Root Locus Analysis

Example 5.2
Sketch the root locus of the system with loop transfer function
K
G( s) H( s) = -s(-s +-2)-( S72 -+-s +-1-)
Step 1
Plot the poles and zeros of G(s) H(s)
Zeros: nil
Poles: 0, - 2, - 0.5 j ~
Step 2
169
There are 4 root locus branches. Since there are no zeros all these branches 'go to infinity along
asymptotes.
Step 3
Angles of asymptotes
Step 4
Centroid'
(2k + 1)180
~ = n-m
180
"" = - =45
0
'1'1 4-0
180 0
~ = 5. 4 _ 0 = 225
k = 0, 1,2,3
~ real parts of poles - ~ real parts of zeros
O'a =
n-m
0-2-0.5 -0.5 3
=--
4 4
170
Step 5
Root locus on real axis.
Root locus lies between 0 and - 2.
A sketch of the root locus upto this point is given in Fig. 5.14 (a)
1m s
K=O
-2
Fig. 5.14 (a) Partial root locus
Step 6
Breakaway points
K=O J3
x
x
K=O
K=O
Control Systems
Res
There is one breakaway point lying between 0 and 2. Its location can be obtained by using,
dK
-=0
ds
K = - s (s + 2) (s2 + S + 1)
= - S4 _ 3s
3
- 3s
2
- 2s
dK
- = - 4s3 - 9s
2
- 6s - 2 = 0
ds
4s
3
+ 9s
2
+ 6s + 2 = 0
Solving this for a root in the range 0 to 2 by trial and error we get the breakaway point as,
s = - 1.455
Step 7
Angle of departure from complex poles
s = - 0.5 +J' .J3
- 2
.J3
Draw vectors from all other poles and zeros to complex pole s = - 0.5 j as shown in
2
Fig. 5.14 (b).
Root Locus Analysis
Ims
-2
o
Fig. 5.14 (b) Calculation of angle of departure from s = - 0.5 .! j ~
The net angle at the complex pole due to all other poles and zeros is
~ = - ~ - ~ 2 - ~ 3
Re s
[
180 -1 J3] -1 J3
=- -tan --1 -90-tan --
2x- 2x 1.5
Angle of departure
Step 8
Crossing of jro-axis
2
= - 120 - 90 - 30 = - 240
~ p = (2k + 1) 180 + ~
= 180 - 240
=-60
The characteristic equation is,
1 + G(s) H(s) = 0
1 + K = 0
s(s + 2)(S2 + s + 1)
S4 + 3s
3
+ 3s
2
+ 2s + K = 0
Constructing the Routh Table:
S4
3
s3
3 2
s2
7
-
K
3
SI
14/3 -3K
7/3
sO
K
k = 0, 1,2
K
171
172
S
1
row becomes zero for
14 14
3K= 3 orK= 9
Auxiliary equation for this value ofK is,
7 14
- s2 + - = 0
3 9
2
s2=_ -
3
s=j H =j 0.8165
14
The root locus crosses jro-axis at s = j 0.8165 for K = 9
Control Systems
From these steps the complete root locus is sketched as shown in Fig. 5.14 (c)
-2
j 0.8165
_j'J3
-1'
K
Fig. 5.14 (c) Complete root locus sketch for G(s) H(s) = 2
s(s + 2)(s + s + 1)
Example 5.3
Sketch the root locus of the following unity feedback system with
K
G(s) = s(s + 2)(S2 + 2s + 4)
(a) Find the value ofK at breakaway points
(b) Find the value ofK and the closed loop poles at which the damping factor is 0.6.
Root Locus Analysis
173
Solution:
Step 1
Plot the poles and zeros
Zeros: nil
Poles : 0, - 2, - 1 j .J3
Step]
There are 4 root locus branches starting from the open loop poles. All these branches go to zeros at
infInity.
Step 3
Angles of asymptotes.
Since
Step 4
Centroid
Step 5
n- m = 4,
cp = 45, 135,225, and 315
(J =
a
0-2-1-1
4
=-1
The root locus branch on real axis lies between 0 and - 2 only.
