Electrical and Computer

Engineering

Introduction to control systems

(Chapter 6)

Root Locus Analysis of

Linear Control System

June , 2021
 Introduction
Methods of determining stability of linear control system
 Routh Hurwitz criterion
 The criterion tests whether any of the roots of the characteristics equation
lies in the right half of s plane (ch 5)
 Root Locus diagram(ch 6)
 Is the loci of the chxs eqn. roots when certain system parameter varies
 The roots loci provides clear picture of the stability with reference to the
variable parameters
 Nyquist criterion and bode diagram(will be discussed in ch 7)
 Nyquist criterion is a semi graphical method that gives information on
difference between the number of poles and zeros of the closed loop
transfer function provided the stability of the system
 Bode diagram is a plot of the magnitude and phase of closed loop system
and provides the stability of the system
 Introduction
What is Root Locus?
 Root locus is a graphical representation of the closed-loop
poles as a system parameter is varied.
 It can be used to describe qualitatively the performance of a
system as various parameters are changed.
 It gives graphic representation of a system’s transient
response and also stability.
 We can see the range of stability, instability, and the conditions
that cause a system to break into oscillation.
 This is a technique used in the field of control systems
developed by Walter R. Evans
 Root locus analysis is a graphical method for examining how
the roots of a system change with variation of a certain system
3 parameter, commonly the gain of a feedback system.
Introduction
How to Sketch root locus?
• One way is to compute the roots of the characteristic
equation for all possible values of K
• Location of closed loop Pole for different values of K
(remember K>0). C ( s)  K
R(s) s 1 K
K Pole
Pole-Zero Map
0.5 -1.5 1

1 -2
2 -3 0.5

3 -4
Imaginary Axis

5 -6 0

10 -11
-0.5
15 -16

-16 -14 -12 -10 -8 -6 -4 -2

Real Axis
 How to Sketch root locus?

Computing the roots for all values of K might be tedious

for higher order systems.

K Pole
0.5 ?
1 ?
C (s) K 2 ?

R( s ) s ( s  1)(s  10)( s  20)  K 3 ?
5 ?
10 ?
15 ?
 Open vs Close Loop Poles
 We can determine the poles of open-
loop transfer function KG(s)H(s), since
these poles arise from simple cascaded
first-order or second-order subsystems.
 Further, variations in system gain factor K
do not affect the location of any pole of
the open-loop transfer function.

 On the other hand, we cannot determine

the poles of closed-loop transfer function
T(s) = KG(s)/[1+KG(s)H(s)] unless we
factor the denominator.
 Also, the poles of closed-loop transfer
function T(s) change with system gain K.
 By using the root-locus method the designer can predict the effects on the
location of the closed-loop poles of varying the gain value or adding open-loop
6 poles and/or open-loop zeros
Construction of Root Loci

Angle & Magnitude Conditions

In constructing the root loci angle and magnitude
conditions are important.
Consider the system shown in following figure.

The closed loop transfer function is

C (s) G (s)

R(s) 1  G (s) H (s)
Construction of Root Loci

The characteristic equation is obtained by setting

the denominator polynomial equal to zero.

Or 1  G ( s) H ( s)  0

G ( s ) H ( s )  1
Since G(s)H(s) is a complex quantity it can be split
into angle and magnitude part.
Angle & Magnitude Conditions

The angle of G(s)H(s)=-1 is

G ( s ) H ( s )    1
G ( s ) H ( s )  180 (2k  1)
Where k = 0,1,2,3…

The magnitude of G(s)H(s)=-1 is

G(s) H (s)   1
G(s) H (s)  1
 Angle & Magnitude Conditions

Angle Condition: G ( s) H ( s )  180 (2k  1) (k  1,2,3...)



