Root Locus: Illustrative Example

9/19/2014
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Root Locus
Root Locus: Illustrative Example
Examine the following closed-loop system, with unity negative
feedback.
2
( )
( )
Y s K
R s s s K
=
+ +
1,2
1 1 4
2
K
s

=
The closed-loop transfer
function is given as:
The roots of the characteristic
equation are:
The characteristic equation
The denominator of the
closed-loop transfer function
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
-2 -1 0 1
-2
-1
0
1
2
1,2
1 1 4 1
, 0
2 2 4
1 4 1 1
,
2 2 4
K
K
s
K
j K

s s
>

K=0 K=0
K=1/4
K=
K=
: the poles of open-loop
transfer function
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Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
-2 -1 0 1
-1.5
-1
-0.5
0
0.5
1
1.5
Where are the location of the closed-loop roots when
K=1?
2 2
( ) 1
( ) 1
Y s K
R s s s K s s
= =
+ + + +
2 1 0.5
n
,e , = =
2
1 1
n n
e e = =
0.5
n
o ,e = =
2
1 0.866
d n
e e , = =
( ) ( 0.5 0.866)
d
j j o e =
K=1
K=1
0.5
0.866
0.866
There is a relation between
gain K and the position of
closed-loop poles, which
also affects the dynamic
properties of the system (
and
d
)
Root Locus of a Basic Feedback System
The closed-loop transfer function of the basic feedback system
above is:
( ) ( ) ( )
( )
( ) 1 ( ) ( ) ( )
Y s D s G s
T s
R s D s G s H s
= =
+
The characteristic equation, whose roots are the poles of this
transfer function, is:
1 ( ) ( ) ( ) 0 D s G s H s + =
To put the characteristic equation in a form suitable for study of
the roots as a parameter changes, it is rewritten as:
1 ( ) 0 KL s + =
where
( ) ( ) ( ) ( ) KL s D s G s H s =
( )
( )
( )
b s
L s
a s
=
K is the gain of controller-plant-sensor combination.
K is selected as the parameter of interest.
W. R. Evans (in 1948, at the age of 28) suggested to plot the
locus (location) of all possible roots of the characteristic
equation as K varies from zero to infinity root locus plot.
The resulting plot is to be used as an aid in selecting the best
value of K.
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1 ( ) 0 KL s + =
The root locus problem shall now be expressed in several
equivalent but useful ways.
( )
1 0
( )
b s
K
a s
+ =
( ) ( ) 0 a s Kb s + =
1
( ) L s
K
=
The equations above are sometimes referred to as the root
locus form of a characteristic equation.
The root locus is the set of values of s for which the above
equations hold for some positive real value of K.
Explicit solutions are difficult to obtain for higher-order system
General rules for the construction of a root locus were
developed by Evans.
With the availability of MATLAB, plotting a root locus becomes
very easy, using the command rlocus(num,den).
However, in control design we are also interested in how to
modify the dynamic response so that a system can meet the
specifications for good control performance.
For this purpose, it is very useful to be able to roughly sketch a
root locus which will be used to examine a system and to
evaluate the consequences of possible compensation
alternatives.
Also, it is important to be able to quickly evaluate the correctness
of a MATLAB-generated locus to verify that what is plotted is in
fact what was meant to be plotted.
Guideines for Sketching a Root Locus
1 ( ) 0 KL s + =
1
( ) L s
K
=
( ) 1
( )
b s
a s K
=
Deriving using the root locus form of characteristic equation,
1 2
1 2
( )( ) ( ) 1
( )( ) ( )
m
n
s z s z s z
s p s p s p K

=

Taking the polynomial a(s) and b(s) to be monic, i.e., the
coefficient of the highest power of s equals1, they can be
factorized as:
If any s = s
0
fulfills the equation above, then s
0
is said to be on the
root locus.
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0
1 2
1 2
( ) ( ) ( ) 1 1
( ) ( ) ( )
m
n
s s
s z s z s z
s p s p s p K K
=

= =

0
1 2
1 2
( )( ) ( ) 1
180
( )( ) ( )
m
n
s s
s z s z s z
s p s p s p K
=

Z = Z =

Phase
Condition
Magnitude
Condition
The magnitude condition implies:
The phase condition implies:
Defining and , the phase condition can
be rewritten as:
( )
i i
s z Z =
( )
i i
s p | Z =
1 1
180 360 ( 1), 1, 2, 3,
m n
i i
i i
l l |
= =
= + =

The root locus is the set of values of s for which
1 + KL(s) = 0 is satisfied as the real parameter K varies from 0
to . Typically, 1 + KL(s) = 0 is the characteristic equation of
the system, and in this case the roots on the locus are the
closed-loop poles of that system.

