Root Locus Analysis

Root Locus Analysis

The transient response of a closed-loop system is completely

determined by the location in the s-plane of the closed-loop
system poles and zeros. This shows if the system is stable and
also whether there is any oscillatory behaviour in the time
response. Therefore, it is worthwhile to determine how the
roots of the characteristic equation as a system parameter is
varied. The root locus method is proposed by Evans in 1948.
It is a graphical method for system analysis and design

1
 Root Locus Concept

R(s) E(s) Y(s)

+ k C(s) G(s)
-

N1 ( s ) N 2 ( s)
G( s) = C ( s) =
D1 ( s ) D2 ( s )

kG ( s )C ( s ) N1 ( s ) N 2 ( s )
T ( s) = =
1 + kG ( s )C ( s ) kN1 ( s ) N 2 ( s ) + D1 ( s ) D2 ( s )

2
The poles of T(s) = zeros of 1 + kG ( s )C ( s )
= zeros of kN1 ( s ) N 2 ( s ) + D1 ( s ) D2 ( s )
kZ ( s ) k ( s + z1 ) LL ( s + z m )
Let kG ( s )C ( s ) = =
P( s) ( s + p1 ) LL ( s + pn )

then the closed-loop poles are the roots of

P( s ) + kZ ( s ) = 0

Therefore
k →0 ⇒ P ( s ) = 0 ⇔ system open loop poles
k → ∞ ⇒ Z ( s ) = 0 ⇔ system open loop zeros

k → 0 ⇒ the closed - loop poles → the open - loop poles

k → ∞ ⇒ the closed - loop poles → the open - loop zeros

For certain k, to find the corresponding closed-loop poles is

to find the roots of 1 + kG ( s )C ( s ) = 0, that is to
determine s, such that kG ( s )C ( s ) = −1 .
For k > 0
Find s, such that
(1) kG ( s )C ( s ) = 1 , (Magnitude condition)
(2) arg {kG ( s )C ( s )} = (1 + 2r )π (Phase condition)
r ∈Z

3
 Root Locus Construction
1. Loci branch
The branches of the locus are continuous
curves that start at each of n poles of G(s)C(s),
for k > 0. As k → +∞ , the locus branches
approach the m zeros of G(s)C(s). Locus
branches for excess poles extend infinitely far
from the origin; for excess zeros, locus segment
extends from infinity.

Example
( s + 1)
Consider G ( s )C ( s ) = , the corresponding
( s + 2)( s 2 + 4 s + 8)
root locus branch, for k = [0, 10] are shown below.
4

-1

-2

-3

-4
-8 -6 -4 -2 0

4
2. Real-axis locus
The root locus on those portion of the real axis for which the
sum of poles and zeros to the right is an odd (even) number,
for k > 0 (for k < 0).

3. Locus end points

poles ⇒ zeros (finite or infinite) for k → ∞
4. Asymptotes of locus as s → ∞
The angles of the asymptotes of the root locus branches,
which end at infinity, are given by:
(1 + 2 r )180 o
φ asy = , k>0
n−m
2 r ⋅ 180 o
φ asy = , k<0
n−m

Note:
For s → ∞ ,
m
π (s − z j )
j (s − σ )m
lim kG ( s )C ( s ) = lim k ≅ lim k
s →∞ s →∞ n
s →∞ (s − σ )n
π ( s − pi )
i
k
= lim
s →∞ ( s − σ ) n − m

= -1 ⇒ ( s − σ ) n − m = −k

1 (2r + 1)π
s = σ + k n − m exp( j ), r ∈ z
n−m
arg{−k} = 180o (1 + 2r ) = arg{( s − σ ) n − m }
∴ (n − m) arg{s} = 180 o (1 + 2r )
(1 + 2r )180 o
Therefore, φ asy = , for k > 0.
n−m

5
 Example
Consider the following system

R(s) E(s) Y(s)

+ k
- s(s+2)

k k
kG( s) = T (s) =
s( s + 2 ) s + 2s + k
2

The poles of T(s) ⇒ the roots of s2 + 2s + k = 0

⇒ −1 ± 1 − k

For k ≤ 1 , the roots are real within [-1, 0].

For k > 1, the roots are complex conjugates
with real part = -1.
2

φ2 φ1
0

-1

φ 1 + φ 2 = 180 o (phase Condition)

-2
-3 -2 -1 0 1

6
 Since
1 (2r + 1)π
s = σ + k n − m exp( j ), r ∈ z
n−m
By polynomial parameter comparison, the
common point at which all asymptotes intercept the
real axis is given by
n m

∑ Re( pi ) − ∑ Re( z j )
i =1 j =1
σ= , n−m≥2
n−m
Note: A root locus branch may cross its asymptote.

