Root Locus

NUAA-Control System Engineering
Chapter 4
Root-locus Technique
Control System Engineering-2008
2
4-1 Introduction
4-2 Root-locus equation
4-3 Rules to draw regular root loci
4-4 Generalized root loci
4-5 Analysis of control system by RL
method
4-6 Control system design by the root-locus
method
Contents in Chapter 4
3
Introduction
Stability and the
characteristics of transient
response of closed-loop
systems
Locations of the closed-
loop poles
Problems to solve characteristic equation :
1. Difficult for a system of third or higher order.
2. Tedious for varying parameters.
4
Varying the loop gain K
In many systems, simple gain adjustment may move the
closed-loop poles to desired locations.
Then the design problem may become the selection of an
appropriate gain value.
It is important to know how the closed-loop poles move in the
s plane as the loop gain K is varied.
The open loop gain K is
an important parameter
that can affect the
performance of a system
R(s)
K
Y(s)
H(s)
G

(s)

5
A simple method for finding the roots of the characteristic
equation has been developed by W.R.Evans. This method is
called root locus method.

Graphical Analysis of Control System, AIEE Trans. Part
II,67(1948),pp.547-551.
Control System Synthesis by Root Locus Method, AIEE Trans. Part
II,69(1950),pp.66-69
Root locus method
6
Root Locus:
the locus of roots of the characteristic equation of
the closed-loop system as a specific parameter
(usually, gain K) is varied form 0 to .
The advantages of RL approach:
1. Avoiding tedious and complex roots-solving
calculation
2. Clearly showing the contributions of each loop
poles or zeros to the location of the closed-loop poles.
3. Indicating the manner in which the loop poles and
zeros should be modified so that the response meets
system performance specifications.
7
4-2 Root-locus equation

8
Consider a second-order system shown as follows:
) 1 ( + s s
k
R(s)
-
Y(s)
Start from an example
The roots of CE change as the value of k changes.
Closed-loop TF:
k s s
k
s
+ +
=
2
) ( |
Characteristic equation (CE): 0
2
= + + k s s
Roots of CE:
k
k
s 4 1
2
1
2
1
2
4 1 1
2 , 1
=

=
When k changes from 0 to , how will the locus of the roots of
CE move?
9
1,2
1 1
1 4 , : 0
2 2
s k k =
1/ 4 k 2 / 1
2 1
= = s s
0
1
= s
1 s
2
=
k0
0 1/ 4 k < <
As the value of k increases,
the two negative real roots
move closer to each other.
A pair of complex-conjugate roots leave the negative
real-axis and move upwards and downwards following
the line s=-1/2.
1/ 4 k < <
1/2
1
0
On the s plane, using arrows to denote the direction of characteristic
roots move when k increases, by numerical value to denote the gain at
the poles.
0 k = 0 k =
1
4
k =
k
k
10
By Root loci, we can analyze the system behaviors

(2)Steady-state performance:
there s an open-loop pole at s=0, so the system is a type
I system. The steady-state error is
0 under step input signal
v0/Kv under ramp signal v0t
under parabolic signal.
(1)Stability:
when Root loci are on the left half plane, then the
system is definitely stable for all k>0.
(3)Transient performance:
theres a close relationship between root loci and system
behavior
on the real-axis: k<0.25 underdamped;
k=0.25 critically damped
k>0.25 underdamped.
However, its difficult to draw root loci directly by closed-
loop characteristic roots-solving method.
The idea of root loci : by loop transfer function, draw
closed-loop root loci directly.
12
Relationship between zeros and poles of
G(s)H(s) and closed-loop ones
G(s)
H(s)
-
R(S) Y(s)
Forward path TF:
Closed-loop TF:
( ) G s
) ( ) ( 1
) (
) (
s H s G
s G
s
+
= |
Feedback path TF:
( ) H s
Write G(s) and H(s) into zero-pole-gain (zpk) form:
1
1
( )
( )
( )
a
G i
i
b
i
i
K s Z
G S
s P
=
=
[
[
1
1
( )
( )
( )
c
H j
j
d
j
j
K s Z
H S
s P
=
=
[
[
G
K RL gain of forward path
H
K RL gain of feedback path
i
Z
Zeros of forward path TF
i
P
Poles of forward path TF
j
Z Zeros of feedback path TF
j
P
Poles of feedback path TF
1 1
1 1
( ) ( )
( ) ( ) ,
( ) ( )
a c
i j
i j
b d
i j
i j
K s Z s Z
G S H S
s P s P
= =
= =

=

[ [
[ [
1 1
*
1 1 1 1
( ) ( )
( )
( )
1 ( ) ( )
( ) ( ) ( ) ( )
a d
G i j
i j
b d a c
i j i j
i j i j
K s Z s P
G s
s
G s H s
s P s P K s Z s Z
|
= =
= = = =

= =
+
+
[ [
[ [ [ [
1.The closed-loop zeros = feed forward path zeros + feedback path poles.
2. The closed-loop poles are related to poles and zeros of G(s)H(s) and
loop gain K.
3.The closed-loop root loci gain = the feed forward path root loci
gain .
G
K
Loop gain:
G H
K K K =
15
Suppose that G(s)H(s) has m zeros (Zi) and n polesPi), the
above equation can be re-written as
1
1
( )
( ) ( ) 1
( )
m
i
i
n
i
i
K s Z
G s H s
s P
=
=
= =
[
[
K* varies from
0 to
Root-locus equation
To draw Closed-loop root locus is to solve the CE
1 ( ) ( ) 0 G s H s + =
That is
( ) ( ) 1 G s H s =
RL equation
16
Magnitude equation (ME)
1
1
1
m
i
i
n
i
i
K s Z
s P
=
=
[
[
Angle equation (AE)
1 1
( ) ( )
(2 1) , 0, 1, 2,
m n
i i
i i
s Z s P
l l t
= =
Z Z
= + =

