2020 10 Chapter 8 - Root Locus

References:
Control System Engineering, Norman Nise, Chp 8

Basic Control System Engineering, Lewis, Chp 8
Chapter 8. Root Locus Techniques
You’ll learn the following :

• The definition of root locus
• How to sketch a root locus
• How to refine your sketch of a root locus
• How to use the root locus to find the poles of closed-loop system
www.its.ac.id TM 184521 – SYSTEM DYNAMICS & AUTOMATIC CONTROL 1
Introduction
Simple definition:
o Locus of points on the s-plane that represents the poles of a system as one
or more parameter vary.
o A graphical presentation of the closed-loop poles as a system parameter is
varied. The variation is commonly described by plotting the pole location
in the s-plane.
✓ RL and its relation to poles of a closed loop system

✓ RL and its relation to transient response and stability
✓ RL to select a parameter (such as K) to meet closed loop transient response
specifications
2
Introduction
When a system parameter changes, the roots of the characteristic

equation move in the s-plane, and the root loci are the paths that
describe the variation in root location.
A powerful method of analysis and design for :

• Stability
• Ranges of instability
• The condition that cause a system to break into oscillation
• Transient response
The Control System Problem
Open loop transfer function= K G(s)H(s)

→ the poles can be easily determined
Closed loop transfer function=

KG (s )
T (s ) =
1 + KG (s )H (s )
→ the poles cannot be determined, unless we

factor the denominator
a. Closed-loop system; b. Equivalent transfer function
4
N G (s ) (s + 1)
Let G (s ) = Example G (s ) =
DG (s ) s(s + 2)
N H (s )
and H (s ) =
H (s ) =
(s + 3)
DH (s )
(s + 4)
KN G (s )DH (s )
then T (s ) =
DG (s )DH (s ) + KN G (s )N H (s )
The zeroes of T(s) are from NG(s)DH(s) and the poles of T(s) are from a
contribution of a lot of factors. Also the transient response is affected by the
poles and the zeroes of G(s) and H(s). The root locus give a good
representation of the poles of T(s) as K varies
Vector representation of
complex numbers:
a. s =  + j;
b. (s + a);
c. alternate rep of (s + a);
d. (s + 7)|s→5 + j2
6
Apply the concept to a complicated function, F(s).
 (s + zi )
m
 numerator' s complex factor The parameter m is the number of

F (s ) = i =1
=
 (s + p j )  denominator' s complex factor
n zeroes and n is the number poles
i =1 which are complex factors
 (s + zi )
m
 zero lengths i =1
M= = n
(s + p j )
 pole lengths  The magnitude M of F(s) to any
i =1 point s is
 =  zero angles -  pole angles =  (s + zi ) −  (s + p j )

m n
i =1 i =1
where  = “product”
m = number of zeroes
n = number of poles
M = the vector’s magnitude of F(s) at any point s
|(s+zi)| = a zero length, is the magnitude of the vector drawn from the zero of F(s) at
– zi to the point s
|(s+pj)| = a pole length, is the magnitude of the vector drawn from the zero of F(s) at
–pj to the point s
( )
 s + zi = a zero angle, measured from the positive extension of the real axis, of a
vector drawn from the zero of F(s) at – zi to the point s.
(s + p j ) = a pole angle, measured from the positive extension of the real axis, of a
vector drawn from the zero of F(s) at – pj to the point s.
8
Example 1
Find the vector representation

M of F(s) to the point -3+j4
( s + 1)
F ( s) =
s ( s + 2)
Sol to example
The vector from pole at 0 to the s point is

