Automatic Control Systems 10e

CHAPTER 9 Root-Locus Analysis

Learning Outcomes
After successful completion of this chapter, you will be able to
1. Formulate or interpret a root locus to determine the effects of a
parameter variation on the closed loop poles of a system.
2. Based on the properties of root loci, manually construct them.
3. Construct the root contours of a system for multi-parameter variation
studies (e.g., a PD or a PI controller).
4. Use MATLAB to construct root loci and root contours.
5. Use root loci or root contours to design control systems.
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Figure 9-5. Root loci and asymptotes of s(s +

2)(s + 3) + K(s + 1) = 0 for −∞ ≤ K ≤ ∞.
CHAPTER 9 Root-Locus Analysis
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Figure 9-7. Examples
of the asymptotes of
the root loci.
CHAPTER 9 Root-Locus Analysis

Figure 9-8. Properties of root loci on the real

axis.
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Figure 9-18. Root loci of s(s + 5)(s + 6)(s2 + 2s

+ 2) + K(s + 3) = 0 on the real axis.
CHAPTER 9 Root-Locus Analysis
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Table 9-2. Root Sensitivity

CHAPTER 9 Root-Locus Analysis
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Figure 9-24. Root-locus diagrams that show
the effects of adding zeros to G(s)H(s).
CHAPTER 9 Root-Locus Analysis
CHAPTER 9 Root-Locus Analysis
CHAPTER 9 Root-Locus Analysis

Figure 9-25. Root-locus

diagrams that show the effects
of moving a pole of G(s)H(s) ·
G(s)H(s) = K(s + 1)/[s2(s + a)].
CHAPTER 9 Root-Locus Analysis

Figure 9-25. Root-locus

diagrams that show the effects
of moving a pole of G(s)H(s) ·
G(s)H(s) = K(s + 1)/[s2(s + a)].
CHAPTER 9 Root-Locus Analysis

Figure 9-25. Root-locus

diagrams that show the effects
of moving a pole of G(s)H(s) ·
G(s)H(s) = K(s + 1)/[s2(s + a)].
CHAPTER 9 Root-Locus Analysis

Figure 9-25. Root-locus

diagrams that show the effects
of moving a pole of G(s)H(s) ·
G(s)H(s) = K(s + 1)/[s2(s + a)].
CHAPTER 9 Root-Locus Analysis

Figure 9-21. RL of s(s + 1) + K = 0 showing the

root sensitivity with respect to K. (continued)
CHAPTER 9
Root-Locus
Analysis
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Figure 9-26. Root-locus diagrams that show

the effects of moving a pole of G(s)H(s) = K(s
+ 2)/[s(s2 + 2s + a)].
CHAPTER 9 Root-Locus Analysis

Figure 9-26. Root-locus diagrams that show

the effects of moving a pole of G(s)H(s) = K(s
+ 2)/[s(s2 + 2s + a)].
CHAPTER 9 Root-Locus Analysis

Figure 9-26. Root-locus diagrams that show

the effects of moving a pole of G(s)H(s) = K(s
+ 2)/[s(s2 + 2s + a)]. (Continued)
CHAPTER 9 Root-Locus Analysis

Figure 9-26. Root-locus diagrams that show

the effects of moving a pole of G(s)H(s) = K(s
+ 2)/[s(s2 + 2s + a)]. (Continued)
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Figure 9-27. Root contours of s2 + K2s2 + K1s + K1 =
0. (a) K2 = 0. (b) K2 varies and K1 is a constant.
Figure 9-27. Root contours of s2 + K2s2 + K1s + K1 =
0. (a) K2 = 0. (b) K2 varies and K1 is a constant.
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Figure 9-29. Root contours for Figure 9-30. Root contours for s(1 + Ts)(s2 + Figure 9-31. Root contours for s(1 + Ts)(s2 +
s(1+Ts)(s2+2s+2)+ K = 0. K > 4. 2s + 2)+ K = 0. K = 0.5. 2s + 2)+ K = 0. 0 > K > 0.5.
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