Since G(s)H(s) is function of a complex variable s, the root locus
equation can be described by the following two equations:
1
1
( )
( ) ( ) 1
( )
m
i
i
n
i
i
K s Z
G s H s
s P
=
=
= =
[
[
Magnitude equation is related not
only to zeros and poles of G(s)H(s),
but also to RL gain
Angel equation is only related to zero
and poles of G(s)H(s).
Use AE to draw root loci and use ME to determine the
value of K on root loci.
RL equation:
17
2 2
1 2 2
'
1
( 1)
( ) ( )
( 1)( 2 1)
( 1/ )

( 1/ )( )( )
n d n d
K s
G s H s
s T s T s T s
K s
s s T s j s j
t
,
t
,e e ,e e
+
=
+ + +
+
=
+ + + +
' 2
1 2
/ K K TT t =
2
1/
n
T e =
2
2
d
T 1 , = e
t / 1
1
= z
1 4
1 1
1 1
1 1 2 3 4
( ) ( ) ( ) ( )
( )
i i
i i
G s H s s z s p
| u u u u
= =
Z = Z Z
= + + +

Poles of G(s)H(s)
Zeros of G(s)H(s)
Angel is in the
direction of anti-
clockwise
For a point s
1
on the root loci, use AE
Use ME
1 1
4 1 3 1 2 1 1
'
z s
p s p s p s s
K

=
Example 1
2 1
1/ p T = d n 4 , 3
j p e ,e =
1
0 p =
18
Unity-feedback transfer function:
s
K
) s ( G =
Test a point s
1
on the
negative real-axis
1
1 1
1 1
( ) ( ) |
180
m n
i i s
i i
s z s p
s p
= =
Z Z
= Z =

Test a point outside the
negative real-axis s
2
=-1-j
2
1 1
2 1
( ) ( ) |
135
m n
i i s
i i
s z s p
s p
= =
Z Z
= Z =

All the points on the negative real-axis are on RL.
All the points outside the negative real-axis are not on RL.
Example 2
One pole of G(s)H(s):
1
0 p =
No zero.
1. Find all the points that satisfy the Angle Equation on
the s-plane, and then link all these points into a smooth
curve, thus we have the system root locus when k
*
changes from 0 to ;
2. As for the given k, find the points that satisfy the
Magnitude Equation on the root locus, then these points
are required closed-loop poles.

However, its unrealistic to apply such probe by
each point method.
W.R. Evans (1948) proposed a set of root loci
drawing rules which simplify the our drawing work.
Probe by each point:
20
4-3 Rules to draw regular root
loci
(suppose the varying parameter is
open-loop gain K )
21
2 Number of Branches on the RL
3 Symmetry of the RL
4 Root Loci on the real-axis
5 Asymptotes of the RL
6 Breakaway points on the RL
7 Departure angle and arrival angle of RL
8 Intersection of the RL with the imaginary axis
9 The sum of the roots and the product of the roots of the
closed-loop characteristic equation
Properties of Root Loci
1 and points of Root Loci
0 K = K =
22
Root loci originate on the poles of G(s)H(s) (for K=0) and
terminates on the zeros of G(s)H(s) (as K=).
Magnitude
Equation:
1
1
n
i
i
m
i
i
s P
K
s Z
=
=
[
[
0 K =
Root loci start from poles of G(s)H(s)
K =
Root loci end at zeros of G(s)H(s).
1
1
1
m
i
i
n
i
i
K s Z
s P
=
=
[
[
1 and points
0 K = K =
i
s P =
i
s Z =
1
1
( )
( ) ( ) 1
( )
m
i
i
n
i
i
K s Z
G s H s
s P
=
=
= =
[
[
RL
Equation:
23
2 Number of branches on the RL
nth-order system, RL have n starting points and RL have n
branches
For a real physical system, the number of poles of G(s)H(s)
are more than zerosi.e. n > m.
m root loci end at open-loop zerosfinite zeros)
nmroot loci end at (nm) infinite zeros.
The order of the characteristic equation is n as K varies
from 0 to ,n roots changen root loci.
1
1
( )
( ) ( ) 1
( )
m
i
i
n
i
i
K s Z
G s H s
s P
=
=
= =
[
[
RL
Equation:
n root loci end at open-loop zerosfinite zeros)
24
3 Symmetry of the RL
The RL are symmetrical with respect to the real axis of
the s-plane.
The roots of characteristic equation are real or complex-
conjugate.
Therefore, we only need to draw the RL on the up half s-
plane and on the real-axis, the rest can be obtained by
plotting its mirror image.
25
On a given section of the real axis, RL for k>0 are found in the
section only if the total number of poles and zeros of G(s)H(s) to the
right of the section is odd.
4 RL on the Real Axis
zeroz
1
polesp
1
p
2
p
3
p
4
p
5
Pick a test point s1 on [p
2
p
3
]

The sum of angles provided by every pair of
complex conjugate poles are 360;
The angle provided by all the poles and zeros on the left of s
1
is 0.
The angle provided by all the poles and zeros on
the right of s
1
is 180;
1 5
1 1 1 1
1 1
( ) ( ) ( ) ( )
i i
i i
G s H s s z s p
= =
Z = Z Z

