Root Locus (RL) Method

The Root
Root Locus:
the locus of roots of the characteristic equation of
the closed-loop system as a specific parameter
(usually, gain K) is varied form 0 to ∞.
The advantages of RL approach:

Locus Method
1. Avoiding tedious and complex roots-solving
calculation
2. Clearly showing the contributions of each loop poles
or zeros to the location of the closed-loop poles.
3. Indicating the manner in which the loop poles and
zeros should be modified so that the response meets
system performance specifications.
2

ROOT LOCUS
 The Challenge is to determine and evaluate stability
condition and transient response for higher order systems K 1 N1 ( s ) K 2 N 2 (s)
from roots of CE showing contribution of different system G(s)  ; H (s) 
D1 ( s ) D2 ( s )
elements
K 1 N1 ( s )
 The root locus is a graphical technique that allows the
C (s) G ( s) D1 ( s )
system designer to visualise the behaviour of the system  
with respect to a parameter, usually the gain. R ( s ) 1  G ( s ) H ( s ) 1  K1 K 2 N1 ( s ) N 2 ( s )
 The locus can illustrate behaviour with respect to the D1 ( s ) D2 ( s )
The Characteristic
transient response and stability based upon inspection of the K1 N1 ( s ) D2 ( s )

open-loop polynomial Equation (CE) is; D1 ( s ) D2 ( s )  K1 K 2 N1 ( s ) N 2 ( s )
 Root locus shows how the root positions move in the s-plane D1(s)D2(s) + When K1K2 = ∞ the poles of CE are zeros of OLTF
as a function of loop gain K. The factor K is considered as
independent variable and all roots of the CE becomes K1K2N1(s)N2(s) = 0 When K1K2 = 0 poles of CE are poles of OLTF
dependent on K
Hence, root locus starts from poles and ends at zeros of the CE

ROOT LOCUS
Root locus and its forms will enable one to predict
the effect on transient response and stability when:
 closing the loop on a known open-loop system,

 changing the gain of a loop, and

 adding compensation in the form of additional

poles and zeroes

Root locus can indicate system performance; i.e.

• Stability
• Dynamic performance
• Steady-state error
 Root Locus Root Locus Equation
 Relationship between the open-loop and closed-
There is a relationship between the
performance and the characteristic roots of loop poles and zeros
feedback system.  Root locus equation: Angle Criterion
 m n

• The root locus is a powerful tool for   ( s  z j )   ( s  pi )  (2k  1) (k  0,  1,  2 )

 j 1 i 1

designing and analyzing feedback control  n

  s  pi
Magnitude Criterion
system  K  i 1
 m

  s  zj
• Is a graphical method of analysing by  j 1

Angle criteria is used to determine if a point in the s-plane is root

determining the locus of roots in the s-plane locus or not; while magnitude criteria is used to determine the loop
as one system parameter is changed. gain of a root position

Basic Task of Root Locus Root Locus

 How to determine the closed-loop poles from The transfer function G(s) of any system can be written
the known open-loop poles and zeros and gain in a form;
by root locus equation. p( s)
F (s)  where p(s) and q(s) are polynomials
 Angle requirement for root locus q( s)
Necessary and sufficient condition for root locus plot q(s) = ansn + an-1sn-1 + …………. + a1s + 1
 Magnitude requirement for root locus Note that quotients are arranged to make ao = 1
In General F(s) + 1 = 0
Gain evaluation for specific point of root locus
To find roots we need to solve F(s) = -1
The angles are measured in the counter-clockwise
direction the horizontal line drawn through a pole
or a zero

Root Locus
Basic Root Locus Conditions
Root location in the s-plane must satisfy F(s) = -1
condition. K ( s  z1 )( s  z2 )( s  z3 )....( s  zm )
F ( s) 
( s  p1 )( s  p2 )( s  p3 )....( s  pn )
In polar form: | F ( s ) | F ( s )  1
Hence:
K | s  z1 || s  z2 || s  z3 | .... | s  zm |
Therefore, root locus sketching involves identifying 1
| s  p1 || s  p2 || s  p3 | .... | s  pn |
points in the plane that meets the above condition.
and F ( s )  ( s  z1 )  ....  ( s  zm )
Hence |F(s)| = 1 magnitude condition and
 {( s  p1 )  ....  ( s  pm )  180  n360
F(s) = -180°+ n360° angle condition n = 1, 2, …
 EXAMPLE K
s(s  a )
For G(s) = K / { s(s+a) } and H(s) = 1 Root Locus
Then F(s) = K / { s(s+a) } = -1; from 1 + F(s) = 0
Therefore: The Closed loop Transfer
K function for figure above is:
1  F ( s)  1  0
s( s  a )
T(s) = { K } / { s2 + as + K }
K
| F ( s ) |  1 and F ( s )  s  ( s  a )  180 

| s || s  a | The calculated locations of

poles of T(s) as K varies
Note: Kc = {|s| |s+a|}|s=-a/2
from zero to infinity and
This means that if a is a fixed value, choosing different plotted on the s-plane is as
values for K moves the roots from −a , 0 when K = 0 to - shown on the RHS
a/2, -a/2 when K=Kc and − a ± jb where b → ∞ as K →
∞

