j)
Solution

Since G(s)H(s) = [K(s + 3 -j) 0 + 3 +j)]/[(s + 1 -j) (s + 1 +/)], the open-loop transfer function poles
are at s = -2 ±j and zeros are at -3 ±j. The root locus starts from s =-2 ±j and ends ats = -3± j.
 P-4

11.3 ANGLE AND MAGNITUDE CONDITION

Form Eq. (11.1), the CLTF poles can be obtained from Eq. (11.1), i.e.,
1 +G(s)H(s) = 0
or G(s)H(s) = -1
or G(s)H(s) = 1 Z± 180° (11.6)
From Eq. (11.6)

|G(*)ff(s)|=l (11.7)
and
ZG(s)H(s) = ±(2q + 1) 180° (11.8)
Actually, -i +y0 = 1 Z ± 180°, the point -1 +jO is a point on the negative real axis and it can be traced
as magnitude 1 at an angle ± 180°, ± 540°, ± 900°, ••• ± (2q+l)180°.
Any point on root locus must satisfy either the magnitude condition or the angle condition. Since K is
not known in the function G(s)H(s), it is very difficult to get |G(s)//(s)| = 1at any point in the 5-plane and
this condition is unsuitable to check the existence of any point on the root locus. If a point on root locus is the
function G(s)H(s), it helps to calculate the value of K.
Example 11.4 Check whether the points - 1 +j and -3 +j lie on the root of a system given by

G(s)H(s) = K / [(5 + 1) (5 + 2)]. Use the angle condition.

Solution

K
G(s)H(s) |
\s=-1+ j
K
(s +1) Gs+2) J=-l+j (“ 1+7 +1) (“ 1+7 +2)

(1Z90° K 72 +^ ) ^
Since the angle condition is not satisfied, the point (- 1 +7 ) does not lie on the root locus.

K
G(s)tf(s)|j=_3+. _ (j +1)(5 +2)
s = - 3+ j (-3 +7 +I) (-3 + 7 +2)

K K K K
(-2 +j) (-1 +j) (2-3 j- I) (1-3 j) 3.162 Z -71.56°
K
■Z71.56°
3.162
Since the angle condition is not satisfied, the point (-3 +j) does not lie on the root locus of the system.

Example 11.5 If 5 = - 0.85 lies on the root locus of a system having G(s)H(s) - --------- , find the
5(5 +1) (5 +3)
value of K using magnitude condition. Comment on the result.
 P-5

Solution
K K
|-0.85| |-0.85 +1||-0.85 +3| ~ 0.274

Since |G(.s)tf (^)|s=_085 = 1

or K = 0.274
Comment
1 +G(s)H(s) = 0
K
or 1 + --------- = 0
s(s +1) (5 +3)
or s(s + l)O + 3) +A '=0
or
s3+4s2+ 3s +K = 0
This is a cubic equation. Using magnitude condition, the value of K has already been obtained for a
particular point lying on the root locus of the system. Therefore, s = -0.85 is a root of the polynomial s3+4s2
+ 35 +K = 0 and it is very easy to get the remaining two roots. Therefore, root locus also helps us to solve
higher-order polynomials.
Example 11.6 Check whether the point s = -3 + 5j lies on the root locus of a system having G(s)H(s) =
K / [(5 + 1 ) (s +5)]. Determine the corresponding value of K.
Solution

_________ K_________
(s +1) (s +5) l=-3+ j5
(-3+75 +1) (-3+;5 +5)

K K
(-2 +,/5) (2 +j 5) (5.3851 Z111.8°) (5.3851Z 68.20°)

* , — Z-180°
28.99 Z180° - 29

ZG(s)H (s)l_3+j5 = - 180°

Since the angle condition is satisfied, point -3+75 lies on the root locus of the given system.
To find the value K, let us take

lGW ^>L=-3+,5 = 1
or
K
29 = 1
or
K = 29
Example 11.7 Repeat Example 11.6 using graphical method.
 P-6

=P

-5 -3 -1
a

Fig. E11.2

Solution
From rig. El 1.2

, DE
<|)PI = 90° +tan 1 —— = 90° +tan-1 = 90°+ 21.8° = 111.8°
E V 5 ,

and
D 5
§n = tan-1 — = tan-1 - = 68.2° = ^

$n +$n = 111.8°+ 68.2°= 180° and 4>z = 0°

<|)z - ^ = <j) = 0° - 180° = - 180°
Since the angle condition is satisfied, point -3 +j5 lies on the root locus of the given system.
K can be determined using
Product of phasor length of poles to the point
K=
Product of phasor lenghts of zeros to the point
From Fig. El 1.2,
APxBP r .
K= [since no zero is present, the denominator = 1]
1