6. Break-away/ Break-in point on the real axis

The break-away point for the locus between two
poles on the real-axis occurs when the value of k is a
maximum. The break-in point for the locus between
two zeros on the real-axis occurs where the value k
kmax
is a minimum.

k=∞ k=∞
k=0 k=0

kmin

7
 P( s )
(1) k = −{G ( s )C ( s )}−1 = −
Z ( s)
∂k 1 ⎛ dZ ( s) dP( s) ⎞
=0 ⇒ ⎜ P( s)
2 ⎝
− Z (s) ⎟ =0
∂s Z ( s) ds ds ⎠

(2)
d
Find the roots of [kG ( s )C ( s )] = 0
ds
d
The roots of [kG ( s )C ( s )] = 0 are the
ds
break-in/break-away points for all k ∈ R

Formula:
d d
f = f ln f
ds ds

d 1 df df
Hint: f ln f = f =
ds f ds ds
d d ⎛ Z ( s) ⎞ ⎛ Z ( s) ⎞ d ⎛ Z ( s) ⎞
[kG ( s ) H ( s )] = ⎜⎜ ⎟=⎜ ⎟ ln⎜ ⎟
ds ds ⎝ P( s ) ⎟⎠ ⎜⎝ P( s ) ⎟⎠ ds ⎜⎝ P( s ) ⎟⎠
⎛ Z ( s ) ⎞⎛ 1 dZ ( s ) 1 dP( s ) ⎞
= ⎜⎜ ⎟⎟⎜⎜ − ⎟
⎝ P( s ) ⎠⎝ Z ( s ) ds P( s ) ds ⎟⎠
1 ⎛ dZ ( s ) dP( s ) ⎞
= 2⎜ P( s ) − Z ( s) ⎟
P( s ) ⎝ ds ds ⎠

8
 Example
k ( s + 4)
Consider kG ( s )C ( s ) = . Using the formula above,
( s + 2) s
it is obtained that
1 1 1
= + ⇒ s = -6.83, or -1.17
s+4 s s+2
3

2 K>0
1

-6.83
0
-1.17

-1

-2

-3
-10 -8 -6 -4 -2 0

K<0

-5
-5 0 5

9
7. Angles of departure and approach
The angle of departure φd of a locus branch from a complex pole is given by

φ d = 180o − ∑ other G ( s )C ( s ) pole angle to to the pole under consideration

+ ∑ G ( s )C ( s ) zero angle to to the pole under consideration

The angle of approach φa of a locus branch from a complex zero is given by

φa = ∑ G ( s )C ( s ) pole angle to to the pole under consideration

− ∑ other G ( s )C ( s ) zero angle to to the pole under consideration
− 180o

Example
210
2
φd = 180o − 90o + 120o
1
= 210o

120
0 φa = 0o − 0o − 180o
= 180o
-1
90

-2
-4 -3 -2 -1 0

10
 Imaginary axis crossing point
The value of k that cause a change of sign in the
Routh Array, is that value for which the locus crosses
into the right half s-plane.

Note:
point of crossover s = xj → phase = 180 o .

Example
6k
Consider kG ( s )C ( s ) = . The Routh array for
s( s + 1)( s + 2)
the unity-feedback closed-loop system is

s3 1 2
s2 3 6k → k =1 ⇒ 3s 2 + 6 = 0
s1 2 - 2k
0 s = ± 2j
s 6k

11
Non-intersection or intersection of root locus branches
The angle between two adjacent approaching branches is

360 o
αλ = ±
λ
where λ denotes the number of branches
approaching and leaving the intersection point.
The angle between a branch leaving and an
adjacent branch that is approaching the same
point is given by
180 o
βλ = ±
λ

Example
2

1
approaching branch

αλ = 180
0
leaving branch
βλ = 90
-1

-2
-4 -3 -2 -1 0

12
 Grant’s Rule

For system rank ≥ 2, Grant‘s rule state that the sum of

the (unity-feedback) closed-loop system poles is equal
to the sum of the open-loop system poles.
Note:
P(s) + kZ (s) = 0
⇒ s n + an−1s n−1 + an−2 s n−2 +LL+ a1s + a0 = 0 ,
where an−1 is independent of k also
an−1 = − ∑ poles

我可能要來杯咖啡才行

13
 Example

Plot the unity feedback closed-loop root locus for

1
G(s) H (s) =
s( s + 1)( s + 2)
Solution
1. Open loop poles are : 0、-1、-2
Number of root-locus : 3
Root locus on the real axis ( −∞,−2] and [−1,0]

2. Asymptotes of locus as s → ∞
( 2 k + 1)π
θk = ， k=0,1,2 。
3
Centroid of the asymptotes
0 + ( − 1) + ( − 2 )
σ = = −1
3
3. Imaginary axis crossing point
The characteristic equation is
s ( s + 1)( s + 2 ) + K = 0 ⇒ s 3 + 3s 2 + 2 s + K = 0
and the corresponding Routh table is

14
From the Routh table, the system will be stable for

0 < K < 6 , and the system is critically stable for K = 6 .