The root locus of L(s) is the set of points in the s-plane
where the phase of L(s) is 180. If the angle to a test point
from a zero is defined as
i
and the angle to a test point
from a pole as
i
, then the root locus of L(s) is expressed as
those points in the s-plane where, for integer l,
i

i
=
180 + 360(l1).

2
1
( )
( 5) ( 2) 4
s
L s
s s s
+
=
( + + +

Consider the following example.
: the poles of L(s)
: the zero of L(s)
0
1 2 s j = +
Test
point
1
90 =
1
1
tan (2 1) 116.6 |

= =
2
0 | =
1
3
tan (4 1) 76.0 |

= =
1
4
tan (2 4) 26.6 |

= =
1 1 2 3 4 i i
| | | | | =

90 116.6 0 76.0 26.6 =
129.2 = 180 360 ( 1) l = +
s
0
is not on the root locus
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DemoAnimation from Willey
http://www.wiley.com/college/nise/04717947
59/swf/Q8-02-C.swf
Rules for Plotting a Root Locus
RULE 1:
The n branches of the locus start at the poles of L(s) and m of these
branches end on the zeros of L(s), while nm branches terminate at
infinity along asymptotes.
( ) 1
( )
b s
a s K
=
Recollecting
( ) 1
( )
b s
a s K
=
1 2
0
1 2
( ) ( ) ( ) 1
lim lim
( ) ( ) ( ) i
m
K s p
n
s z s z s z
K s p s p s p

= =

1 2
1 2
( ) ( ) ( ) 1
( ) ( ) ( )
m
n
s z s z s z
s p s p s p K

=

1 2
1 2
( ) ( ) ( ) 1
lim 0 lim
( ) ( ) ( ) i
m
K s z
n
s z s z s z
K s p s p s p

= =

The root locus starts at K = 0 at the poles of L(s)
and ends at K = on the zeros of L(s)
RULE 2:
On the real axis, the loci are to the left of an odd number of poles
and zeros.
1 2 3 4 5
: The root locus
1
1 2 3 4
Angles from real poles or zeros are 0 if the test point is to the
right and 180 if the test point is to the left of a given pole or
zero.
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2
1
( )
( 4) 16
L s
s s
=
( + +

The rule is now applied to obtain the root locus of:
2,3
4 4 p j =
1
0 p =
1 2 3
0
180 360 ( 1) l
| | | =
=
For any test point s
0
on the real axis,
the angles
1
and

2
of two complex
conjugate poles cancel each other, as
would the angles of two complex
conjugate zeros
(see figure below).
1
1
tan (2 4) 26.6 |

= =
1
2
tan ( 2 4) 26.6 |

= =
1 2
0 | | + =
3
0 | =
The pair does not
give contribution to
the phase condition
s
0
is not on the
root locus
Now, check the phase
condition of s
1
!
s
1
RULE 3:
For large K and s, nm of the loci are asymptotic to lines at angles
l
radiating out from the point s = on the real axis, where:
180 360 ( 1)
, 1, 2, , 3
l
l
l
n m
|
+
= =
i i
p z
n m
o

=

Center of Asymptotes
Angles of Asymptotes
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2
1
( )
( 4) 16
L s
s s
=
( + +

For we obtain
1 2,3
0, 4 4 p p j = =
3, 0 n m = =
180 360 ( 1)
3 0
l +
=
i i
p z
n m
o

=

60 120 ( 1) l = +
{ } 60 ,180 , 300 =
180 360 ( 1)
l
l
n m
|
+
=
( 4 4) ( 4 4) 0
3 0
j j + + +
=
8
2.67
3
= =
2.67
60
180
300
RULE 4:
The angle of departure of a branch of a locus from a pole is given
by:
,dep
180 360 ( 1)
l i i
i l
l | |
=
=

and the angle of arrival of a branch of a locus to a zero is given by:
,arr
180 360 ( 1)
l i i
i l
l |
=
= + +

For the example, the root loci must depart with certain angles from
the complex conjugate poles at 4 j4, and go to the zero at with
the angles of asymptotes 60 and 300.
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2
2
180 360 ( 1)
i i
i
l | |
=
=

2 1 3
180 360 ( 1) l | | | =
1
3
tan (4 4) 135 |

= =
1
90 | =
2
90 135 180 | =
2
405 45 | = =
From the figure,
But
Thus
By the complex conjugate symmetry of
the roots, the angle of departure of the
locus from 4 j4 will be +45.
So, the root loci will start their journey from 4 j4 towards with
the direction of 45.

