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1
ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
MODULE 4-A
GRAPHICAL TOOLS
Root Locus Techniques
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
In this chapter, you will be able to:
Sketch a root locus
Refine the sketch of root locus
Use root locus to find poles of a closed-loop system
Use root locus to describe transient response and stability
when system parameter, K is varied
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
Root Locus: Graphical presentation of closed-loop poles
as system parameter is varied
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
Root Locus: Graphical presentation of closed-loop poles
as system parameter is varied
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
Review: Closed-Loop Systems
Closed-loop poles:characteristics equation
0 ) ( ) ( ) ( ) ( = + s N s KN s D s D
H G H G
) ( ) ( ) ( ) (
) ( ) (
) (
) ( ) ( 1
) (
) (
) (
) (
) (
) (
) (
) (
s N s KN s D s D
s D s KN
s T
s H s G
s KG
s T
s D
s N
s H
s D
s N
s G
H G H G
H G
H
H
G
G
+
=
+
=
=
=
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
Review: Complex Numbers
o
e
u
e o
u
e o
u
1
2 2
tan

=
+ =
Z =
+ =
M
M Me
j s
j
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
Review: Complex Numbers
e o
e o
e o
j a s F
a j s F
a s s F
j s
+ + =
+ + =
+ =
+ =
) ( ) (
) ( ) (
) (
e o
u
e o
e o
j s a s
j s a s M
j s
+ = =
=
+ = = =
+ =
to connecting line
to horizontal from angle
to from distance
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
Example 1: Given F(s) = s+7, find F(s) at point s = 5+j2
= =
= + =
+ =
+ + =
+ =
+ =

+ =
43 . 63
12
2
tan
16 . 12 2 12
2 12 ) (
7 ) 2 5 ( ) (
2 5
7 ) (
1
2 2
2 5
u
M
j s F
j s F
j s
s s F
j s
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
Review: Complex Numbers
e o j s + =
) ( ) )( (
) ( ) )( (
) (
) (
) (
2 1
2 1
n
m
p s p s p s
z s z s z s
s D
s N
s F
+ + +
+ + +
= =

[
[
=
=
+
+
=
n
j
j
m
i
i
p s
z s
s F
1
1
) (
) (
) (
magnitude
angle
[
[
[
[
=
+
+
=
=
=
lengths pole
lengths zero
p s
z s
M
n
j
j
m
i
i
1
1
) (
) (


=
+ + =
= =
angles pole angles zero
p s z s
n
j
j
m
i
i
1 1
) ( ) ( u
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
Example 2: Evaluation of a complex function via vectors
Given
) 2 (
) 1 (
) (
+
+
=
s s
s
s F
, find F(s) at s = -3+j4
SOLUTION
= =

=
= + =
+ =
+ + =
+ =

+ =
6 . 116 43 . 63
2
4
tan
20 4 ) 2 (
4 2 ) (
1 ) 4 3 ( ) (
1 ) (
1
2 2
4 3
1
u
M
j s F
j s F
s s F
j s
= =

=
= = + =
+ =
=

+ =
9 . 126 13 . 53
3
4
tan
5 20 4 ) 3 (
4 3 ) (
) (
1
2 2
4 3
2
u
M
j s F
s s F
j s
= =

=
= + =
+ =
+ =

+ =
104 96 . 75
1
4
tan
17 4 ) 1 (
4 1 ) (
2 ) (
1
2 2
4 3
3
u
M
j s F
s s F
j s
0
-1 -2
o
je
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
Z =
Z = Z
3 . 114 217 .
) 0 . 104 9 . 126 6 . 116 (
17 5
20
u M
Z 6 . 116 20
Z 4 . 104 17
Z 9 . 126 5
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
) ( ) ( 1
) (
) (
s H s KG
s KG
s T
+
=
Properties of the Root Locus
Root locus:
0 ) ( ) ( 1 = + s H s KG
conditions:
1 ) ( ) ( = s H s KG
+ = Z 180 ) 1 2 ( ) ( ) ( k s H s KG
) ( ) (
1
s H s G
K =
Odd multiples of 180
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
) 2 )( 1 (
) 4 )( 3 (
) ( ) (
+ +
+ +
=
s s
s s K
s H s KG
Test point 1: s = -2+j3
Example 3: Given open loop transfer function as follows, determine whether
the test point is located on the root locus.
= +
= +
55 . 70 43 . 108 90 57 . 71 31 . 56
4 3 2 1
u u u u
Not an odd multiple of 180, the
test point is not a point on the root locus.
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
magnitude:
33 . 0
) 22 . 1 )( 12 . 2 (
) 22 . 1 )( 707 . 0 (
zeros from distance
poles from distance
) ( ) (
1
2 1
4 3
= = =
= =
[
[
L L
L L
K
s H s G
K
Test point 2:
) 2 / 2 ( 2 j +
Angles do add up to odd multiples of 180,
the test point is a point on the root locus.
Thus, we can say that:
Given poles and zeros of the open-loop transfer function, KG(s)H(s), a point
in the s-plane is on the root locus for some value of K, if