2
V 2 +52 y/22 +52 V 29 V29 = 29

11.4 GENERAL METHODS FOR CONSTRUCTION OF ROOT LOCUS

It is very difficult to get ATusing and analytical method for a higher-order systems. The following steps
are very useful and are usually applied to obtain the root locus.
Rule 1. Symmetry: Root locus is always symmetrical about the real axis (c-axis).
X The roots are either
real or complex conjugates or a combination of both. So the locus is symmetrical about the real axis of the
s-plane.
 P-7

Rule 2. Number of loci: Let the number of OLTF poles and OLT F zeros be n and m, respectively. If n>m, i.e,
the number of OLTF poles is greater than the number of OLTF zeros, the number of loci is n. Each locus will start
from an OLTF pole and end on an OLTF zero. Here (n -m) loci will end at infinity and total loci is n.
Generally, m > n is hardly found practically and it is more academic.
Example 11.8 Find the number of loci for the system having G(s)H(s) = K(s + 2)/[s(s + 1) (s +4)].
Solution
Here m = 1 and n = 3. The number of loci ending at is ft - ra = 3 - 1 -2. Three loci will start from s = 0,
- 1 and - 4, one loci will end at - 2 and the remaining two will end at oo.
Rule 3. Real axis loci: Some of the loci will lie on the real axis. A point on the real axis will lie on the root
locus if and only if the sum of the OLTF poles and zeros to the right of the point is odd.
Example 11.9 For a system having G(s)H(s) = K(s +2)/[s(s + 1) (s +4)] find on which sections of the real
axis the root locus exist.
Solution
The pole zero plot of the system G(s)H(s) = K(s + 2)/[s(s + 1) (s +4)] is shown in Fig. El 1.3.
The points P and Q lie on the root locus.

yco

RL RL RL : Root Locus
JMRL : Not Root LocusJ

-- *- j —*-

NRL NRL

Fig. E11.3

Rule 4: Angle of asymptotes: Since the number of poles is greater than the number of zeros, i.e., n > m,
n-m branches will move to infinity and these branches move along the asymptote. Asymptote is defined as
a line on which the root locus touches at infinity.
The number of asymptotes - n- m.
The angle of asymptote is given by

0 = ^ i x l 8 0 ° for K > 0 (11.9)

n-m
where # = 0,1,2,..., n - m - 1.

and 0 = —— xl80° for A < 0 (11.10)

n-m
where q = 0, 1, 2, ..., n -m - 1
Rule 5. Centre of asymptotes: Since only the angles of asymptotes are not sufficient, the location of
asymptotes in s-plane has equal importance. The point where the asymptotes touch the real axis is called
centroid ( a . ) and it is given by
Xreal parts of poles of G(s)H(s) real parts of zeros of G(s)H(s)
a = -------------------------------------------------------------
c n-m
 P-8

Example 11.10 Calculate the angles of asymptotes and the centroid for the system having
K(s +2)
CAs)H(.s) = where K >0.
s(s +1) (s +4)

Solution
Here the number of poles (n ) = 3 and number of zeros (m) = 1
Number of asymptotes = Number of branches approaching to infinity = n-m = 2.
Using Eq. (11.9),
1x180°
For = 0,0 = 2 =90°

3x180°
For q = 1,0, = — --- = 270'
1 2
(0 -1 - 4) - (-2) -5 +2
Centroid (ct ) of asymptotes = = -1.5
3-1

-► CT

Fig. E11.4

Example 11.11 Calculate angles of asymptotes and the centroid for the system having G(s)H(s)

-------------- where ^ > 0 .

s(s +\-j)(s +l - j )
Solution
g = /i —m = 3 —0 = 3,g = 0,1,2

(2 X 0 + 1 )X 1 8 0 ° = 60. = g ^ . | ) x l 8 0 ° a | 8Q . e - g X- 2 + ' ) X l 8 0 ° = 3 0 0 °
_