The vector from zero at -1 to the s point is
4
4 32 + 42 (180 − tan −1 ) = 5126.9
22 + 42 (180 − tan −1 ) = 20116.6 3
2
The vector from pole at -2 to the s point is
Using the Eq. 4
m
32 + 12 (180 − tan −1 ) = 17104.0
1
 ( s + zi )
M  = i =1
n
   ( s + zi ) −   ( s + pi ) 
 ( s + pi )
i =1
20
M  = 116.6 − 126.9 − 104 = 0.22 − 114.3
5 17
which is evaluating F ( s) at the point -3+j 4
10
Defining the root locus
a. CameraMan® Presenter Camera System

automatically follows a subject who
wears infrared sensors on their front and
back (the front sensor is also a
microphone); tracking commands and
audio are relayed to CameraMan via a
radio frequency link from a unit worn
the subject.
b. Block diagram
c. Closed loop transfer function
11
Pole location as a function of

gain for the system Pole plot
Root locus
12
The root locus of a closed loop TF is a representation of

a continuous path of the closed loop poles on the s-plane
as the gain K or other parameter is varied from - to +.
For this course, the parameter K is  0
13
Properties of the Root Locus
For a closed loop transfer function T(s)

KG (s )
T (s ) =
1 + KG (s )H (s )
A pole, s, exist when the characteristic polynomial in the denominator becomes
zero. Therefore, 𝐾𝐺 𝑠 𝐻 𝑠 = −1
That pole can be represented by a vector that has magnitude and an angle.
Therefore, a value of s is a closed loop pole if
𝐾𝐺 𝑠 𝐻 𝑠 =1 This is called the magnitude criterion

∠𝐾𝐺 𝑠 𝐻 𝑠 = 2𝑘 + 1 1800; 𝑘 = 0, ±1, ±2, … This is called the angle criterion
14
Properties of the Root Locus
A pole s exist when the characteristic equation becomes zero, or

KG (s )H (s ) = −1 = 1(2k + 1)1800 k = 0,1,2,
The value of K can be evaluated as

1
𝐾=
𝐺 𝑠 𝐻 𝑠
Since the magnitude of KG(s)H(s) is unity, K can be solved as above once the pole
value is substituted.
So satisfying the angle and magnitude criteria of KG(s)H(s) indicates that the
s value is a pole on the root locus.
15
Example 2
Prove whether that the s point -2+j3 is on the RL of a open loop system as
K ( s + 3)( s + 4)
KG ( s ) H ( s ) =
( s + 1)( s + 2)
If the s point -2+j3 is on the RL of the system, then the magnitude and angle
criteria are satisfied.
a. Example system; b. pole-zero plot of G (s)
16
Sol to example
Using the angle criterion

  ( s + z ) −   ( s + p ) = (2k + 1)180 ;
i j
k = 0, 1, 2, 3...

Using the previous figure, we need to
evaluate all the angles from the zeros and poles
to the point in question ( − 2 + j3) and observe
whether the result is an odd multiple of 180.
The result of 1 +  2 − 3 +  4 has to be evaluated. Vector representation of G(s)

from -2+ j 3
17
Sol to example
-2+j3
Therefor, the point -2+j3 is not on

the root locus of
𝐾 𝑠+3 𝑠+4
𝑠+1 𝑠+2
18
Sol to example
2
For the previous system, check whether point −2 + 𝑗 2 is on the RL or not !!
TRY IT …
Then find the gain K at that point using the magnitude criterion.
19
Sol to example
KK
20
Example 3
Given a unity feedback system that has forward transfer function :

K (s + 2)
G (s ) =
( )
s + 4s + 13
2
do the following :
a. Calculate the angle of G(s) at the point (-3+j0) by finding the algebraic sum
of angles of the vector drawn from the zeroes and poles of G(s) to the given
point
b. Determine if the point in (a) is on the root locus
c. If it is on the root locus, find the gain K, using the lengths of the vectors
21
Sol to example
22
Rules of Construction
Assuming that the characteristic equation is expressed in the form of 1+KP(s)=0,

where P(s)=G(s)H(s) and K>0
• Number of branches → the number of branches of the root locus equals the
number of closed loop poles
• Symmetry → root locus is symmetrical about the real axis
• Real axis segment → on the real axis, for K>0 the root locus exists to the left of
an odd number of real axis, finite open-loop poles and/or finite open loop zeroes,
OR a root locus exists on the real axis if the total number of poles and zeros of
P(s) to the right is odd
23
• The number of paths to infinity =

n (poles) - m (zeros)
24
System: sys
Root Locus
Gain: 0.333
Pole: -2 + 0.705i
Damping: 0.943
From Matlab 0.8 Overshoot (%): 0.013
Frequency (rad/sec): 2.12
0.6
0.4
0.2
Imag Axis
-0.2
-0.4
-0.6
-0.8
Stable for all K
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
25
• Start and end points of the RL