RULE 5:
The locus crosses the j axis (imaginary axis) at points where:
The Routh criterion shows a transition from roots in the left half-
plane to roots in the right half-plane.
This transition means that the closed-loop system is becoming
unstable.
This fact can be tested by Rouths stability criterion, with K as
the parameter, where an incremental change of K will cause
the sign change of an element in the first column of Rouths
array.
The values of s = j
0
are the solution of the characteristic
equation in root locus form, 1 + KL(s) = 0.
The points j
0
are the points of cross-over on the imaginary
axis.
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For the example, the characteristic equation can be written as:
1 ( ) 0 KL s + =
2
1
1 0
( 4) 16
K
s s
+ =
( + +

3 2
8 32 0 s s s K + + + =
3
2
1
0
: 1 32
: 8
8 32
:
8
:
s
s K
K
s
s K

The closed-loop system is stable for K > 0
and K < 256 for 0 < K < 256.
For K > 256 there are 2 roots in the RHP
(two sign changes in the first column).
For K = 256 the roots must be on the
imaginary axis.
3 2
8 32 256 0 s s s + + + =
The characteristic equation is now solved using K = 256.
1
2,3 0
8
5.66
s
s j je
=
= = Points of Cross-over
Another way to solve for
0
is by simply replacing any s with j
0

without finding the value of K first.
3 2
0 0 0
( ) 8( ) 32( ) 0 j j j K e e e + + + =
3 2
0 0 0
8 32 0 j j K e e e + + =
2 3
0 0 0
8 (32 ) 0 K j e e e + =
0 0
3
0 0
2
0
0
32
32
5.66
e e
e
e
=
=
=
2
0
8
8 32
256
K
K
K
e =
=
=
Same results for K and
0

5.66
5.66
The points of cross-over are now inserted to the plot.
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The complete root locus plot can be shown as:
RULE 6:
The locus will have multiple roots at points on the locus where:

( ) ( )
( ) ( ) 0
da s db s
b s a s
ds ds
=
The branches will approach and depart a point of q roots at angles
separated by:
180 360 ( 1) l
q
+
A special case of point of multiple roots is the intersection point
of 2 roots that lies on the real axis.
If the branches is leaving the real axis and entering the complex
plane, the point is called the break-away point.
If the branches is leaving the complex plane and entering the real
axis, the point is called the break-in point.
Real
axis
Imag
axis
Break-away
point
Real
axis
Imag
axis
Break-in
point
90 90
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Example 1: Plotting a Root Locus
Draw the root locus plot of the system shown below.
1
( )
( 1)( 2)
L s
s s s
=
+ +
1 2 3
0, 1, 2 p p p = = =
3, 0 n m = = 3 zeros at infinity

RULE 1
( ) ( 1)( 2)
( )
1
( 1)( 2)
K
Y s s s s
K
R s
s s s
+ +
=
+
+ +
1 ( ) KL s +
Real
axis
Imag
axis
1 2 0 1 2 3 4
1
2
1
2
3
3

RULE 2
1 2 3
0, 1, 2 p p p = = =
180 360 ( 1)
l
l
n m
|
+
=
180 360 ( 1)
3 0
l +
=
i i
p z
n m
o

=

60 120 ( 1) l = +
{ } 60 ,180 , 300 =
0 1 2
3 0

=
1 =
1 2 3
0, 1, 2 p p p = = =
Center of Asymptotes
Angles of Asymptotes
9/19/2014
12
Real
axis
Imag
axis
1 2 0 1 2 3 4
1
2
1
2
3
3

RULE 3
60
180
300
{ } 60 ,180 , 300
l
| =
1 o =
Not applicable. The angles of
departure or the angles of
arrival must be calculated only
if there are any complex poles
or zeros.