Step 6
Breakaway points
dK
-=0
ds
K = - s (s + 2) (S2 + 2s + 4)
= (S4 + 4s
3
+ 8s
2
+ 8s)
dK
- = 4s
3
+ 12s2 + 16s + 8 = 0
ds
It is easy to see that (s + 1) is a root of this equation as the sum of the coefficients of odd powers
of s is equal to the sum of the even powers of s. The other two roots can be obtained easily as.
s=-I':tjl
dK
So the roots of ds are s = - 1, - 1 j 1.
c-- s = - 1 is a point on the root locus lying on the real axis and hence it is a breakaway point. We have
to test whether the points - 1 j 1 lie on the root locus or not.
fi K
G(s) H(s)ls = -I + jl = angle of (-1 + jl)( -1 + jl + 2)[(-1 + jl)2 + 2(-1 + jl) + 4]
/G(s) H(s)ls=_1 +jl = (- 135 - 45 - 0)
= - 180.
174 Control Systems
Thus angle criterion is satisfied. Therefore s = - 1 j r will-be points on the root locus. All the
elK
roots of ds = 0 are thus the breakaway points.
dK
This is an example where all the roots of ds = 0 are breakaway points and some breakaway
points may be complex.
Step 7
Angles- of departure
ell!
-2
-1
eIl
2
Fig. 5.15 (a) Angle of departure from complex poles.
The net angle at the complex pole s = - 1 + j .J3 due to all other poles is
cp = - eII
l
- e11
2
- e11
3
= - 120 - 90 - 60
= 270
:. eIIp = 180 - 270 = - 90
Since there ate two branches on the real axis and they breakaway from re::-.l axis at s = - 1 at an
180
angle 2 = 90, and the angles of departure from complex poles are also - 90 and + 90, the two root
locus branches meet at - 1 + jl and break away from these as shown in Fig. 5.15 (b).
K=O
i.J,/
jfi
Root Locus Analysis
Step 8
Crossing of jro-axis.
The characteristic equation is
S4 + 45
3
+ 85
2
+ 85 + K = 0
Applying Routh's criterion,
4
6
48-4K
6
sO K
Making 5
1
row equal to zero, we have
48 -4K= 0
K= 12
With K = 12 in s2 row, the auxiliary equation is
65
2
+ 12 = ('
s=j .fi
8
8
K
The root locus branches cross the jro-axis at j .fi
The complete root locus is sketched in Fig. 5.15 (b)
175
K
(a) Let us fmd the value ofK at which complex conjugate poles are repeated Le., at s = -1 + jl.
K = - 5 (5 + 2) (s2 + 2s + 4)s = -1 + Jl
= - (- 1 + j 1)(- 1 + j 1 + 2) {( - 1 + j 1)2 + 2 (- 1 + j 1) + 4}
=4
The characteristic equation for this value of K i5
(5 + 1 + j 1 i (s + 1 - j 1)2 = 0
(52 + 2s + 2)2 = 0
At the real breakaway point s = - 1
K = - 5 (s + 2) (52 + 2s + 4)s =-1
=1(1)(1-2+4)
=3
(b) Recalling the fact that a complex pole can be written as
- oron + jro
n
~ 0
2
176 Control Systems
the angle made by the vector drawn for origin to this pole is Cos-
1
8, with the negative real axis
as shown in Fig. 5.16.
1m s
r o ~
o
~
I COS-l I)
-&on
Fig. 5.16 Angle made by the vector from origin to a complex pole.
Res
Let us find the value of K for which the damping factor of the closed loop system is 0.6 in
example 5.3. Since Cos-
1
0.6 = 53.13.
Let us draw a line making 53.13 with negative real axis as shown in Fig. 5.17.
Fig. 5.17 Root locus of Ex. 5.3.
This line cuts the root locus at two points A and C. Let us find the value ofK and the closed loop
poles at the point A.
The point A is obtained as,
AB = OB tan 53.13
= 1.333
The two complex roots of the closed loop system are,
s = - 1 j 1.333
At this point, the value of K can be obtained as discussed earlier using eqn. (5.42).
Root Locus Analysis
177
4
K = ~ I(SI + pJI
= 1(-1 + j1.333)( -1 + j1.333 + 2)(-1 + j1.333 + 1 + j.J3)( -1 + j1.333 + 1 - j.J3) I
= 1.666 x 1.666 x 3.06 x 0.399
= 3.39
At this value of K, the other two closed loop poles can be found from the characteristic equation.
The characteristic equation is
s4 + 4s
3
+ 8s
2
+ 8s + 3.39 = 0
The two complex poles are s = - 1 j 1.333
.. The factor containing these poles i ~
[(s + 1)2 + 1.777]
s2 + 2s + 2.777
Dividing the characteristic equation by this factor, we get the other factor due to the other two
poles. The factor is
s2 + 2s + 1.223
The roots of this factor are
s=-l j 0.472
The closed loop poles with the required damping factor of 8 = 0.6, are obtained with K = 3.39. At
this value of K, the closed loop poles are,
s = - 1 j 1.333, - 1 j 0.472
Note: The Examples 5.2 and 5.3 have the same real poles at s = 0 and s = - 2. The complex poles are
different. If the real part of complex poles is midway between the real poles, the root locus will have
one breakaway point on real axis and two complex breakaway points. If real part is not midway
between the real roots there is only one breakaway point. In addition, if the real part of the complex
roots is equal to the imaginary part, the root locus will be as shown in Fig. 5.18.