𝐾𝑁𝐺 𝑠 𝐷𝐻 𝑠
𝑇 𝑠 =
𝐷𝐺 𝑠 𝐷𝐻 𝑠 + 𝐾𝑁𝐺 𝑠 𝑁𝐻 𝑠
The RL begins at K=0 and ends at K=∞

𝐾𝑁𝐺 𝑠 𝐷𝐻 𝑠
𝑎𝑠 𝐾 → 0; 𝑇 𝑠 ≈
𝐷𝐺 𝑠 𝐷𝐻 𝑠 + 𝜀
As ε approaches zero due to K→ 0, the closed loop poles of T(s) becomes the
poles of DG(s)DH(s). This implies that RL commences at the poles of DG(s)DH(s).
Therefore, RL begins at the poles of the loop transfer function at K=0
26
Analytically, this can also be seen from,

DG(s)DH(s)+KNG(s)NH(s)=0
as K→0; yields DG(s)DH(s)=0
KN G ( s ) DH ( s )
The RL ends T (s) =
DG ( s ) DH ( s ) + KN G ( s ) N H ( s )
KN G ( s ) DH ( s )
T (s) 
 + KN G ( s ) N H ( s )
As K →  ; The poles of T ( s) is therefore the zeros of N G ( s ) N H ( s )
27
KN G ( s ) DH ( s )
T (s) =
DG ( s ) DH ( s ) + KN G ( s ) N H ( s )
The RL ends at K → , at the zeros of the open loop
DG ( s ) DH ( s ) + KN G ( s ) N H ( s ) = 0 transfer function N G ( s ) N H ( s ).
Dividing by K ( K →  ) Therefore, the RL starts at the poles of G ( s ) H ( s ) and ends at

the zeros of G ( s ) H ( s ) (the open loop TF).
DG ( s ) DH ( s )
+ NG (s) N H (s) = 0
K
NG (s) N H (s) = 0
28
• Behavior at infinity → If there are n poles of P(s) and m finite zeros of P(s),
the number of loci that approaches infinity as K approaches infinity is n-m.
They will approach infinity along asymptotes with angles of 1800 (n-m=1);
+900 (n-m=2); 1800 and +600 (n-m=3), or +450 and +1350 (n-m=4).
1800 + 𝑘. 3600
Angles 𝜃𝑘 = , 𝑘 = 0,1,2, ⋯ , 𝑛 − 𝑚 − 1
𝑛−𝑚
𝑝1 + 𝑝2 + ⋯ 𝑝𝑛 − 𝑧1 + 𝑧2 + ⋯ 𝑧𝑚
Real axis intercept 𝜎𝑐 = ,𝑛 −𝑚 ≥ 2
𝑛−𝑚
29
30
Example
a =
(− 1 − 2 − 4) − (− 3) = 4
The real axis intercept
4 −1 3
The angle of the lines that intersect at -4/3 are

θa = π/3 for k = 0
θa = π for k = 1
θa = 5π/3 for k = 2
31
• Number of paths to infinity

n–m=3
# of zeros
# of poles
32
Root Locus
4
System: sys
Gain: 9.53
Pole: 0.000296 + 1.58i Stable up to a
Imag Axis
1
Damping: -0.000187
Overshoot (%): 100
limiting K value
0
-1
-2
-1.5 -1 -0.5 0 0.5 1 1.5 2

Real Axis
33
Root Locus
3
1 System: sys
Gain: 0.534
Pole: -0.45
Damping: 1
Overshoot (%): 0
K at the
Imag Axis

0
breakaway point
-1
-2
-3
-0.6 -0.4 -0.2 0 0.2 0.4 0.6

Real Axis
34
• Root locus example showing real- axis breakaway (-1) and break-in points (2)
Variation of gain along the real axis for the

previous root locus
35
The previous plot show that the gain reaches a maximum between the
poles (where K starts off at 0). This occurs at the breakaway point.
The gain is a minimum as the RL plot comes back on the real axis and
goes towards the zeros (K becomes infinite). This occurs at the break-in
point.
Therefore, we can use basic calculus to find the breakaway and break-in
points → first method.
36
37
38
Second method → breakaway and break-in point without differentiation