RULE 4
1 ( ) 0 KL s + =
1
1 0
( 1)( 2)
K
s s s
+ =
+ +
3 2
3 2 0 s s s K + + + =
Replacing s with j
0
,
3 2
0 0 0
( ) 3( ) 2( ) 0 j j j K e e e + + + =
3 2
0 0 0
3 2 0 j j K e e e + + =
2 3
0 0 0
3 (2 ) 0 K j e e e + =
0 0
3
0 0
2
0
0
2
2
1.414
e e
e
e
=
=
=
2
0
3
3 2
6
K
K
K
e =
=
=
Points of Cross-over
Real
axis
Imag
axis
1 2 0 1 2 3 4
1
2
1
2
3
3

RULE 5
1.414
1.414
0
1.414 e =
9/19/2014
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1 ( ) 0 KL s + =
3 2
( ) 1 1
( )
( ) ( 1)( 2) 3 2
b s
L s
a s s s s s s s
= = =
+ + + +
( ) ( )
( ) ( ) 0
da s db s
b s a s
ds ds
=
The root locus must have a break-away point, which can be
found by solving:
2 3 2
1 (3 6 2) ( 3 2 ) 0 0 s s s s s + + + + =
2
3 6 2 0 s s + + =
1 2
1.577, 0.423 s s = =
Real
axis
Imag
axis
1 2 0 1 2 3 4
1
2
1
2
3
3

RULE 6
1.414
1.414
1 2
1.577, 0.423 s s = =
On the root locus
The break-away
point
Not on the
root locus
0.423
After examining RULE 1 up to RULE
6, now there is enough information
to draw the root locus plot.
Real
axis
Imag
axis
1 2 0 1 2 3 4
1
2
1
2
3
3
1.414
1.414
0.423
90
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14
Real
axis
Imag
axis
1 2 0 1 2 3 4
1
2
1
2
3
3
1.414
1.414
0.423
The final sketch, with direction of
root movements as K increases
from 0 to can be shown as:

Final Result
Determine the locus of all
roots when K = 6!
a) Draw the root locus plot of the system.
b) Define the value of K where the system is stable.
c) Find the value of K so that the system has a root at s = 2.
1
( ) ( 4)
1
( )
1 ( 2)
( 4)
K
Y s s
R s
K s
s
+
=
+
+
2
( )
4
s
L s
s
=
+
1 1
4, 2 p z = =
1, 1 n m = =
1 ( ) KL s +

RULE 1
There is one branch,
starts from the pole and
approaches the zero
9/19/2014
15
Real
axis
Imag
axis
1 2 0 1 2 3 4
1
2
1
2
3
3

RULE 2
1 1
4, 2 p z = =
Not applicable, since n = m.

RULE 3
Not applicable. The angles of
departure or the angles of
arrival must be calculated only
if there are any complex poles
or zeros.

RULE 4
1 ( ) 0 KL s + =
2
1 0
4
s
K
s
+ =
+
4 ( 2) 0 s K s + + =
Replacing s with j
0
,
0 0
( ) 4 ( 2) 0 j K j e e + + =
0
4 2 (1 ) 0 K j K e + + =
0 0
4 2
2
K
K
=
0
0
(1 )
0
K e
e
+
=
Points of Cross-over
Real
axis
Imag
axis
1 2 0 1 2 3 4
1
2
1
2
3
3
The point of cross-over, as can
readily be guessed, is at s = 0.

RULE 5
Not applicable. There is no
break-in or break-away point.

RULE 6
K = 2
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16
Real
axis
Imag
axis
1 2 0 1 2 3 4
1
2
1
2
3
3
The final sketch, with direction of
root movements as K increases
from 0 to can be shown as:

Final Result
a) Draw the root locus plot of the system.
Real
axis
Imag
axis
1 2 0 1 2 3 4
1
2
1
2
3
3
b) Define the value of K where the
system is stable.
System is stable when the root of
the characteristic equation is on the
LHP, that is when 0 K < 2.
K = 2 K = 0 K =
Real
axis
Imag
axis
1 2 0 1 2 3 4
1
2
1
2
3
3
K = 2 K = 0 K =
c) Find the value of K so that the
system has a root at s = 2.
Inserting the value of s = 2 in the
characteristic equation,
2
0 4 ( 2)
s
s K s
=
= + +
2 4 ( 2 2) 0 K + + =
( 2 2) 2 4 0.5 K = =
K = 0.5
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17
Homework 6
No.1, FPE (5
th
Ed.), 5.2.
Hint: Easier way is to assign reasonable values for the zeros and poles in
each figure. Later, use MATLAB to draw the root locus.
No.3
Sketch the root locus diagram of the following closed-
loop system as accurate as possible.
No.2, FPE (5
th
Ed.), 5.7.(b)
Hint: After completing the hand sketch, verify your result using MATLAB.
Try to play around with Data Cursor.

Root Locus: Illustrative Example

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Root Locus: Illustrative Example

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