Root Locus Properties Root Locus Properties

 The roots of s at K = 0 are at the poles of F(s) •Loci proceed to infinity along asymptotes
 The roots of s at K = ∞ are at the zeros of F(s) whose centroid is at:
some of which may be at infinity The asymptotes intersect the
A 
 p z
j i real axis at a point called the
 The roots of s lying on the real axis always lie n p  nz pivot or centroid
in a section of the axis to the left of an odd
number of roots from the right and asymptotes angles
( 2q  1)
 The number of loci (paths of roots) as we vary A  180 ; q  0,1,....( n p  nz )  1.
n p  nz
0< K <∞ is the greater of the number of poles or
zeros. Usually np > nz. This leads procedures for constructing root
 When np > nz, then np − zn loci end up at infinity locus Asymptotes: Branches of the root locus
along prescribed asymptotes (as K → ∞ ). which diverge to ∞ (i.e. to open-loop zeros
at ∞) are asymptotic to the lines

Probe by each point Properties of Root Loci

1. Find all the points that satisfy the Angle Equation 1 K  0 and K   points of Root Loci
on the s-plane, and then link all these points into a 2 Number of Branches on the RL
smooth curve, thus we have the system root locus 3 Symmetry of the RL
when k* changes from 0 to ∞;
4 Root Loci on the real-axis
2. As for the given k, find the points that satisfy
5 Asymptotes of the RL
the Magnitude Equation on the root locus, then
6 Breakaway points on the RL
these points are required closed-loop poles.
7 Departure angle and arrival angle of RL
However, it’s unrealistic to apply such “probe by
8 Intersection of the RL with the imaginary axis
each point” method.
9 The sum of the roots and the product of the roots of the
W.R. Evans (1948) proposed a set of root loci closed-loop characteristic equation
18
drawing rules which simplify the our drawing work.
 The Root Locus Procedure 1. K  0 and K   points
Root loci originate on the poles of G(s)H(s) (for K=0)
and terminates on the zeros of G(s)H(s) (as K=∞).
m
 Step 1:Write the characteristic equation as K  ( s  Zi )
RL
G( s) H ( s)  i 1
 1
1  F ( s )  0 as 1  KP ( s )  0 Equation: n

 (s  P )
i 1
i

 Step 2: Rewrite preceding equation into the m

K  s  Zi
n

Magnitude
 sP i

form of poles and zeros as follows: i 1

n
1 K＝ i 1
m
Equation:
m
 s  Pi  sZ
 (s  z )
i
i 1 i 1
j n m
 0   ( s  p j )  K  ( s  zm )  0
j 1
1 K n K 0  s  Pi Root loci start from poles of G(s)H(s)
 (s  p ) i
j 1 i 1

i 1
K   s  Zi Root loci end at zeros of G(s)H(s).
20

Number of branches on the RL Root locus procedure

 Step 3: Locate the poles and zeros with specific symbols.
nth-order system, RL have n starting points and RL have n Common: - pole; - zero
branches
m  REMEMBER: the root locus begins at the open-loop
K  ( s  Zi )
RL poles and ends at the open-loop zeros as K increases
Equation: G( s) H ( s)  i 1
 1
n
from 0 to infinity.
 (s  P )
i
i 1  The RL (root locus) starts at the n open-loop poles
The order of the characteristic equation is n as K varies
from 0 to ∞ ,n roots changen root loci.  The RL ends at the open loop zeros, m of which are
finite, n-m of which are at infinity
For a real physical system, the number of poles of G(s)H(s)
are more than zeros，i.e. n > m.
Note: If open-loop system has n-m zeros at
n root loci end at open-loop zeros（finite zeros)； infinity, there will be n-m branches of the root
m root loci end at open-loop zeros（finite zeros)； locus approaching the n-m zeros at infinity.
（n－m）root loci end at (n－m) infinite zeros. 21

Root Locus Procedure

The RL (root locus) starts at the n open-loop poles and ends at zeros
of P(s)