1 1
( ) ( ) (2 1)180 G s H s l Z +

jw
26
Consider the following loop transfer function
2 2
( 1)( 4)( 6)
( ) ( )
( 2)( 3)
K s s s
G s H s
s s s
+ + +
=
+ +
On the right of [-2-1] the number of real zeros and poles=3.
On the right of [-6-4], the number of real zeros and poles=7.
Example
Determine its root loci on the real axis.
Repeated poles:
S-plane
0 -1 -2 -3 -4 -5 -6
Poles: Zeros:
27
5 Asymptotes of RL
(2 1)180
a
i
n m
+
=
m n
z p
m
1 i
i
n
1 i
i
a
o

= =
When n m, there will be 2|n-m| asymptotes that describe the

behavior of the RL at |s|=.
The angles between the asymptotes and the real axis are
i= 012 ,n-m-1
The asymptotes intersect the real axis at
1
1
( )
( ) ( ) 1
( )
m
i
i
n
i
i
K s Z
G s H s
s P
=
=
= =
[
[
RL
Equation:
28
*
(0.25 1) ( 4)
( ) ( )
( 1)(0.2 1) ( 1)( 5)
K s K s
G s H s
s s s s s s
+ +
= =
+ + + +
3 poles0-1-5
1 zero-4
n-m = 3 -1 = 2
1
1 3
) 4 ( ) 5 ( ) 1 ( ) 0 (
m n
z p
m
1 i
i
n
1 i
i
a
=
+ +
=
o

= =
(2 1)180
, 0,1
a
i
i
n m
+
= =
90 , 270
a
=
Example
Determine the asymptotes of its root loci.
29
2
( 1)
( ) ( )
( 4)( 2 2)
K s
G s H s
s s s s
+
=
+ + +
4 poles0-1+j-1-j-4
1 zero-1
n-m=4-1=3
1 1
(0) ( 1 ) ( 1 ) ( 4) ( 1) 5
4 1 3
n m
i i
i i
a
p z
n m
j j
o
= =
+ + + +
= =
(2 1)180
, 0,1, 2
a
i
i
n m
+
= =
60 ,180 , 300
a
=
Example
Determine the asymptotes of its root loci.
30
6 Breakaway points on the RL
Breakaway points on the RL correspond to multi-order roots of the
RL equation.
o
e j
-4
-3 -2 -1
0
1
d
2
d
o
e j
4
p
3
p
1
p
2
p
A
B
0
[s]
The breakaway points on the RL are determined by finding the
roots of dK/ds=0 or dG(s)H(s)=0.
31
Method1

= =
o
=
o
n
1 i
i b
m
1 i
i b
p
1
z
1
1
1
( )
( ) ( )
( )
m
i
i
n
i
i
s z
G s H s K
s p
=
=
[
[
1 1
( ) 1 ( ) ( ) ( ) ( ) 0
n m
i i
i i
D s G s H s s p K s z
= =
= + = + =
[ [
Suppose the multi-order root is s
1
then we have
Proof
1 1 1
1 1
( ) ( ) ( ) 0
n m
i i
i i
D s s p K s z
= =
= + =
[ [
1 1 1
1 1
1 1
( ) ( ) ( ) 0
n m
i i
i i
d d
D s s p K s z
ds ds
= =
(
= + =
(

[ [
1 1
1 1
( ) ( )
n m
i i
i i
s p K s z
= =
=
[ [
1 1
1 1
1 1
( ) ( )
n m
i i
i i
d d
s p K s z
ds ds
= =
( (
=
( (

[ [
The breakaway point o
b
is the solution of
32
1 1
1 1
( ) ( ) (1)
n m
i i
i i
s p K s z
= =
=
[ [
1 1
1 1
1 1
( ) ( ) (2)
n m
i i
i i
d d
s p K s z
ds ds
= =
( (
=
( (

[ [
[
[
[
[
=
=
=
=

m
i
i
m
i
i
n
i
i
n
i
i
z s
z s
ds
d
p s
p s
ds
d
1
1
1
1
1
1
1
1
1
1
) (
) (
) (
) (
(
=
(

[ [
= =
m
i
i
n
i
i
z s
ds
d
p s
ds
d
1
1
1
1
1
1
) ( ln ) ( ln
(2) divided by (1) yields
[ [
= =
=
m
i
i
n
i
i
z s
ds
d
p s
ds
d
1
1
1
1
1
1
) ln( ) ln(
Or

= =

=
n
i
i
m
i
i
p s z s
1
1
1
1
1 1
Thus
Solutions
1
is the breakaway
point o
b
33
The poles and zeros of G(s)H(s) are shown in the
following figure, determine its root loci.
Rule 123
RL have three branchesstarting from
poles 023ending at on finite
zero 1 and two infinite zeros. The RL
are symmetrical with respect to the real
axis.
Ruel 4The intersections [-1,0] and[-3,-2] on the real axis are RL.
Rule 5The RL have two asymptotes(nm2)
(2 1)180
90 , 270
0,1
a
i
n m
i
+
= =
=
2
2
) 1 ( ) 3 ( ) 2 ( 0
m n
z p
m
1 i
i
n
1 i
i
a
=
+ +
=
o

= =
Rule 6The RL have breakaway points on the real axis (within[-3,-2])

3
1
2
1
0
1
1
1
b b b b
o o o o
47 . 2 =
b
o

0
-1 -2 -3
j

Example
34
Method2
The breakaway point o
b
is the solution of
1
1
( )
0
( )
n
i
i
m
i
i
s p
dK d
ds ds
s z
=
=
| |
|
|
= =
|
|
\ .
[
[
Proof
Suppose s moves from p
2
to p
1
, if we
increase K from zeroK reaches its
maximum when s reaches o
b
. Then K
decreases and reaches zero at p
1.