(transition method). These points satisfy the relationship:
m n
1 1
1  + z 1  + p
=
i i
where zi and pi are the negative of the zero and pole values
From example 1 1 1 1
+ = +
 − 3  − 5  +1  + 2
11 2 − 26 − 61 = 0
 = −1.45 and  = 3.82
39
Data for breakaway

and break-in points
for the root locus
40
• j crossing → can be determined using the Routh test

K ( s + 3)
CLTF T ( s) =
s + 7 s + 14s 2 + (8 + K ) s + 3K
4 3
Completing the Routh array
41
42
• Angles of departure from poles of P(s) and angles of arrival at finite zeros of
P(s) can determined by application of the angle criterion to a point selected
arbitrarily close to the departure or arrival point
Example
43
44
Example 4
Given a unity feedback system that has a forward TF

K ( s + 2)
G ( s) = 2 , do the following
( s − 4 s + 13)
(a) Obtain a RL using Matlab
(b) Find the complex poles that crosses on the imaginary axis
(c) Determine the gain at the j crossing
(d) Determine the break-in point
45
Sol to example
46
Sol to example
Repeating part (d), Recall

K ( s + 2)
Recall K = −
1 KG ( s ) H ( s ) = = −1
G (s) H (s) ( s 2 − 4 s + 13)
Subst s =  in the above  2 − 4 + 13
Subst s =  ; K =
1  +2
K =− dK ( + 2)(−2 + 4) − (− 2 + 4 − 13)
G ( ) H ( ) = =0
d ( + 2) 2
dK ( )
Differentiating with respect to  , with =0  2 + 4 − 21 = 0
d
we can solve for the values of  (or s values) where  = 3, − 7
the RL leaves and arrives on the real axis (the breakaway point
and break-in points). The break-in point occurs at s = −7.
47
Example 5

K ( s − 2)( s − 4)
G ( s) = 2 , do the following
( s + 6 s + 25)
(b) Find the complex poles that crosses on the imaginary axis
(c) Determine the gain K at the j crossing
(d) Determine the break-in point
(e) Find the point where the RL crosses the 0.5 damping ratio line
(f) Find the gain at the point where the RL crosses the 0.5 damping ratio line
(g) Find the range of gain K , for which the system is stable
48
Sol to example
49
Sol to example
Root Locus Root Locus
4 4
System: sys
Gain: 1
Pole: 0.00264 + 4.05i
Damping: -0.000652
3 Overshoot (%): 100 3
2 2
System: sys
1 1 Gain: 51.3
Pole: 2.89 - 3.67e-008i
Damping: -1
Overshoot (%): Inf
Imag Axis
Imag Axis

0 0
-1 -1
-2 -2
-3 -3
-4 -4
-3 -2 -1 0 1 2 3 4 -3 -2 -1 0 1 2 3 4
Real Axis Real Axis
50
Sol to example
Repeat part (f) using the magnitude criterion.

Root Locus
This is to be done at the point − 2.42 + j 4.18 4 System: sys

Gain: 0.108
First from the poles (−3  j 4)

Pole: -2.42 + 4.18i
Damping: 0.5
3 Overshoot (%): 16.3
L1 = (3 − 2.42) + (4.18 − 4) = 0.607

2 2
2
L2 = (3 − 2.42) 2 + (4 + 4.18) 2 = 8.2 1
Imag Axis
Now from the zeros (2, 4) 0
L3 = (2 + 2.42) 2 + 4.182 = 6.08

-1
-2
L4 = (4 + 2.42) 2 + 4.182 = 7.66

-3
-4
LL
K = 1 2 = 0.107 -3 -2 -1 0
Real Axis
1 2 3 4
L3 L4
51
Transient Response via Gain Adjustment
2nd order approximation must be upheld since the RL provides various

damping ratios, settling time, peak time etc.
➢ Higher order poles are much farther from the dominant second-order
pair.
➢ Closed loop zeros near the closed loop second poles are canceled or
nearly cancelled by the close proximity of other higher order closed loop
poles.
➢ Closed loop zeros not cancelled by the close proximity of other higher
order poles are far removed from the closed loop second order dominant
pair.
52
Design procedure for higher order systems