3 ’ 1 3 ’ 2 3

and CT= (0r.l-.1)- 0 = -2 = _Q 667

3 3
 P-9

j to

-► a

Example 11.12 Calculate the angle of asymptotes and the centroid for the system having G(s)H(s) =
K(s +3)
j( j +2)(j +4)(j +5 )‘

Solution
n = 4 and m- 1
n-m = 4- l= 3 and # = 0, 1,2
9 = (2x0 + l)xl80° = 60O;e^ ( 2 x l + l)xl80° = 180o; e | = (2x2 + l)xl80°=300O;
and 0 = (0- 2- 4, 5)-(-3) =. 11^3 =_8 =_2 66?
3 3 3
jto

-► a
 P-10

Rule 6. Break-away/break-in point: Break-away point is defined as the point at which root locus comes
out of the real axis and break-in point is defined as a point at which root locus enters the real axis. The break­
away or break-in points are the points on the root locus at which multiple roots of the characteristic equation
180°
occur. If a is the number of branches, the locus leaves the root locus at an angle of ±---. The general
a
predictions for existence of break-away or break-in points are given below.
Prediction 1: If there are two adjacently placed poles on the real axis and the real axis is a part of the
root locus, one minimum break-away point exists in between adjacently placed poles as shown in Fig. 10.2.1

Fig. 11.2 Break-away point

Example 11.13 Fora systemhaving G(s)H(s)=K/[s(s +1)0 +3)], determine the number of break-away points?
Solution
The pole-zero plot of the system is shown in Fig. El 1.7.

yto

x ► -Hr -> CT
J
Break-away
point

Fig. E11.7

In Fig. El 1.7, 5 = 0 and 5 = -1 are the two adjacently placed poles and the real axis between 5 = 0 and
5 = -1 is a part of the root locus. Hence one break-away point exists between 5 = 0 and 5 = -1.
Prediction 2: If there are two adjacently placed zeros on the real axis and the real axis is a part of the
root locus, one minimum break-in point exists in between adjacently placed zeros.
Example 11.14 For the system having G(s)H(s) = K(s +2) (s +4)/[52(5 +5)], determine the number of break­
away points.
 P-11

Fig. E11.8

Solution
The pole-zero plot of the system is shown in Fig. El 1.8.
In Fig. El 1.8, the real axis between two adjacently placed zeros at s = -2 and s = - 4 is a part of the root
locus. Hence one minimum break-away point exists between the above adjacently placed zeros.
Prediction 3: If there are no poles and zeros to the left of a zero on the real axis and this portion of the
real axis is a part of the root locus, there exists minimum one break-in point to the left of that zero.
K(s +6)
Example 11.15 For the system having G(s)H(s) = - , find the number of break-in points.

Solution
The pole-zero plot of the given system is shown in Fig. El 1.9.
j(0

Break-away point

-x>— -A—*- “► CT

7 —6

Break-in point

Fig. E11.9

To the left of the zero at s = - 6, there are the poles and zeros and the portion of the real axis to the left
of this zero is a part of the root locus. Hence minimum one break-in point exists to the left of the zeros.
Another break-away point exists between s = - I and s = -3.
Steps to determine the break-away points
Step 1: Frame the characteristic equation 1 +G(s)H(s) = 0 of the system.
Step 2: Write K in terms of s, i.e., K -f(s).
dK dK
Step 3: Derive — and put — = 0
ds ds
dK
Step 4: The roots of the equation — = 0 are the break-away points.
ds
 P-12

dK
If the value of K is positive for any root of — - = 0, the root(s) is ( are) valid break-away/break-in
ds
point(s).
Example 11.16 For G(s)H(s) = A7[s(s +2 ) (s +3)], determine the coordinates of valid break-away/break-in
point(s).
Solution
Step 1: 1 + G(s)H(s)
or
K
= 0
1+s(s 2 )0 +3)

or
s3+ 5s2+6s +K
Step 2: K
dK
Step 3: = -3s2 - 10s - 6 = 0
ds
Step 4: 3s2+ 10s + 6 = 0
-10±n/102-4.3.6 -10±VlOO-72 -10±V28 -10±5.29
roots are
2x3 " 6 ~ 6 ~ 6
= -0.785,-2.55
Now
for s
K
Now
for s
K
Thus for s = -0.785, K is positive and for s = -2.55, K is negative.
Therefore, s = -0.785 is a valid break-away point for the root locus.