K corresponding to the
breakaway point has the
maximum value. Thus
1
1
( )
0
( )
n
i
i
m
i
i
s p
dK d
ds ds
s z
=
=
| |
|
|
= =
|
|
\ .
[
[

35
2
( ) ( )
( 4)( 4 20)
K
G s H s
s s s s
=
+ + +
Rule 1234 n=4,m=0
the RL are symmetrical with respect
to the real axis;
the RL have four branches which
start from poles 0,-4 and -2j4 ;
the RL end at infinite zeros;
the intersection [-4,0] on the real-
axis is RL
0
-2
-j4
-4
j

j4
(2 1)180
( 0,1, 2, 3)
45 135 , 225 315
a
l
l
n m
+
= =
=
Rule 5
The RL have four asymptotes.
2
4
) 2 ( ) 2 ( ) 4 ( 0
m n
z p
m
1 i
i
n
1 i
i
a
=
+ +
=
o

= =

Example
36
2
1 ( ) ( ) 1 0
( 4)( 4 20)
K
G s H s
s s s s
+ = + =
+ + +
2
4 3 2
( 4)( 4 20)
( 8 36 80 )
K s s s s
s s s s
= + + +
= + + +
3 2
(4 24 72 80) 0
dK
s s s
ds
= + + + =
Rule 6the breakaway point of
the RL
2
1
=
b
o
45 . 2 2
3 , 2
j
b
= o
2
( ) ( )
( 4)( 4 20)
K
G s H s
s s s s
=
+ + +
0
-2
-j4
-4
j

j4
Example
37
7 Angles of departure and angles of arrival of the RL
The angle of departure or arrival of a root locus at a pole or zero,
respectively, of G(s)H(s) denotes the angle of the tangent to the
locus near the point.
38
Angle of Departure:
1 1
(2 1) ( ) ( ), 0, 1,
m n
pj j i j i
i i
i j
l p z p p l u t
= =
=
+ Z Z =

Pick up a point s
1
that is close to p
1
Applying Angle Equation (AE)
1 1 1 1 1 2 1 3
( ) ( ) ( ) ( )
(2 1)
s z s p s p s p
l t
Z Z Z Z =
+
s
1
p
1

) (
1 1
p s Z
angle of departure
p1
1 1 1 1 2 1 3
(2 1) ( ) ( ) ( )
p
l p z p p p p u t + Z Z Z
39
1 1
(2 1) ( ) ( ), 0, 1,
n m
zj j i j i
i i
i j
l z p z z l t
= =
=
+ Z Z =

Angle of Arrival:
40
( ) ( )
2
( ) ( )
1 1
Ks
G s H s
s s
=
+
3 poles P
1,2
=-1(repeated poles) P3=11 zero Z
1
=0n-m=2
3 branches 2 asymptotes
1 1
1 1 1 0
0.5
3 1
n m
i i
i i
a
P Z
n m
o
= =
+
= = =

(2 1) 3
,
2 2
a
l
n m
t t t
|
+
= =
3
(2 1) ,
2 2 2
pl
l
t t t
u t t t = + + =
Angle of departure:
Example
Determine its RL when K varies from 0 to .
-1
j
-0.5
1
41
8 Intersection of the RL with the Imaginary Axis

Intersection of the RL with
Im-axis?
Method 1 Use Rouths criterion to obtain the value of
K when the system is marginally stable, the get
from K.
The characteristic equation have
roots on the Im-axis and the
system is marginally stable.
Method 2
e j s =
1 ( ) ( ) 0 G j H j e e + =
| |
| |
= +
= +
0 ) ( ) ( 1 Im
0 ) ( ) ( 1 Re
e e
e e
j H j G
j H j G
1 ( ) ( ) 0 G s H s + =
e
42
( ) ( )
( 1)( 2)
K
G s H s
s s s
=
+ +
Closed-loop CE:
3 2
( 1)( 2) 3 2 0 s s s K s s s K + + + = + + + =
3
2
1
0
1 2
3
6
0
3
s
s K
K
s
s K
Marginally stable:
K =6
Auxiliary equation:
0 6 3
2
= + s
2 j s =
Intersection point:
Example
Determine the intersection of the RL with Im-axis.
Rouths Tabulation:
Method 1
43
3 2 2 3
( ) 3( ) 2( ) ( 3 ) (2 ) 0 j j j K K j e e e e e e + + + = + =
2
3 0 K e Real par t :
3
Imaginary part: 2 0 e e
2 = e 6 K =
( ) ( )
( 1)( 2)
K
G s H s
s s s
=
+ +
e j s =
1 ( ) ( ) 0 G j H j e e + =
Closed-loop CE
Example
Determine the intersection of the RL with Im-axis.
Method 2
Closed-loop CE:
3 2
( 1)( 2) 3 2 0 s s s K s s s K + + + = + + + =
Summary of General Rules for Constructing
Root Loci
First, obtain the
characteristic equation (CE)
1 ( ) ( ) 0 G s H s + =
Then, rearrange the equation so that the parameters of
interest appear as the multiplying factor in the form
1 2
1 2
( )( ) ( )
1 0
( )( ) ( )
m
n
K s z s z s z
s p s p s p

