Chapter-7 Rules for Sketching a Root Locus

Consider a closed loop system with loop gain of KG ( s) H ( s ) as:

G(s)

H(s)
For the purpose of analysis and design, we are interested in: Finding the root locus of closed loop system, Determining the appropriate gain for K from root locus such that some specific design specification is satisfied. For the above system, we have: "Open loop gain" or "Loop gain" = KG ( s) H ( s) = K
(s + zi ) ( s + pi )
j =1 i =1 n m

where n is the

number of open loop poles and m is the number of open loop zeros (n > m) . The characteristic equation is:
q( s ) = 1 + KG ( s ) H ( s ) = 0 1 + K (s + zi ) ( s + pi )
j =1 i =1 n m

=0

( s + p1 )( s + p 2 )...( s + p n ) + K ( s + z1 )( s + z 2 )...( s + z m ) = 0 K is the root locus parameter and it is always in the range of 0 K .

1. Starting and ending points: The locus of the roots of characteristic equation starts at open loop poles and ends at the open loop zeros as K increase from zero to infinity. In fact, a. Starting point: For K = 0 , the closed loop poles coincide with open loop poles since the pi satisfy the above characteristic equation. b. Ending point: For K = , the closed loop poles approach the open loop zeros since the z i satisfy the above characteristic equation. c. Number of branches: If we define a branch as the path that one pole traverses to a finite or infinite zero, then there will be as many branches as open loop poles (Provided n < m )

d. Symmetry: Because complex closed loop poles are symmetrical with respect to the horizontal axis (due to being complex conjugate), the root locus will be symmetrical with respect to the horizontal axis. 2. Real-axis segments: Root locus exists on those sections of real axis that there are an odd number of finite-open-loop poles and/or finite-open-loop zeros on the real-axis. 3. Asymptotes: If there are more open loop poles than open loop zeros ( n < m ), root locus will approach infinity along asymptotes for those branches with no finite open loop zero. a. The number of asymptotes: is equal to (n m) , i.e. the number of open loop poles minus open loop zeros. b. The real-axis intercept for asymptote: The asymptotes of the root locus all intersect the real axis on a "single point". Its location is given by:
A =

( Finite poles) ( Finite zeros) =

nm

( pi ) ( z i )
i =1 i =1

nm

c. The angle of asymptotes with respect to the real-axis: is given by

A =
(2q + 1) 180, nm

q = 0,1,2,..., (n m 1)

4. Calculation of j axis crossing: The actual point at which the root locus crosses the imaginary axis is readily evaluated using Routh-Hurwitz Criterion. As shown in chapter-6, a complete row of zero yields the possibility of imaginary axis roots. 5. Real-axis breakaway and break-in points (If any): The root locus breaks away from the real axis at a point where the gain is maximum and breaks into the real axis at a point where the gain is minimum. So, set
dK =0 ds 1 , and solve for real values s . Find out which one is G ( s) H ( s)

Where K =

minimum and which one is maximum. 6. Angles of departure and arrivals of the root locus: The root locus departs from complex open loop poles and arrives at open loop complex zeros at angles that can be calculated using "angle condition" as follows: Assume a point close to the complex pole or zero. Add all the angles drawn from all open-loop poles and zero to this point. The sum equals

(2q + 1) . The values of angles drawn from other poles and zero are known

since is very close to the desired pole or zero. The only unknown is the angle drawn from to the pole or zero of interest. Solve the equation for this unknown angle which yields the angle of departure or arrival. 7. Finding the value of K at a desired point on the root locus: All points on the root locus satisfy both angle and amplitude conditions. Using amplitude conditions, find the value of K as:
K= ( finite _ pole _ lengths ) 1 = G ( s ) H ( s ) ( finite _ zero _ lengths )

Note: You can now use the steps by step process, summarized in the textbook (Dorf, Chapter-7, Page 371), to sketch the root locus for various transfer functions.