That is

3 s 2 + K = 0, K = 6 s3 1 2
The imaginary axis crossing s2 3 K
6−K
s1
points are 3
s0 K
s=± 2j,

dp ( s ) 1
z ( s) = 3s 2 + 6 s + 2 = 0 s = −1 ±
3
= −1 ± 0.57 = −1.57 , - 0.43
ds

15
 Example
Plot the root locus for the system with
s +1
G( s) H ( s) =
( s + 2)( s 2 + 2 s + 2)
Solution:
1. Open-loop poles : − 2,−1 ± j ，open-loop zero: -1
Number of the locus branches : 3
Locus on the real axis [ −2,−1]

2. Asymptotes of locus as s → ∞
( 2 k + 1)π π
θk = ⇒θ = ，
3−1 2
Centroid of the asymptotes
( − 2 ) + ( − 1 + j ) + ( − 1 − j ) − ( − 1) 3
σ = =−
3 −1 2
3. Angle of deparature： φd
π
φ z − (φ p1 + φ p 2 + φ d ) = ( 2 k + 1)π ⇒ φ d = − − ( 2 k + 1)π
4
3
For k = − 1, φ d = π。
4

16
 Example
Consider the system with

1
G (s)H ( s) =
s ( s + 1)

Plot the root locus of the following cases.

(i)with additional pole at –2

(ii)with additional zero at -2

17
Root locus without additional pole and zero

Additional pole

Root locus with additional pole -2

18
 Additional zero

Root locus with additional zero -2

Example
Consider a negative unity feedback system has a
plant transfer function

K ( s + 1) 2
G ( s) =
s ( s 2 + 1)
(a) Sketch the root locus for K > 0. (b) Find the
gain K when two complex roots have a damping
ratio ζ = 0.707 and calculate all three roots. (c)
Find the entry point (break-in point) of the root
locus at the real axis.

19
 Method 1
δ ( s) = K ( s + 1) 2 + s( s 2 + 1) = 0
s 3 + Ks 2 + (2 K + 1) s + K = 0 ⇔ ( s + α )( s 2 + 2ζω n + ωn 2 ) = 0
s 3 + (α + 1.414ωn ) s 2 + (ωn 2 + 1.414αωn ) s + αωn 2 = 0
Coefficients matching
ωn = 2.87
K = 4.619
α = 0.5723
Roots : − 0.5723, − 2 ± 2 j
Roots : − 0.58, − 1.96 ± 1.96 j by Matlab

Method 2
x x −1 x +1
2(180 − tan −1 ) − (180 − tan −1 ( ) + 180 − tan −1 ( ) + 135) = 180(1 + 2r)
x −1 x x
(tan -1 ((x - 1)/x) + tan -1 ((x + 1)/x) - 2 * tan -1 (x/(x - 1))) *180/π = -45
x = 1.967 ⇒ the conjugate roots are - 1.967 ± 1.967j
From magnitude condition,
K × (0.967 2 + 1.967 2 ) × (0.967 2 + 1.967 2 )
=1
(0.967 2 + 1.967 2 ) × 1.967 2 + 1.967 2 × 1.967 2 + 2.967 2
K = 4.518
s 3 + 4.518s 2 + (2 × 4.518 + 1) s + 4.518 = 0 ⇔ ( s + α )( s 2 + 3.934 s + 7.7382) = 0
s 3 + (α + 3.934) s 2 + (7.7382 + 3.934α ) s + α 7.7382 = 0
⇒ α = 0.584

Roots : − 0.584, − 1.967 ± 1.967 j

20
 Conclusions

(1). The system will tend to be unstable with additional poles

(increasing the system rank).
(2). The system will tend to be stable with additional zeros.

In many design exercises, zeros can be introduced to attract

closed-loop poles and alter the root locus location. It is
also very useful to applied stable pole-zero cancellation
for improving system performance.

21
 Exercise 1

20

10

k ( s + 5)
0
-2.5 kG ( s )C ( s ) =
s 2 ( s + 10)

-10

-20
-10 -8 -6 -4 -2 0

Exercise 2

22
 Exercise 3

Exercise 4

23
 Control System Design by
Root Locus Method
1. Determine the desired dominant pole locations using the
performance requirements.
2 . Calculate the phase of the desired pole location
corresponding to the uncompensated system G(s), and
determined the required phase change.
3. Determine the pole and zero of the compensator C(s), such
that the phase of the desired pole location corresponding to
the compensated system is 180.
4. Determine the value of K, such that
KG ( s )C ( s ) = 1 is satisfied.
5. Confirm the result by time domain simulation.

24