+ =

We sketch the Root Loci when K>0 varies from 0 to .
G(s)
H(s)
-
R(S) Y(s)
Step 1: Locate the poles and zeros of G(s)H(s) on the s-
plane. The RL start from poles of G(s)H(s) and terminate
at zeros (finite zeros or zeros at infinity)
Step 2: Determine the RL on the real-axis. Choose a
test point on the real-axis, if the total number of real
poles and real zeros to the right of the test is odd, then
the test point is on the RL.
Step 3: Determine the asymptotes of RL.
(2 1)180
a
i
n m
+
=
The angles between the asymptotes

and the real axis arei= 01
2 ,n-m-1
The asymptotes intersect
the real-axis at
1 1
n m
i i
i i
a
p z
n m
o
= =

Step 4: Determine the breakaway and break-in points.
The breakaway and break-in points can be determined
by finding the roots of
( ) ( )
0 0
dK dG s H s
or
ds ds
= =
Step 5: Determine the angle of departure (angle of
arrival) of the RL from a complex pole (at a complex zero)
Angle of departure from a complex pole p
j
=
1, 1
180 ( ) ( )
i i
n m
o
j j
i i j i
p p p z
= = =
Z + Z

Angle of arrival at a complex zero z
k
=
1 1,
180 ( ) ( )
i i
n m
o
k k
i i i k
z p z z
= = =
+ Z + Z

Step 6: Find the points where the RL may cross the
imaginary-axis.
Method 1 Use Rouths criterion to obtain the value of
K when the system is marginally stable, the get
from K.
Method 2
e j s =
1 ( ) ( ) 0 G j H j e e + =
| |
| |
= +
= +
0 ) ( ) ( 1 Im
0 ) ( ) ( 1 Re
e e
e e
j H j G
j H j G
1 ( ) ( ) 0 G s H s + =
e
48
Consider a unity feedback system with the open-
loop transfer function as:
2
( )
( 3)( 2 2)
K
G s
s s s s
=
+ + +
loop poles: p
1
=0, p
2
=-3, p
3,4
=-1j, n=4;

no loop zeros: m=0;
2
( ) ( )
( 3)( 2 2)
K
G s H s
s s s s
=
+ + +
loop TF:
Example
Sketch RL of the closed-loop system when K varies from 0 to
.
Solution.
Step 1: Locate the poles and zeros of G(s)H(s) on the s-
plane.
49
2
( ) ( )
( 3)( 2 2)
K
G s H s
s s s s
=
+ + +
-0.5
0.5
1
1.5
0
-1 -1.5 -2 -2.5 -3
Step 2: Determine the RL on
the real-axis. The section
[0,-3] of the real axis are RL.
Step 3: Determine the
asymptotes of RL
(2 1)180
45 ,135 5 , 315
a
i
n m
+
=
= , 22
The angles between
the asymptotes and
the real axis arei= 0
12 ,n-m-1
The asymptotes intersect
the real-axis at
1 1
1.25
n m
i i
i i
a
p z
n m
o
= =
= =

50
2
( ) ( )
( 3)( 2 2)
K
G s H s
s s s s
=
+ + +
-0.5
0.5
1
1.5
0
-1 -1.5 -2 -2.5 -3
1
1
0, i.e.,
1 1 1 1
0
3 1 1
n
i
i
d P
d d d j d j
=
=
+ + + =
+ + + +
2.3 d =
Step 4: Determine the
breakaway and break-in
points.
51
3 3
1
3
1
3
180 ( )
( )
m
p i
i
n
i
i
i
p z
p p
u
=
=
=
= + Z
Z
2
( ) ( )
( 3)( 2 2)
K
G s H s
s s s s
=
+ + +
3
71.6
p
u =
-0.5
0.5
1
1.5
0
-1 -1.5 -2 -2.5 -3
3 p
u
Using measurement to estimate
Step 5: Determine the angle of
departure (angle of arrival) of
the RL from a complex pole (at
a complex zero)
52
2
( ) ( )
( 3)( 2 2)
K
G s H s
s s s s
=
+ + +
-0.5
0.5
1
1.5
0
-1 -1.5 -2 -2.5 -3
3 p
u
Substituting S=jw into the
above equation yields:
4 2
3
8 0
5 6 0
K e e
e e
+ =
+ =
4 3 2
( ) 5 8 6 0 D s s s s s K = + + + + =
The characteristic equation:
1.1
8.16 K
e =
Step 6: Find the points

where the RL may cross the
imaginary-axis.
53
2
( ) ( )
( 3)( 2 2)
K
G s H s
s s s s
=
+ + +
-0.5
0.5
1
1.5
0
-1 -1.5 -2 -2.5 -3
3 p
u
0 K
0 K
K
K
K
K
816 K.
The complete RL:
0 K
0 K
816 K.
RL Demo 1
j
0
j
0
j
0
j
0
j
0
j
0
0
j
0
j
0
j
j
0
0
j
RL Demo 2
j
0
j
0
j
0
0
j
j
0
j
0
j
0
j
0
0
j
j
0 0
j j
0
56
Draw RL using MATLAB
2 4 3 2
1
( ) ( )
( 3)( 2 2) 5 8 6
K
G s H s K
s s s s s s s s
= =
+ + + + + +
Loop function:
>>n=1;
>> d=[1 5 8 6 0];
>>sys=tf(n,d);
>>rlocus(sys)
Every point on the RL represents a closed-loop pole
corresponding to a certain value of K which can be
determined according to the Magnitude Equation