❑ Sketch the root locus for the given system
❑ Assume the system is second order with no zeroes. Find the gain
to meet the desired spec
❑ Justify second order approximation
❑ If it is not justified, then perform control simulations to ensure
that the specs are met
53
Second-order
approximations
54
Example 6
For the system as shown, determine the value of K to give a 1.52%

overshoot. Evaluate the settling time, peak time and SSE.
The system is third order with a zero at s = -1.5
55
Sol to example
First get the Root Locus

Assuming the system can be
2nd order approx draw the
damping ratio line
56
Sol to example
Searching for the closed loop poles at  = 0.8

Root Locus Root Locus
10
3
8
2.5
System: sys
6 Gain: 39.4
Pole: -4.56 + 3.42i
2 Damping: 0.8
Overshoot (%): 1.51
4 Frequency (rad/sec): 5.7
System: sys
1.5 Gain: 12.7
System: sys
Pole: -1.19 + 0.893i
Damping: 0.8 Gain: 7.36 2
Overshoot (%): Pole:
1.52 -0.874 + 0.655i
1 Damping:
Frequency (rad/sec): 1.490.8
Imag Axis
Imag Axis
Overshoot (%): 1.51
Frequency (rad/sec): 1.09 0
0.5
-2
0
-4
-0.5
-6
-1
-8
-1.5
-10
-2 -1.5 -1 -0.5 0 -10 -9 -8 -7 -6 -5 -4 -3 -2 -1 0
Real Axis Real Axis
57
Sol to example
The point where the RL crosses the  =0.8 is at 3

points yielding 3 sets of closed loop poles at
−0.87  j 0.66, − 1.19  j 0.9 and − 4.6  j3.45.
The respective gains from the RL plot are 7.36, 12.79 and 39.64.
For each point the settling time, time to first peak can be evaluated from
4 
Ts = ; Tp =
n d
The third closed loop pole must be obtained for each dominant set
having the same corresponding gain.
58
Sol to example
Root Locus
10
Searching for the third pole on the RL 8
at each of the corresponding gains 6
7.36, 12.79 and 39.64.

4
System:System:
sys sys System: sys
Gain: 7.4
Gain: 12.8 Gain: 39.2
2 Pole: -9.25
Pole: -8.61 Pole: -1.8
Note that the third pole cannot be Damping:Damping:
Overshoot
1
Overshoot
1
(%): 0 (%): 0
Damping: 1
Overshoot (%): 0
Imag Axis
Frequency
Frequency
(rad/sec):
(rad/sec):
9.25 8.61 Frequency (rad/sec): 1.8
complex as the CLTF is third order, ie. 0
the third pole must be on the real axis. -2
-4
The poles are at s = -9.25, -8.6 and 1.8 -6
respectively. -8
-10
-10 -9 -8 -7 -6 -5 -4 -3 -2 -1 0
Real Axis
59
Sol to example
4 
Using Ts = ; Tp =
n d
and the real and imaginary parts of the dominant pole.
The velocity error constant is
sK ( s + 1.5) K (1.5)
K v = lim sG ( s ) = lim =
s →0 s →0 s ( s + 1)( s + 10) (1)(10)
Subst. various values of K gives the K v values in the Table below.
60
Sol to example
Second- and third-order responses: a. Case 2; b. Case 3

Cases 1 and 2 have the third pole far away from the complex pair. However, there is no approx.
pole zero cancellation.
Case 3, the third pole is closer to the zero, so a 2nd order approx can be considered valid.
The plots are relatively close.
a. Case 2 b. Case 3
61
Sol to example
A step input is used to show the second order dynamics and validity of the
second order approximation.
We will now re-evaluate for the third pole analytically knowing the gain at the
corresponding dominant pair.
As an example, Case 3 will be used.
In case 3, K=39.64, using the magnitude criterion assuming the third pole p
exist somewhere between the pole at -10 and the zero at -1.5.
62
Sol to example
The point p can be found as:
63
Sol to example
The closed loop TF is using K = 39.64 Step Response

6
C (s) 39.64s + 59.64

=
R( S ) s 3 + 11s 2 + 49.64s + 59.64 5
System: sys
Time (sec): 4.5
Amplitude: 4.33
1 4
Since R( s) = (discuss Matlab)

s2
Amplitude
The figure shows that there is a steady state error e() 3
of (4.5 − 4.33) = 0.17.