Magnitude Condition: G ( s ) H ( s )  1

The values of s that fulfill both the angle and

magnitude conditions are the roots of the
characteristic equation, or the closed-loop poles.
 Construction of root loci

Step-1: The first step in constructing a root-

locus plot is to locate the open-loop poles and
zeros in s-plane.
Pole-Zero Map
1

0.5

Imaginary Axis
0

K
G ( s) H ( s)  -0.5

s ( s  1)( s  2)
-1
-5 -4 -3 -2 -1 0 1 2
Real Axis

The angle is  s  ( s  1)  ( s  2)
 Construction of root loci
Step-2: Determine the root loci on the real axis.
Real axis Loci
• To determine the root loci  A point on Real axis lies on Root Locus
on real axis we select some if the sum of poles and zeros to the
Right Hand Side of that point must be
test points. odd number.
• e.g: p1 (on positive real axis).
Pole-Zero Map
1

• The angle condition is not 0.5

p1
satisfied.
Imaginary Axis

• Hence, there is no root locus

-0.5
on the positive real axis.
-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
Step-2: Determine the root loci on the real axis.
• Next, select a test point on the
negative real axis between 0 and –
1.
Pole-Zero Map
• Then 1

0.5

p2
• Thus

Imaginary Axis
0

-0.5
• The angle condition is satisfied.
Therefore, the portion of the
-1
negative real axis between 0 and – -5 -4 -3 -2 -1 0 1 2
Real Axis
1 forms a portion of the root
locus.
 Construction of root loci

Step-2: Determine the root loci on the real axis.

• Now, select a test point on the
negative real axis between -1
and –2. Pole-Zero Map
• Then 1

0.5

p3
• Thus

Imaginary Axis
0

-0.5

• The angle condition is not

satisfied. Therefore, the negative -1
-5 -4 -3 -2 -1 0 1 2
real axis between -1 and –2 is Real Axis

not a part of the root locus.

 Construction of root loci
Step-2: Determine the root loci on the real axis.

• Similarly, test point on the

negative real axis between -2
and – ∞ satisfies the angle Pole-Zero Map
1
condition.
0.5

• Therefore, the negative real p4

axis between -2 and – ∞ is part

Imaginary Axis
0

of the root locus.

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
Step-2: Determine the root loci on the real axis.
• The number of branches
of the root locus equals
the number of closed-
loop poles.
 On the real axis, for K > 0 the root-
locus exists to the left of an odd
number of real-axis finite open-loop
poles and/or finite open-loop zeros.

 Starting and Ending Points: The root

locus begins at the finite and infinite
poles of open-loop transfer function,
G(s)H(s), and ends at the finite and
infinite zeros of open-loop transfer
function, G(s)H(s).
 Construction of root loci
Step-3: Determine the asymptotes of the root loci.
 Angle of asymptote:
• It is a Root Locus branches which terminates to infinity
• No. of Asymptote= m-n
• The angle of Asymptote gives us the direction along which these
branches approaches infinity

Ψ
  Actual Curve
Asymptotic Approximation
𝜎
 

Asymptote is the straight line approximation of a curve

 
Construction of root loci
Step-3: Determine the asymptotes of the root
loci.
 180(2k  1)
Angle of asymptotes   
nm
where
n-----> number of poles
m-----> number of zeros
k-----> 0,1,2,3,…,m-n-1
For this Transfer Function K
G (s) H ( s) 
s ( s  1)( s  2)
 

 180(2k  1)
 
30
 Construction of root loci
Step-3: Determine the asymptotes of the root loci.
 180( 2k  1)
  60 when k  0 
3 0
 180 when k  1
 300 when k  2
 420 when k  3
Since the angle repeats itself as k is varied, the
distinct angles for the asymptotes are determined as
60°, –60°, and 180°.
 Construction of root loci

Step-3: Determine the asymptotes of the root loci.

Before we can draw these asymptotes in the complex

plane, we need to find the point where they intersect
the real axis.

Centroid: It is intersection point of asymptotes on

real axis (or centroid of asymptotes).

Centroid is
Given by:  poles   zeros

nm
 Construction of root loci
Step-3: Determine the asymptotes of the root loci.

For G ( s) H ( s) 
K
s ( s  1)( s  2)

(0  1  2)  0

30
3
  1
3
 Construction of root loci
Step-3: Determine the asymptotes of the root loci.

Pole-Zero Map
1

  60 ,60 , 180 0.5

180 60
Imaginary Axis

  1 0   60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci

Step-4:Determine the breakaway/break-in point.

Pole-Zero Map
1

• The breakaway/break-in
0.5
point is the point from

Imaginary Axis
which the root locus 0

branches leaves/arrives
-0.5
real axis.