Determination of closed-loop poles
Magnitude Equation :
1
1
1
m
i
i
n
i
i
K s Z
s P
=
=
[
[
Determine the closed-loop poles when K =4.
Example
2
( )
( 3)( 2 2)
K
G s
s s s s
=
+ + +
-0.5
0.5
1
1.5
0
-1 -1.5 -2 -2.5 -3
d2.3
816 K.
jw1.1
Given the RL of a unity feedback system whose
open-loop transfer function is:
Determine the closed-loop pole
according to ME:
Magnitude Equation :
1
1
1
m
i
i
n
i
i
K s Z
s P
=
=
[
[
4 polesno zero
2
( ) ( )
( 3)( 2 2)
K
G s H s
s s s s
=
+ + +
4
1
2
4
( 3)( 2 2) 4
i
i
K s P
s s s s
=
= =
+ + + =
[
Pick two points within [3
-2.3] and [-2.3,0] , using
trial-and-error to find the
closed-loop poles on the
real-axis.
1 2
2, 2.51 s s = =
So there are exist the two
real closed-loop poles locating
at two sides of the breakaway
point corresponding to K=4
At the breakaway point d=-2.3,
its corresponding K=4.3
K increases from 0 to 4.3
Closed-loop CE:

4 3 2
5 8 6 0 s s s s K + + + + =
Using the Synthetic Division to get
2
3 4
( )( ) 0.48 0.79 s s s s s s = + +
4 3 2
3 4
( 2)( 2.52)( )( ) 5 8 6 4 s s s s s s s s s s + + = + + + +
2 4 3 2
3 4
( 4.52 5.04)( )( ) 5 8 6 4 s s s s s s s s s s + + = + + + +
1 2
using 2, 2.51 and 4 s s K = = =
3
4
0.24 0.86
0.24 0.86
s j
s j
= +
=
So when K=4, the closed-loop transfer function is
4
( )
( 2)( 2.51)( 0.24 0.86)( 0.24 0.86)
s
s s s j s j
| =
+ + + + +
Effects of Adding Poles and Zeros to G(s)H(s)
Example
( ) ( )
( 4)
K
G s H s
s s
=
+
0
-4
-2
Breakaway point:
Poles: -4, 0
( ) ( )
0 2
dG s H s
s
ds
= =
1. Addition of poles of G(s)H(s)
Example ( ) ( )
( 4)
K
G s H s
s s
=
+
Add a pole at s=-5, we have
( ) ( )
( 4)( 5)
K
G s H s
s s s
=
+ +
0
-4
-5
Poles: -5,-4, 0 no zeros, n=3,m=0
Breakaway point:
( ) ( )
0 1.47
dG s H s
s
ds
= =

RL on real-axis: (-,-5] and [-4,0]
Angle of asymptotes= 60,180 ,300
Intersection of asymptotes with real-axis = -3
-3
Intersection of RL with Im-axis = 4.47j
0
-4
-2
Adding a pole to G(s)H(s) has the effect of pushing
the root loci toward the right-half plane.
2. Addition of zeros of G(s)H(s)
Example ( ) ( )
( 4)
K
G s H s
s s
=
+
Add two zeros at s=-53j, we have
2
( 10 34)
( ) ( )
( 4)
K s s
G s H s
s s
+ +
=
+
0
-4
-5
Poles: -4, 0 zero: -53j, n=2,m=2
Breakaway point:
( ) ( )
.93 0 2
dG s H s
s
ds
= =

RL on real-axis: [-4,0]
-3
Adding left-half plane zeros to G(s)H(s) generally has the
effect of moving and bending the root loci toward the left-
half plane.
3
-3 0
-4
-2
Example 1. Given a systems structure diagram, where the
parameter is speed feedback constant.
Problem: Draw RL when varies from 0 to .
t
K
) 2 (
10
+ s s
Y(s)
1+ s
-
R(s)
2) s(s
10
+
t
K
RL for the case of varying zeros of G(s)H(s)
t
K
The RL loop transfer function
is
) 2 (
) 1 ( 10
) ( ) (
+
+
=
s s
s K
s H s G
t
The closed-loop transfer function is
2
( ) 10
( )
1 ( ) ( ) 2 10 10
t
G s
s
G s H s s s K s
| = =
+ + + +
) 2 (
10
+ s s
Y(s)
1+ s
-
R(s)
2) s(s
10
+
t
K
2
10
1 0
2 10
t
K s
s s
+ =
+ +
2
2 10 10 0
t
s s K s + + + =
It can be re-written as
Define
The characteristic equation is:
The is the equivalent RL loop transfer
function whose RL loop gain is
) (
1
S G
10
t
K
*
1
2
*
10
( )
2 10 ( 1 3)( 1 3)
10
t t
t t
K s K s
G S
s s s j s j
K K
= =
+ + + + +
=
The new system is shown as follows:

The closed-loop transfer function

Note: The same denominator, but different numerator,
compared with the original system.
2
10
2 10
t
K s
s s + +
-
Y(s)
R(s)
s K s s
s K
s s
s K
s s
s K
s
t
t
t
t
10 10 2
10
10 2
10
1
10 2
10
) (
2
2
2
+ + +
=
+ +
+
+ +
= |
2 poles, 1 zeros
n=2, m=1
1 2 1
1 2
l
The breakaway point :
1/( - ) 1/ ( ) 1/ ( )
3.16, 3.16 (deleted)
180
=
d
d p d p d z
d d
l
u
+ =
= =
1 2 1
1 3, 1 3, 0 p j p j z = + = =
1
2
From 1 (s) 0, the corresponding gain is:
-(s 2s 10)/10s 0.43
t
t
G K
K
+ =
= + + =
*
1
2
*
( )
2 10
( 10 )
t
t t
K s
G S
s s
K K
=
+ +
=
j

