University of San Carlos

EE/ECE Department

Name: Ambayan, Brendan PG

Subject: ECE 414ALX
Schedule: Th (10:30-1:30)

Date Performed: Sept. 22, 2016

Date Submitted: Oct. 6, 2016
Remarks: _________________

Rootlocus Analysis
Control Engineering Experiment #6
By:
Joseph Karl G. Salva, M.Sc., M.Eng., PECE, ASEAN Engineer
Isabelo A. Rabuya, MSEE
Rafael D. Seva, Jr., MEEE

Shown below is the basic block diagram of a closed-loop control system. The main purpose of
this type of configuration is to determine the value of the controller gain K in order for the
plant or process to follow the input. This is done by offsetting any deviation of the output
relative to the input, by feeding the output back to the input through a sensor, producing an error
signal that drives the controller.
controller
+

Plant/Process

K
Sensor

The closed-loop transfer function of the system above is given by

T ( s )=

KG ( s )
1+ KG ( s ) H ( s )

Its denominator is called the charateristic polynomial and when equated to zero, as shown
below, becomes the characteristic equation and the roots are called the closed-loop poles.
1+ KG ( s ) H ( s ) =0

Rearranging the above equation, results into

G ( s ) H ( s )=

1
K

which means that

|G ( s ) H ( s )|=

1
K

angle of G ( s ) H ( s )= 1800
The last two equations simply means that a controller gain K can be implemented at a point on
the complex plane where the

angle of G ( s ) H ( s )= 1800 . Furthermore, everytime the

controller gain K is varied, closed loop poles will start to move away from the open-loop poles
towards open-loop zeros. Note that at every new location of the closed loop pole, the
angle of G ( s ) H ( s )= 1800 . Now, if
H ( s )=2
G ( s )=

1
s10

Draw the pole-zero plot of the open-loop system on the box provided below.

Is the open-loop system stable? ____Why? ____________________

No, the open-loop system is not stable. Its pole which is 10, is positive and it is
located at the right side of the plane. If there is a pole located at the right side of the plane,
the system is said to be unstable.

This time, evaluate the open-loop system at different values of

S0

as reflected on Table 1.0.

Then put the results on the appropriate cells of the table. Also calculate the value of the
controller gain K that corresponds to the

angle of G ( s ) H ( s ) w hic h is 180

. Show your

solution below.
Using the Formulas below we can complete Table 1.0 :
Pole Length = sqrt (real2+imaginary2) and as you can see from the plot above the reference
Pole value is +10
If S0=12 and the length between 10 and 12 is 2 so;
Pole lenght = sqrt ( 22 + 0) no imaginary value
=2
If S0= -1-j1
Pole length = sqrt (112+12) since there is an imaginary value of 1
= 11.0453
Abs[G(s)H(s)] = 1/(S0-10)
Angle of G(s)H(s) = tan-1 (imaginary/real)
K = 1/ {Abs[G(s)H(s)]}

S0
12
2
0
-2
-1-j1
-1+j1

|G ( s ) H ( s )|
1
0.25
0.2
0.167
0.181
0.181

Table 1.0
angle of G ( s ) H ( s )
0
180
180
180
185.1944
174.8056

1
4
5
6
5.52
5.52

Now, run this program:

n=[2];
d=[1 -10];
rlocus(n,d)
Copy the plot on the box provided below.

Hows the plot related to the data in Table 1.0?

The plot is related to the data in Table 1.0 in terms of angles. Both angles of G(s)H(s) and the
transfer function in the plot above is 180 degrees and both systems have real poles.

In order to fully understand the concept, calculate evaulate

point

S0

G( s ) H (s )

and calculate K at the

described in the last row of Table 1.0. Show your solution below.

Now using this computed value of K,

calculate the pole of the closed loop
system. Also show your solution below.

What can you say about the result?

When K = 5.52, the pole of the closed-loop system is a negative real number
therefore it is located at the left side of the plane.

Using

the recently calculated closed loop pole, evaluate

G( s ) H (s )

magnitude, angle and then the value of K. Show your solution below.

|G ( s ) H ( s )|=

angle of G ( s ) G ( s )=
6

to determine its

K =

You should be able to get the same value of

180

|G ( s ) H ( s )|

and K but the angle will now be

. What is the implication of this new angle?

It means that the pole is located at the real axis.

How do you define rootlocus?

Root locus is a graphical representation use to examine and observe how the roots of a
system will change.

Now, plot the step response when K = 4 and K = 6 on the same plane. Write your program below.

Copy the result on the box provided below.

Calculate the closed loop poles for K = 4 and K = 6 and show

your solution below.
7

On the Matlab workspace, run the command rlocfind(n,d)

This time go to the figure where the rootlocus is. On the rootlocus plot, you will find a crosshair.
Bring the crosshair exactly at the point where the closed-lop pole that correspond to K = 4, then
right click the mouse.
From the Matlab workspace what is the value of K? selected_ point = 1.9336 + 0.0000i
K= 4.0332
Do the same for the closed loop pole that correspond to K=6.
What is K this time? selected_point = -1.9935 + 0.0001i

K = 5.9972

Are the results the same as the assumed Ks? Yes

Is it correct to expect the same value Ks? Why?
These values of K were calculated from the closed-loop transfer function. From the results,
closed-loop poles will move toward open-loop zeros when K is change/varied.
Now, consider the following:
G ( s )=

2
s 4 s+ 20

H ( s )=

s+ 1
s+ 10

Draw the pole-zero plot of the open-loop system on the box provided below.

Determine the rootlocus and copy it on the box provided below.

At

S 0=1+ j 8.7

determine the magnitude and angle of

G ( s ) H ( s ) and show your

solution below.
s=-1+j8.7
|G(s)H(s)| = |(2/(s^2-4*s+20)) * ((s+1)/(s+10))|
|G(s)H(s)| = 0.01910397206
Angle = (2/(s^2-4*s+20)) * ((s+1)/(s+10)) = -179.869783
K = |G(s)H(s)|-1
K = 52.34513519
What is the value of K? 52.345
Now, use the rlocfind command and click at the point specified above.
What is the value of K? 52.459
Are the results the same? No

If not, why? ________

The result is not exactly the same because there are slight variations if the K is solved
manually and the value of K using rlocfind. The variation is slight between point which
gives the same gain as seen from the results above.

Finally, discuss how important is the root locus the design of closed loop control system.
Root locus is a plot showing how the poles and zeros of the closed-loop transfer function
move around the s-plane as some parameter is varied. It is important in the design of closed
loop control system because with this, we can able to plot and observe the behavior of the
roots as the gain K is varied, observe the closed-loop system behavior as the parameters are
varied. With this knowledge, we can choose the gain of the control system in order to get
the desired response of the closed-loop system.

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