+ = 180 ) 1 2 ( k angles pole angles zero
Gain K at which angles add up to (2k+1) 180 is
[
[
= =
zeros from distance
poles from distance
) ( ) (
1
s H s G
K
=
+ = +
180
74 . 144 90 26 . 35 47 . 19
4 3 2 1
u u u u
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
Sketching the Root Locus
1. Write the characteristic equations
0 ) ( ) ( 1 = + s H s KG
2. Open Loop:
Factor and locate poles and zeros of G(s)H(s)
0
) ( ) )( (
) ( ) )( (
1
2 1
2 1
=
+ + +
+ + +
+
n
n
p s p s p s
z s z s z s
K

3. Real axis:
On the real axis, for K > 0, the root
locus exists on the left of
odd numbered real roots
(poles/zeros).
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
4. Branches
The number of branches equals
the number of open loop poles.

*Loci always start, K = 0, at a pole
and terminate at a zero, K = .

*Loci that do not terminate at a zero
will approach a point (zero) at infinity .
Root Locus Construction Steps
5. Symmetry
The locus is always symmetrical wrt the real
(horizontal) axis.
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
6. Asymptotes
Loci proceeding to zeros at will
follow the asymptotic lines with
centroid
angle
z p
i i
A
n n
z p

=

zeros # poles #
zeros poles
o
3
4
1 4
) 3 ( ) 4 2 1 (
=


=
1 , 0
3
) 1 2 (
= = =

+
=
k for k for
n n
k
z p
A
t
t
t
u
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
7. je crossing
Determine je crossing by finding gain K
that will ensure stability using Routh-Hurwitz
table
K s K s s s
s K
s T
s s s s
s K
s H s KG
+ + + + +
+
=
+ + +
+
=
) 8 ( 14 7
) 3 (
) (
) 3 )( 2 )( 1 (
) 3 (
) ( ) (
2 3 4
s
4
1 14 3K
s
3
7 8+K
s
2
90-K 21K
s
1

K
K K

+
90
720 65
2


s
0
21K 0 0

59 . 1
0 7 . 202 35 . 80 21 ) 90 (
65 . 9
0 720 65
2 2
2
j s
s K s K
K
K K
=
= + = +
=
= +
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
82 . 3 , 45 . 1
0
) 15 8 (
61 26 11
) 15 8 (
) 2 3 (
1
) 2 3 (
) 15 8 (
) ( ) (
2 2
2
2
2
2
2
=
=
+

=
+
+ +
=
=
+ +
+
=
s
s s
s s
ds
dK
s s
s s
K
s s
s s K
s H s KG
8. Breakaway and Breakin points
Determine breakaway and breakin points
by determining the maximum/minimum
change in K wrt changes in s
0
1 ) ( ) (
=
=
=o s
ds
dK
s H s KG
Breakaway point
Breakin point
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
Example: Given the following system
1. Find the exact point and gain where the locus crosses
the je-axis
S
2


K+1

8+20K

S
1


6-4K

0

S
0


8+20K

0

6-4K = 0
K = 1.5
(K+1)s
2
+ (8+20K) = 0
s = j3.9
2. Find the breakaway point on the real axis
20 4
) 8 6 (
2
2
+
+ +
=
s s
s s
K
) 20 8 ( ) 4 6 ( ) 1 (
) 20 4 (
) (
2
2
K s K s K
s s K
s T
+ + + +
+
=
dK/ds = 0, b/away point: -2.88
-4
-2
2+j4
2-j4
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
Thus, sketch of root locus:
Breakaway point,
s = -2.88
je-axis crossing,
s = j3.9
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi
9. Angle of Departure and Arrival
Determine angle of arrival for
complex zeros and angle of
departure for complex poles

=

180 poles other from angle
zeros other from angle
dep
- |
+
=

180 zeros other from angle
poles other from angle
arr
- |
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ECB 3123 CONTROL SYSTEMS
Dr Irraivan Elamvazuthi

=

180 poles other from angle
zeros other from angle
dep
- |
= =

|
.
|

\
|
+
|
.
|

\
|
=
+ =

4 . 108 6 . 251
180 )
2
1
tan 90 (
1
1
tan
180 ) (
1 1
4 2 3 dep
u u u |
Example: Angle of departure from a complex pole