-1 -2 -3 -4
1
2
3
2 branches, one approaches to zero,
the other approaches to inf
There are RL on the real axis [-, 0]
0.43
t
K =
For the new system:
Remark
With the root loci drew by equivalent open-loop transfer
function, we can only determine system closed-loop poles, we still
need to determine the system closed-loop zeros to analyze
system dynamic behavior.
Analysis of the influence of variation of Kt on the
system
) 2 (
10
+ s s
Y(s)
1+ s
-
R(s)
2) s(s
10
+
t
K
When Kt varies from 0 to
infinity, an zero is added to
the loop function G(s)H(s)
and the zero moves from the
negative infinity to the origin
of s-plane.
When Kt is small, a pair of closed-loop
complex-conjugate poles are close to the
Im-axis, the overshoot of system step
response is large and the oscillation is
strong. When Kt is small, the system
velocity feedback signal is weak and under-
damped.
When Kt increases, the system damp is
enhanced, the oscillation is weaken and the
overshoot decreases, the system behavior
is enhanced.
The breakaway point: Kt0.43the
system is critically damped.
When Kt>0.43, the two closed-loop poles
are negative and real , the system is over-
damped.
j

-1 -2 -3 -4
1
2
3
0.43
t
K =
Adding left-half plane zeros to open-loop transfer
function generally has the effect of moving and bending
the root loci toward the left-half s-plane.
Example 2: Consider a unity feedback system whose
open-loop transfer function is
) 1 )( 1 (
) ( ) (
+ +
=
s Ts s
k
S H S G
t
where K and T are given constants,while the parameter is
to be determined.

Problem: Draw RL whenvaries from 0 to infinity.
RL for the case of varying poles of G(s)H(s)
The characteristic equation
1+G(S)H(s)=0
2
( 1) ( 1) 0 s Ts s Ts k t + + + + =
) 1 )( 1 (
) ( ) (
+ +
=
s Ts s
k
S H S G
t
2
( 1)
1 0
( 1)
s Ts
s Ts k
t +
+ =
+ +
The equivalent open loop transfer function G
1
(s)
2 2
1
2
( 1) ( 1)
( )
( 1)
s Ts s Ts
G S
s Ts k Ts s k
t t + +
= =
+ + + +
Solving
T
Tk
s k s Ts
2
4 1 1
yields 0
2 , 1
2

= = + +
Suppose that 4KT>1, then two complex poles of G(S)
are:
2
2
2
1
)
2
1
(
2
1
, )
2
1
(
2
1
T T
K
j
T
P
T T
k
j
T
P = + =
2 poles, 3 zeros Z
1
=Z
2
=0,Z
3
=-1/T
So number of branches of the RL is equal to 3.
According to rule 8, the interaction point with the
imaginary axis is determined by 1+G1(jw)=0, that is
=
=
=
+ +
+
+
0
0
0
) 1 (
) 1 ( ) (
1
3
2 2
2
e t e
e t e
t
T
T k
k jwT jw
jwT jw
c
c
c
It follows that
1
,
1
=
KT
T
T
KT
c
t e
2
1
1 2
( 1)
( )
( )( )
s Ts
G S
s P s P
t +
=

2
2
2
1
)
2
1
(
2
1
, )
2
1
(
2
1
T T
K
j
T
P
T T
k
j
T
P = + =
RL whenvaries from 0 to infinity is shown as follows:

Adding a pole to open-loop transfer function has
The effect of pushing the RL toward the right-half plane
j
p1
p2
-1/T 1/(-2T)
= t
0 = t
c
t
c
t t >
the system is unstable.
Example
( 1)( 2)
( )
( 1)
K s s
G s
s s
+ +
=
2 2
1.37, 139 d K = =
Consider the RL of a
unity-feedback system
j
0 1 -1 -2
d
1
=0.366
k
1
=0.0718
d
2
= -1.37
k
2
=13.9
s=0.7j
k
1
=0.332
1 Determine the closed-
loop TF when its CE has
multi-order roots.
2 Determine the steady-state error with a ramp input for
underdamped closed-loop system
Solution.
1. RL loop function:
The CE of closed-loop system has multi-order roots at two
breakaway points which are actually two closed-loop roots
1 1
0.366, 0.0718 d K = =
2
( ) 0.067( 1)( 2)
( )
1 ( ) ( 0.366)
G s s s
s
G s s
|
+ +
= =
+
2
( ) 0.933( 1)( 2)
( )
1 ( ) ( 1.37)
G s s s
s
G s s
|
+ +
= =
+ +
2 2
1.37, 13.9 d K = =
( 1)( 2)
( )
( 1)
K s s
G s
s s
+ +
=
2 2
1.37, 139 d K = =
Consider the RL of a
unity-feedback system
j
0 1 -1 -2
d
1
=0.366
k
1
=0.0718
d
2
= -1.37
k
2
=13.9
s=0.7j
k
1
=0.332
1 Determine the closed-loop
TF when its CE has multi-
order roots.
2 Determine the steady-state error with a ramp input for
underdamped closed-loop system
Solution.
2. RL loop function:
Type-1
system:
For a ramp input, the
ramp error constant:
0
lim ( ) 2
v
s
K sG s K
= =
Closed-loop system is
underdamped:
0.332 13.9 K < <
The steady-state error:
1
ss
v
e
K
=
1.5 0.036
ss
e < <
Example
An example of a control system
analysis and design utilizing Root
Locus technique
An automatic self-balancing scale
We desire to accomplish the following:
Select the parameters of the system
Determine the specifications
Obtain a model represent the system
Design the gain K using root locus
Determine the dominant mode of response
Parameters
2
Counterweight:
Inertia of the beam:
Length of the weight to the pivot:
Lengt
2
0.05
5
20 h of the beam to the viscous damper:
Damping constant 10 of the viscous damper: 3 / /
c
w
i
W N
I kgm
l cm
l cm
b kg m s
=
=
=
=
=
Lead screw gain:
Input potentiometer gain:
Feedback pote
1
/
400
ntiome
0
4800 /
ter gai 4 0 / n 0 :
s
i
f
K m rad
K V m
K V m
t
=
=
=
Specifications
A rapid and accurate response resulting in a small steady-state
weight measurement error is desired.
Specifications
Steady-state error (for a step input) K
p
=, e
ss=0