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

• It is a point on Root Locus where two poles meet. Once the two
pole meet , they split i.e. they break away from real axis.
 Construction of root loci

Step-4: Determine the breakaway point or break-in

point.
Procedure to Calculate Break Away Point:
1. Write the Characteristic Equation i.e 1 + G(S)H(S) = 0
2. Arrange Characteristic Equation in such a way that K= f(s)
dK
3. Differentiate K w.r.tS( ds  0)
and equate it to zero, this will
give valid and invalid break away point.

• It should be noted that not all the solutions of dK/ds=0

correspond to actual breakaway points.

• If a point at which dK/ds=0 is on a root locus, it is an actual

breakaway or break-in point.
 Construction of root loci
Step-4: Determine the breakaway point or break-in
point.

The characteristic equation of the system is

K
1  G ( s) H ( s)  1  0
s ( s  1)( s  2)

K
 1
s( s  1)( s  2)

K   s( s  1)( s  2)

The breakaway point can now be determined as

dK d
   s ( s  1)( s  2)
ds ds
 Construction of root loci
Step-4: Determine the breakaway point or break-in
point. dK d
  s( s  1)( s  2)
ds ds
dK
ds

d 3
ds

s  3s 2  2s 
dK
 3s 2  6 s  2
ds
Set dK/ds=0 in order to determine breakaway point.
 3s 2  6 s  2  0
3s 2  6 s  2  0

s  0.4226
 1.5774
 Construction of root loci
Step-4: Determine the breakaway point or break-in
point. s  0.4226 K
G( s) H ( s) 
s ( s  1)( s  2)
 1.5774

Since the breakaway point needs to be on a root locus

between 0 and –1, it is clear that s=–0.4226 corresponds
to the actual breakaway point.
Point s=–1.5774 is not on the root locus. Hence, this
point is not an actual breakaway or break-in point.
 Construction of root loci

Step-4: Determine the breakaway point.

Pole-Zero Map
1

0.5
s  0.4226 180 60
Imaginary Axis

0   60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci

Step-4: Determine the breakaway point.

Pole-Zero Map
1

0.5

s  0.4226
Imaginary Axis

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
Step-5: Determine the points where root loci cross
the imaginary axis.

Pole-Zero Map
1

0.5

180 60
Imaginary Axis

0   60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
 Construction of root loci
Step-5: Determine the points where root loci cross
the imaginary axis.
 This rule gives us point on the imaginary axis which the root locus will cut
while moving to the Right half of the s plane.
Intersection of Imaginary axis can be found by using Routh-Hurwitz
criterion.
Procedure to calculate Intersection with Imaginary axis :
1. Write the Characteristic Equation i.e 1 + G(S)H(S) = 0
2. Construct the Routh array
3. Determine K
4. Get the Auxiliary Equation
5. Compute the roots of Auxiliary Equation. These will be the intersecting point
with the imaginary axis.
 Construction of root loci
Step-5: Determine the points where root loci cross
the imaginary axis.
• Let s=jω in the characteristic equation, equate both the real
part and the imaginary part to zero, and then solve for ω and
K.The jω-axis crossing is a point on the root locus that separates the stable operation of the

system from the unstable operation.
 The value of ω at the axis crossing yields the frequency of oscillation.
 The gain K at the jω-axis crossing yields the maximum positive gain for system stability.
 Above value of gain K at the jω-axis crossing , the closed-loop system’s poles move into
the right half-plane, signifying that the system is unstable.

 3characteristic
• For present systemsthe
3
s 2  2 s  K  0 equation is
( j ) 3  3( j ) 2  2 j  K  0
( K  3 2 )  j (2   3 )  0
 Construction of root loci
Step-5: Determine the points where root loci cross
the imaginary axis.
( K  3 2 )  j (2   3 )  0

Equating both real and imaginary parts of this

equation to zero (2   3 )  0

( K  3 2 )  0
Which yields
 Root Locus
5

1
Imaginary Axis

-1

-2

-3

-4

-5
-7 -6 -5 -4 -3 -2 -1 0 1 2
Real Axis
Step-6:

36
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39
40
41
42
43
 Ex 1: Determine the Breakaway and break in points

Ex 2: Sketch the root loci for the system for K > 0.

Ex 3: For the system shown below, find the frequency and gain, K,
for which the root locus crosses the imaginary jω-axis. For what
range of gain K is the system stable?

44
 End of Chapter 6

Next Lecture
Lecture 7. Frequency Domain Analysis
of Linear Control System