2
1
NOTE THAT THIS IS =
Kv 1
For Case 3, ( K = 39.64 ) K v = 5.9

1 0
e( ) = = 0.17 which matches the Matlab plot.

0 1 2 3 4 5 6
Time (sec)
5.9
64
Example 7

K
G ( s) = , do the following
( s + 2)( s + 4)( s + 6)
(b) Using a 2nd order approx. determine the value of
K to give a 10% overshoot for a unit step input
(c) Determine settling and peak times
(d) The natural frequency
(e) The SSE for the value of K .
(f) Determine the validity of the 2nd order approx.
65
Sol to example
66
Sol to example
(d) n = 2.0282 + 2.7682 = 3.432
(e) The system is Type 0, the position error constant is ( p − 6)( p − 4)( p − 2)
K= = 45.55
K 45.55 1
lim G ( s ) = K p = = = 0.949 Solving for p gives
s →0 2*4*6 48
1 p = −7.943 which is the third pole.
Therefore, e() = = 0.51
1+ Kp
(f) Since this third close loop pole is NOT 5 times or more
In this case, K = 45.55. Using the magnitude criterion the magnitude of the real part of the closed loop dominant
assuming the third pole p exists somewhere to the left of the pole, the second approx. NOT valid.
pole at − 6. The point in question is p.
L1 = p − 6
L2 = p − 4
L3 = p − 2
67
Sol to example
Root Locus
10
4
System: sys
Gain: 44.6
2 Pole: -7.92
Damping: 1
Overshoot (%): 0
Imag Axis

0
-2
-4
-6
-8
-10
-16 -14 -12 -10 -8 -6 -4 -2 0 2

Real Axis
68

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References:

Control System Engineering, Norman Nise, Chp 8

Chapter 8. Root Locus Techniques

You’ll learn the following :

www.its.ac.id TM 184521 – SYSTEM DYNAMICS & AUTOMATIC CONTROL 1

✓ RL and its relation to poles of a closed loop system

www.its.ac.id TM 184521 – SYSTEM DYNAMICS & AUTOMATIC CONTROL 2

When a system parameter changes, the roots of the characteristic

A powerful method of analysis and design for :

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The Control System Problem

Open loop transfer function= K G(s)H(s)

Closed loop transfer function=

→ the poles cannot be determined, unless we

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 numerator' s complex factor The parameter m is the number of

 =  zero angles -  pole angles =  (s + zi ) −  (s + p j )

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Find the vector representation

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The vector from pole at 0 to the s point is

which is evaluating F ( s) at the point -3+j 4

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a. CameraMan® Presenter Camera System

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Defining the root locus

Pole location as a function of

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The root locus of a closed loop TF is a representation of

For this course, the parameter K is  0

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Properties of the Root Locus

For a closed loop transfer function T(s)

𝐾𝐺 𝑠 𝐻 𝑠 =1 This is called the magnitude criterion

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A pole s exist when the characteristic equation becomes zero, or

The value of K can be evaluated as

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a. Example system; b. pole-zero plot of G (s)

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Using the angle criterion

k = 0, 1, 2, 3...

The result of 1 +  2 − 3 +  4 has to be evaluated. Vector representation of G(s)

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Therefor, the point -2+j3 is not on

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Given a unity feedback system that has forward transfer function :

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Assuming that the characteristic equation is expressed in the form of 1+KP(s)=0,

• Symmetry → root locus is symmetrical about the real axis

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• The number of paths to infinity =

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• Start and end points of the RL

The RL begins at K=0 and ends at K=∞

Therefore, RL begins at the poles of the loop transfer function at K=0

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