-> a

The number of branches approaching the break-away point is 2. Thus a = 2. Therefore, the loci leave the

root locus at an angle of ± 18072, i.e., ± 90°.

 P-13

Rule 7. Intersection of root locus with jco-axis: To find the intersection of root locus with the imaginary
axis, the following procedures are followed.
Step 1: Construct the characteristic equation 1 +G(s)H(s) = 0.
Step 2: Develop Routh’s array in terms of K.
Step 3: Find Km&rthat creates one of the roots of Routh’s array as a row of zeros.
Step 4: Frame auxiliary equation AO) = 0 with the help of the coefficient of a row just above the row of
zeros.
Step 5: The roots of the auxiliary equationAO) = 0 for ^ = Kmargive the intersection points of the root locus
with the imaginary axis.
Example 11.17 For G(s)H(s) = K/[s(s + 1)0 + 3)], find the point of the root locus with theyco-axis.
Solution
The characteristic equation is given by
1 + G(s)H(s) = 0
or
K
1 + / 1W =0
$0 +1)0+ 4)
or
s3+ 6s2+ Ss +K = 0
Routh’s array

s3 1 8
s2 6 K
48- a:
sl 0
6
s° K

Now K = 48 and the row corresponding to sl becomes a row of zeros. The auxiliary equation with the
help of the coefficients corresponding to s2 is given by
6s2+K = 0
or 6 s2 +48 = 0
or j2 = - 8
s = ± jl- Jl
Therefore, s = ± j2yf2 are the points of the intersection of root locus with the imaginary axis.
Rule 8. Angle of departure/arrival: The root locus leaves from a complex pole and arrives at a complex
zero. These two angles are known as angle of departure and angle of arrival, respectively. Angle of departure
(Qd) is given by
Qd = 180° + arg[GO)tfO)] (11.11)
where arg G(s)H(s) is the angle of G(s)H(s) excluding the pole where the angle is to be calculated.
It is also possible to calculate arg G(s)H(s) graphically. Similarly, the angle of arrival is given by
e a = 180°-arg[GO)tfO)] (1L12)
where arg G(s)H(s) is the angle of G(s)H(s) excluding the zero where the angle is to be calculated.
Example 11.18 Find the angle of departure for G(s)H(s) = K(s + 3)/[0 + 2 +7 ) 0 + 2 -j)] where K > 0.
Solution
(i) Analytically:
To calculate 0^ analytically for s = -2 +7 , the term s + 2 - j should be included from G(s)H(s).
 P-14

K(-2+ j +3) _ K(l +j) _ K { 72 +7 72

(-2 +j +2 +j) ~ 2j ~ 72Z90°

The angle of departure is shown in Fig. El 1.11.

+ 135°

-n

Fig. El 1.11

Since the poles are complex conjugates to each other, the angle of departure for the pole s = - 2 - j will
be - 135°.
(ii) Graphically:
The pole-zero plot of G(s)H(s) = K(s + 3)/[(s + 2+j)(s + 2- j)\is shown in Fig. El 1.12.

jm

Fig. E11.12

(|)2 = tan-'(l) = 45° and = 90°

arg \G(s)H(s)] = <$>z - (J),, = 45° - 90° = - 45°
 P-15

= 180° + arg [G(s)//(s)] = 180° - 45° = 135°

Therefore the angle of departure at the pole s = - 2 +j is 135°. Similarly the angle of departure at the
pole 5 = - 2 - j is - 135°.

11.5 STEPS FOR SOLVING PROBLEMS ON ROOT LOCUS

Step 1:Determine the branch number of loci, ending at infinity using Rule 1.
Step 2:Plot the poles and zeros on s-plane.
Step 3:Find real axis loci using Rule 2. Show the real axis loci wherever present by dark lines.
Step 4:Find the number of asymptotes and their angles by Rule 3.
Step 5:Using Rule 4, determine the centre of asymptotes and draw results of Steps 4 and 5.
Step 6:Determine the break-away/break-in point if present using Rule 6 and mark the point only.
Step 7:Determineyoo crossover using Rule 7 if the locus crosses theyoo axis.
Step 8:Calculate the angle of departure or the angle of arrival due to complex poles or zeros, respectively,
using Rule 8.
Example 11.19 Sketch the root locus

G(s)H(s)= K (K > 0)
s(s +l + j)(s +l - j )
Solution
Step 1: Number of poles -n - 3 number of zeros = m = 0
number of loci - n - m = 3- 0 = 3
Step 2: The pole-zero plot of G(s)H(s) is shown in Fig. El 1.13.