K
Fig. 5.18 Root locus of G(s) H(s) = 2
s(s + 2)(s + 2s + 2)
178 Control Systems
The breakaway point is s = - 1 and it is a multiple breakaway point. The angles of departure from
the complex poles is - 90 and + 90. Centroid is (ja = -1. Hence four branches of root locus meet
180
at s = - 1 and break away at angles given by 4 = 45 along asymptotes. The asymptotes themselves
are root locus branches after the breakaway point. For K > 1, all the roots are complex. In this case,
the exact root locus is obtained and it is easy to locate roots for given K or K for a given dampling
factor etc.
Example 5.4
Obtain the root locus of a unity feed back system with
K(s + 4)
G (s) = S2 + 2s + 2
Solution:
Step 1
The poles and zeros are plotted on s-plane
Zeros: s = - 4
Poles: s = - 1 j 1
Step 2
There are two root locus branches starting at - 1 + j 1 and one branch tenninating on the finite zero
s = - 4 and the other on zero at infinity.
Step 3
Angle of asymptotes
Since n - m = 1
Step 4
Centroid
Step 5
(j =
a
-1-1+4
1
=2
Root locus branches on real axis.
Since there is only one zero on the real axis, the entire real axis to the left of this zero is a part of
the root locus.
Step 6
Breakin point
S2 +2s+2
K=-----
s+4
Root Locus Analysis
dK (s+4)(2s+2)-(S2 +2s+2)
= =0
ds (s + 4)2
The roots of S2 + Ss + 6 = 0 are,
-S.J64-24
SI,2 = 2
= - 0.S37, -7.162
Since Sl = - 0.S37 is not a point on the root locus, s = -7.162 is the breakin point.
Step 7
Angle of departure
-I + jl
-4
-I-jl
Fig. 5.19 (a) Calculation of angle of departure
1m s
Angle contribution at - 1 + j 1 by other poles and zeros
1
~ = - 90 + tan-I "3
= - 71.56
The angle of departure from (- 1 + j 1)
~ = ISO - 71.56
= 10S,43
Res
179
From Fig. 5.19 (b) it can be seen that the root locus never crosses jro-axis. The complete root
locus is given in Fig. 5 .19 (b).
K=oo
-4
K(s+4)
Fig. 5.19 (b) Root locus sketch for G(s) H(s) = -c
2
=--'---'-
S +2s+2
Ims
Res
K=Q
-1 -=-jl
180
Example 5.5
Sketch the root locus for
Solution:
Step 1
Open loop
Step 2
K(S2 +2s+2)
G(s) H(s) = s2(s+4)
zeros: -1 jl
Poles : s = 0, 0, - 4
Control Systems
There are three root locus branches. Two of them approach the zeros at 1 + j 1. The third goes to
infinity along the assymptote with an angle 180
0

Step 3
-4+1+1
(j = =-2
a 1
Step 4
Root locus on real axis lies between - 00 and - 4.
Step 5
Breakaway point.
Since s = is a multiple root, the root locii break away at s = 0.
Step 6
Angle of arrival at complex zero 1 j 1.
-1 + jl
-4
Fig. 5.20 (a) Angle of arrival at complex zero
~ = ~ 2
Total angle contribution by all other poles and zeros at s = 1 j 1.
1
<II = - 2 (180 - tan-II) + 90 - tan-
1
-
3
= - 198.43
Root Locus Analysis
Angle of arrival at zero at -1 j 1 is
<l>z = 180 - (- 198.43)
= 18.43 .
Step 7
jro-axis crossing
The characteristic equation is
s3 + s2 (K + 4) + 2Ks + 2K = 0
Routh Table
s3
s2
K+4
2K2 +8K-2K
K+4
2K
S I row will be zero if,
or
2K2 + 6K= 0
K=O, K=-3
2K
2K
o
Since K = - 3 is not valid, the crossing of jro-axis is for K = 0 i.e., at s = O.
The complete root locus plot is given in Fig. 5.20 (b).