Underdamped response =0.5
Settling time (error band <2%) t
s
<2sec
Mathematical model
i
y
l
u
The motion of the beam about the pivot is
represented by the torque equation:
2
2
d
I torques
dt
u
= E
For a small deviations from balance, the
deviation angle is
2
2
2
w c i
d d
I l W xW l b
dt dt
u u
=
Mathematical model
( )
m i f
v t K y K x =
The transfer function of the motor is:
( )
( ) ( 1)
m m m
m
s K K
V s s s s
u
t
=
+
The input voltage to the motor is
where is negligible with respect to the time
constants of the overall system and m is the
output shaft rotation.
Block diagram
Signal-flow
Using Masons formula:
1
( )
( )
N
out k k
k
in
y M X s
W s y
=
A
= =
A
2
11 21
3
31
,
i m s f
i m s f c
L l b Is L K K K s
L l K K K W Is
= =
=
3
1 1
, 1
w i i m s
M l l K K K Is = A =
Forward path:
Loop path:
2 2
12 i m s f
L l bK K K Is =
Nontouching loops:
11 21 31 12
1 ( ) L L L L A = + + +
2
( )
( )
( ) ( )( )
w i i m s
i m s f c m s i i
l l K K K X s
s
W s s Is l b s K K K W K K K l
| = =
+ + +
The closed-loop transfer function:
Characteristic equation:
2
( )( ) 0
i m s f c m s i i
s Is l b s K K K W K K K l + + + =
The steady-state gain of the system is:
0
( ) 0.05
lim 0.025 /
( ) 2
w i i m s w
s
c m s i i c
l l K K K l X s
m kg
W s W K K K l W
| |
= = = =
|
\ .
Substituting the selected parameter into the CE yields:
( )
96
8 3 0
10 10
m m
K K
s s s
t t
| |
+ + + =
|
\ .
To rewrite it into root locus form, first isolate K
m
as
follows:
( ) ( )
2
96
8 3 8 3 0
10 10
m m
K K
s s s s
t t
+ + + + =
Rewrite it into root locus form:
2
( 6.93 6.93)( 6.93 6.93)
( ) ( )
( 13.856 ) 4
s j s j
G s H s
s s
+ + +
=
+
2
1 ( ) ( )
( 10 )( 6.93 6.93)( 6.93 6.93)
1 0
( 8 3)
m
KG s H s
K s j s j
s s
t
+
+ + +
= + =
+
10
m
K K t =
We draw the root locus as K varies from 0 to
With MATLAB:
2
( 6.93 6.93)( 6.93 6.93)
1 0
( 13.8564)
s j s j
K
s s
+ + +
+ =
+
> >z=[-6.93-6.93i, -6.93+6.93i];

>>p=[0 0 -13.8564];

>>k=1;

>>sys=zpk(z,p,k);

>>rlocus(sys)
The dominant closed-loop poles can be placed at:
0.5, 25.3 K , = =
To achieve this gain:
/
10 795
m
rad s
K K
volt
t = =
Closed-loop
CE:
Let us observe the time-domain step response
of the closed-loop system with the designed Km
in MATLAB to see if it satisfied the desired
specifications.
Specifications
Steady-state error (for a step input) K
p
=, e
ss=0

Underdamped response =0.5
Settling time (error band <2%) t
s
<2sec
Parameter Design by Root
Locus Technique
Originally the root locus method was developed in
determine the loci of roots of the characteristic
equation as the system gain, K, varies from 0 to .
However, as we have see, the effect of other system
parameters may be readily investigated by using the
root locus technique.
For example, a third-order equation of interest might
be
3 2
(3 ) 3 6 0 s s s o + + + + =
To ascertain the effect of the parameter , we isolate
the parameter and rewrite the equation in root locus
form
2
3 2
1 0
3 3 6
s
s s s
o
+ =
+ + +
If there are more than one (m>1) parameters we want to
investigate, we must repeat the root locus approach m
times.
3 2
0 s s s | o + + + =
3 2
1 0
s
s s
|
o
+ =
+ +
The denominator of the above RL equation is the
characteristic equation of the system with .
0 | =
For example, a third-order characteristic equation with
and as parameters o |
The effect of varying from 0 to is determined
from the root locus equation
|
3 2
0 s s o + + =
Rewritten as RL form:
2
1 0
( 1) s s
o
+ =
+
Then upon evaluating the effect of , a value of is
selected and used to evaluate the effect of .
o o
|
Therefore, we must first evaluate the effect of varying
from 0 to by utilizing o
When more than one parameters varies continuously
from 0 to , the family of root loci are referred to as
the root contours(RC).
Example
3 2
3 2 0 s s s s | o + + + + =

Root Locus

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NUAA-Control System Engineering

When n m, there will be 2|n-m| asymptotes that describe the

Rule 6The RL have breakaway points on the real axis (within[-3,-2])

Control System Engineering-2008

The angles between the asymptotes

Control System Engineering-2008

Step 6: Find the points

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