Fig. E11.13

Step 3: Real axis locus is

(i) present for - 1 < a < 0
(ii) present for - oo < a < - 1
This is shown in Fig. El 1.13(a).
 P-16

Fig. E11.13(a)

Step4: Sincen-m = 3 andq = 0, 1,2,

(2x0 +l)xl80° : 60c5 = (2xl +l)xl80° = 18QOand
0 =

(2x2 +I)x l80° _ 30Qo

2 3

(0 -1 -1) - 0 _ -2 _ _ o_667.
Step 5: Centroid (o )
3 3
Figure El 1.13(b) shows the asymptotes.

-> a

Fig. E11.13(b)

Step 6: Since the loci does not break-away from the real axis, calculation for break-away point is not required.
Step 7: 1+G(s)H(s) = 0
K
or 1+ =0
s(s +l +j)(s +l - j )
 P-17

K
or 1+ =0
s(s1+2s +2)
or s(s2+ 2s + 2) + K = 0
or s3+ 2s2+ 2s +K = 0
Routh’s array
1 2
2 K

<=* 0

0 Km
To get
4 -A L
= 0

A(s) = 2s2+ A" = 0

or 2s2= -K = -A
s2 = - 2
s = ± j-J2
£ /s: K
G (*)J/ (S)|,._1+. =
(- i + j ) ( - i + j + i + y) ( - 1 + 7X27)

V^+-/ V2 l0)
A' £ a:
Z - 225°
V2Z135°Z90° V2Z +225° V2'
G(s)H(s) = - 225°
<t>0 = 180° + arg [G(s)//(s)] = 180° - 225° = - 45°.
By symmetry, the angle of departure from s = - I - j is +45°.
Figure El 1.13(c) shows the complete root locus for

-> a

Fig. E11.13(c)
 P-18

_______ K _______
G(s)H(s) = s(s +l +j )(s +1_ 7) (K > 0)

Example 11.20 Sketch the root locus for

K
G(s)H(s) = (K > 0)
s(s +3)(s +5)
Solution
Step 1: Number of poles = 3 = n, number of zeros = 0 = m
Number of loci = n- m = 3- 0 = 3

Step 2: The pole-zero plot of G(s)H(s) = is shown in Fig. El 1.14.

s(s +3)(s +5)

yco

-- X--►- -A--
5 = —5 s= - 3

Fig. E11.14

Step 3: Real axis loci are present for

- 3 < a < 0 and - <*>< a < - 5
This is shown in Fig. El 1.14 also.
Step 4: The number of asymptotes, (a) = n - m = 3.

e = — — - il x 180° = 60°,

0 = ■
2x1 +1) x 180° = 180°
1 3

and 0 = (2x2 +2) x 180° = 300°

2 3
Step 5:

- j/ n ( 0 - 3 - 5 ) - 0 8
Centroid (a ) = ---------= — = - 2.667
3 3

Figure El 1.14(a) depicts the asymptotes.

 P-19

yco

Fig. E11.14(a)

Step 6: 1 +G(s)H(s) = 0
or

1+ ------------- - ------------- =0
s(s +3)(s +5)
or
s(s + 3)(s + 5) +K = 0
or
K = - s3- 8s2- 15s

— = (-3s2- 16s-15) = 0
ds
or 3s2+ 16s +15 = 0
_ -16±Vl62-4x3x15 _ -16±8.717
'S- 2x3 ~ 6
j = either- 1.2138 or-4.1195. Now fors = 1.2138, K = 4.6322 and fors = -4.1195,/: = - 279.64.
Therefore, K is positive for s = 1.2138. At .v= - 1.2138 break-away point exits.
Step 7: 1 +G(s)H(s) = 0

or 1 + --------- = 0
i(s +3)(s +5)
or s3+ 8s2+ 15a +A'= 0
Routh’s array is given by
s3 l 15
s2 8 K

8
j° K
 P-20

190— K
Putting ^ =0, Kma[ =120

A(s) = 8s2+K = 0
or
Ss2= - 120
or
j 2 = - 15
s = ±y'3.873
Step 8: Since there is no complex pole or zero, the angle of departure or arrival does not come into picture.
The complete root locus of the system is shown in Fig. El 1.14(b)

Fig. E11.14(b)