Refining the sketch

 Breakaway/ break-in point, σ b- a point on the real axis where two or more
branches of the root-locus depart from or arrive at the real axis
o Breakaway point- point where the locus leaves the real axis
o Break-in point- a point where the locus returns to the real axis
m n

∑ σ +1 z =∑ σ +1 p
1 i 1 i

zi & pi- are the negative of the zero and pole values, respectively of G( s)

 Departure and Arrival angles

o The departure angle of the root locus from a complex pole is given by
θ D=180 ° +argG ( s)'

Where G(s)' - phase angle of G( s) computed at the complex pole but ignoring the
contribution of that particular pole

o The angle of arrival of the root locus at a complex zero is given by

θ A =180 °−argG (s)

Where G(s) - phase angle of G(s) at the complex zero ignoring the effect of that
particular zero

NOTE:

1. Real axis segments

a. Rule for k > 0- points of the root-locus on the real axis lie to the left of an
odd number of finite poles and zeroes.
b. Rule for k < 0- points of the root-locus on the real axis lie to the left of an
even number of finite poles and zeros.
 2. Asymptotes

Angles between the asymptotes and the real axis are given by
(2 l+1)π
θa = , for k >0
¿ finite poles−¿ finite zeros

( 2l) π
θa = , for k <0
¿ finite poles−¿ finite zeros

l=0,1,2 , … , ¿ of finite poles−¿ of finite zeros−1

Total number of asymptotes = ¿ of finite poles−¿ of finite zeros