22-Apr-20

Root Locus (RL)

Stability – location of Poles

Farther the pole from the imaginary axis,

the faster the transient response.

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Transient & Steady –state Analysis of SoS

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Significance of root locations

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Contd.
• We know that the closed loop control system is stable if all the
poles of the closed loop transfer function are in the left half of
the ‘s’ plane. So, the poles of the closed loop transfer function
are nothing but the roots of the characteristic equation.

• The Poles of the characteristic equation are same as that of the

poles of the open loop transfer function.

• The zeros of the characteristic equation are same as that of the

poles of the closed loop transfer function (T(s)).

• We know that the open loop control system is stable if there is

no open loop pole in the right half of the ‘s’ plane.

• We know that the closed loop control system is stable if there is

no closed loop pole in the right half of the ‘s’ plane.
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Concept-1

• Poles of KG(s)H(s) : 0 ; 2 ; and 4.

• Zeros of KG(s)H(s) : 1 and 3.
• Now,

• Thus, the zeros of T(s) consist of the zeros of G(s) and the poles
of H(s).
• The poles of T(s) are not immediately known without factoring
the denominator, and they are a function of K.
• Since the system’s transient response and stability are dependent
upon the poles of T(s), we have no knowledge of the system’s
performance unless we factor the denominator for specific
values of K.

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Contd.
• The poles of the closed-loop can be found only by factoring the closed-
loop system’s characteristic polynomial, the denominator of the closed-
loop transfer function).

• The closed-loop poles that change location as the gain K is varied, are a
function of K.

• So, the system’s transient response and stability are dependent upon the
poles of T(s).

• Settling time is inversely proportional to the real part of the complex poles
for the second-order system. Increase the gain, the damping ratio
diminishes, and the percent overshoot increases.

• The damped frequency of oscillation, which is equal to the imaginary part

of the pole increases with an increase in gain, resulting in a reduction of
the peak time.

RL concept

The root locus is a graphical representation of poles and zeros in s-

domain i.e. representation of the paths of the closed-loop poles as the
gain is varied.

It is symmetrical about the real axis and gives a graphical

representation of a system’s transient performance and stability.

We can clearly see ranges of stability, ranges of instability, and the

conditions that cause a system to break into oscillation.

A rapid sketch of the root locus can be made for higher-order systems
without having to factor the denominator of the closed-loop transfer
function.

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Contd.

Rules for Construction of Root Locus

• Rule 1 − Locate the open loop poles (=P) and zeros
(Z) in the ‘s’ plane.
• Rule 2 − Number of root locus branches (N) = # poles or #
zeros (whichever is greater).
Mathematically, N=P if P≥Z
or, N=Z if P<Z.
(In most cases, number of root loci – as many as open loop poles )

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Contd.
• Rule 3

When, system will have more poles than zeros, there will be
(P-Z) root locus bracnches that tend to zeros at infinity
considering ( P − Z ) zeros.
If zeros are more than Poles, (Z-P) branches start from infinity and
end at finite open loop zeros presuming (Z-P) Poles are at
infinity.

Contd.

Rule 4 − Identify and draw the real axis root locus

branches.

If odd number of the open loop poles and zeros exist to the
right side of a point on the real axis, then that point is on the
root locus branch.

The points satisfying the above condition form the real axis
root locus branches.

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Contd.
• Rule 5: RL is symmetrical about the real axis.

Contd.

Rule 6 − The real-axis intercept (Centroid) and the

angles of asymptotes
• When P≠Z, some of the root locus branches approach
infinity, and asymptotes (NP-NZ nos.) give the
direction of these root locus branches.
• The point of intersection of the asymptotes is on the
real axis and known as centroid, which can be
determined as given below:

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Contd.
• Numbers and Angles of the Asymptotes
The (Np–Nz) asymptotes / branches of the root locus
which tend to infinity from the centroid are given by

Example

Contd.

• Rule 7: Real-axis break-in and breakaway points

(exist only on the real axis root locus branches)
• Break-away point:
If there exists a real axis root locus branch between
two open loop poles, then there will be a break-away
point in between these two open loop poles. It is the
point where root-locus leaves the real axis.
• Break-in point:
If there exists a real axis root locus branch between
two open loop zeros, then there will be a break-in
point in between these two open loop zeros. It is the
point where root locus enters the real axis.

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Contd.

• Write the characteristic equation 1+Gc(s)G(s)H(s)=0

where K is in terms of s.
• Find values of s from dK dS
=0

• Those values of s will be taken,which lie on the RL

branches on the real axis. (Alternatively, the values
of s for which the K value is positive, these are
the break in points.)

Contd.

• Rule 7: Intersection/ crossings of root locus with

imaginary axis (transition to instability)
(by using the Routh criterion)

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Contd.
2nd Approach :
(by comparing real and imaginary components of the CE after substitution of
S=jω)

Contd.
2nd Approach :
(by comparing real and imaginary components of the CE after substitution of
S=jω)

Example:

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Contd.
2nd Approach :
(by comparing real and imaginary components of the CE after substitution of
S=jω)

• Example-2:

RULE-8: Angles of Departure and Arrival from Zeros and

Poles

•When there are complex poles or zeros of P(s), the root

locus branches will either depart or arrive at an angle
where, for a complex pole or zero at s = p or s = z,

RL may be made by computing the angle at which the

branches of the locus depart from the open-loop poles,
and arrive at the open-loop zeros.

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RULE-8: Example

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