K=O
-4
K(S2 +2s+2)
Fig. 5.20 (b) Complete root locus of ----'--2-----'-
s (s + 4)
Example 5.6
-1- jl
1m s
""""'...--1-18.43
0
K=O
K=oo
Sketch the root locus o( the system whose characteristic equation is given by
S4 + 6s
3
+ 8s
2
+ Ks + K = 0
Solution:
Expressing the given characteristic equation in the form
1 + G(s) H(s) = 0
K(s + 1)
1+ =0
S4 + 6s
3
+ 8s
2
K(s + 1)
:. G(s) H(s) = s2(s+2)(s+4)
Res
181
182 Control Systems
Step 1
Open loop zeros: - 1
Poles: 0, 0, - 2, - 4
Step 2
There are 4 root locus branches starting from the open loop poles and one of them terminates on
open loop zero at s = - 1. The other three branches go to zeros at infinity.
Step 3
Angles of asymptotes
Since
Step 4
Centroid
Step 5
n-m=4-1=3
= 60, 180, - 60
-2-4+1 5
cr =
a 3 3
Root locus on real axis lies between - 1 and - 2, and - 4 to - 00
Step 6
Break away point
The break away point is at s = only.
Step 7
As there are no complex poles or zeros angle of arrival or departure need not be calculated.
Step 8
jro-axis crossing.
From the characteristic equation, Routh table is constructed.
Routh Table
6
48-K
6
48K-K
2
-6K
6
48-K
6
K
8
K
K

K
Root Locus Analysis
A row of zeros is obtained when,
48 K - K2 - 36K
2
= 0
48
K=OorK= -
37
K = 0 gives s = 0 as the cross over point.
F K
48 fi' '}' .. 2
or = 37 onnmg aUXl lary equatlOn usmg s row,
48- 48
_---=-3..:....7 s2 + 48 = 0
6 37
7.784 s2 + 1.297 = 0
s = j 0.408
The complete root locus is sketched in Fig. 5.21.
-4 -2
Fig. 5.21 Root locus for Ex. 5.6.
Example 5.7
183
Re s
If in the Example 5.7, an open loop zero is introduced at s = - 3, sketch the resulting root locus. What
is the effect of this zero.
Solution:
Since a zero is introduced at s = - 3 on the real axis, the following changes occur.
1. The number of branches going to infinity is n - m = (4 - 2) = 2.
2. The angles of asymptotes are 90 and - 90.
184 Control Systems
3. The centroid is
-2-4+ 1+3
cr= =-1
a 2
4. Root locus on real axis will now be between (- 2 and - 1) and (- 4 and - 3)
5. Imaginary axis crossing is only at s = for K = 0, as can be seen from Routh table.
The complete root locus is sketched in Fig. 5.22.
1m s
K=O K=oo K=O
-4 -3
-2
K=O
Res
Fig. 5.22 Root locus for Ex. 5.7.
The effect of adding a zero at s = - 3 is to bend the root locus towards the left and make the
system stable for all positive values of K.
If now a pole is added at s = - 2.5, draw the root locus and find the effect of adding a pole on the
real axis.
Example 5.8
Sketch the root locus of the system shown in Fig. 5.23
K
s
Fig. 5.23 Ststem for Ex. 5.S.
s+1
s(s+10)
C(s)
Root Locus Analysis
Solution:
Step 1
Zeros: - 1
Poles: 0, 0, - 10
Step]
K(s+ 1)
G(s) H(s) =
185
3 root locus branches start from open loop poles and one branch goes to the open loop zero at s = -
1. The other two branches go to infinity.
Step 3
Since n - m = 2, the angles of asymptotes are
= 90, - 90
Step 4
Centroid
Step 5
cr =
a
-10+1
2 = - 4.5
The root locus on real axis lies between, - 10 and - 1
Step 6
The breakaway points
dK
=
ds
2s
3
+ 13 s2 + 20s =
The roots are
s = 0, - 2.5 and - 4
Since all the roots are on the root locus segments on real axis, all of them are breakaway points.
Let us calculate the values of K at the break away points.
At s=O K=O
186
At
At s =-4
s = - 2.5
S2(S + 10)
K = - ----'-----'-I
S + 1 s = -2.5
6.25x7.5
-1.5
= 31.25
16x6
K=---
-3
= 32
Hence the complete sketch of the root locus is as shown in Fig. 5.24.
K=O
-10
K=O
Fig. 5.24 Root locus of Ex. 5.B.
Control Systems
Plot the root locus if the pole at s = - 10 in this example is changed to s = - 9. Also plot the root
locus if the pole at s = - 1 is changed to s = - 2.