The RL ends at
the open loop
zeros, m of
which are
finite, n-m of
which are at
infinity
 Root locus procedure
 Step 4: Plot Loci on real axis. The root locus on
the real axis lies in a section of the real axis to
the left of an odd number of real poles and zeros.
 Step 5: Determine No. of separate loci. The
number of separate loci is equal to the number
of open-loop poles.
 Step 6: Remember; the root loci must be
continuous and symmetrical with respect to the
horizontal real axis.
Root Locus Construction Procedure
– Existence on the Real Axis
The root locus exists on the real axis to the left of an
odd number of poles and zeros.
Proof: Each point Sr on the root locus must satisfy the
angle condition. Since the angular contribution along the
real axis due to complex-conjugate poles cancels, the
total angle of GH(s) is due only to the contribution of
real poles (x) and zeros (o). Consider a point Sr on the
real axis. For each pole and zero to the left of
For each pole and zero to the right of

Root Locus Construction Procedure Root Locus Construction Procedure

Root locus procedure Root locus procedure

 Step 7: The loci proceed to zeros at infinity  Step 8: Determine the point loci crosses
along asymptotes centered (centroid) at  a imaginary axis. The actual point at which the root
and with angles a : locus crosses the imaginary axis is readily
n m evaluated by using Routh criterion.
 p zi j

a  i 1 j 1  Step 9: Determine the breakaway point and/or

nm break-in point (usually on the real axis):
( 2k  1)
a  ( k  0,1, 2, n  m  1)  Analytically using p(s) = k and differentiating it and
nm letting it equal to zero and determine roots
Determine the centroid and its respective  Graphically plotting p(s) for a relevant range of
angles values and determining the peak of the curve
 Step 9: Breakaway Point continues Breakaway Point: Analytical
Determine the breakaway point d (usually on
the real axis) using Transition Method: Obtaining the breakaway points
m
1 n
1 Rewriting the characteristic equation to isolate :
d  z
j 1

i 1 d  pi
j
The breakaway point occur when
Breakaway points occur on the locus where two or more loci
converge or diverge. They often occur on the real axis, but they may Example:
appear anywhere in the s-plane.

The loci that approach/diverge from a breakaway point do so at

angles spaced equally about the breakaway point. The angles at
which they arrive/leave are a function of the number of loci that
approach/diverge from the break point.

Breakaway Point: Graphical Root locus procedure

 Step 10: Determine the angle of departure

of locus from a pole pi and the angle of
arrival of the locus at a zero zi by using
phase angle criterion. m n
 p  1800  (  z
i j pi
  p j pi )
j 1 j 1, j i
m n
 z  1800  (
i 
j 1, j i
z j zi    p j zi )
j 1

θD=180◦ + arg{G(s)H(s)}*; arg{GH}* being the

phase angle of GH computed at the complex pole
but ignoring the pole contribution (same applies for arrival angle

Root Locus Construction Procedure Root Locus Construction Procedure

The angle of departure (or arrival) is
particularly of interest for complex poles (and
zeros) because the information is helpful in
completing the root locus

The angle of locus departure from a pole is

the deference between the net angle due to all
other poles and zeros and the criterion is
±180°(2q+1), and similar for the locus
angle of arrival at a zero.
Root Locus Construction Procedure Root locus procedure

 Step 11: Plot the root locus that satisfy the

phase criterion.
P ( s )  ( 2k  1) k  1, 2,
 Step 12: Determine the parameter value K1
at a specific root s1 using the magnitude
criterion. n

 (s  p )
i
K1  i 1
m

 (s  z )
j 1
j
s  s1

Root Locus Procedure:

Geometrical Interpretation

Root locus
procedure:
the use of
angle criteria;
Geometric
Interpretation

2nd Order Example Above Example Two

 Loci start at −a , 0 when K = 0.
 Loci end at ∞, ∞ when K = ∞.
 np = 2, nz = 0 , number of loci = 2  Poles are at 0 and -1
 2 roots end up at infinity  Zeros are at -2 and -3
 Number of loci = 2
 np=nz no loci end up at infinity
 Centroid and
 Points of departure of loci from the real axis
angles
 Example Two Example Two
 Point of departure

 Departure (or return) angles away from (-p, 0)

are always at right angles to the real axis
 locus crossing the imaginary axis; use

Sketch Root Locus for the Exercises

Example following and comment on
Three stability conditions

 The poles of s are 0 and −1± j 3

 The zeros of s are at infinity
 There are 3-0 loci

Crossing imaginary axis points

use auxiliary equation of Routh Array above
all zero row
s

Example 4 Root locus and asymptotes

locus begins at the open-
loop poles and ends a the
open-loop zeros

= 60°, 180°, 300° for r =

0,1,2

one finite open-loop zero and therefore n - m = 3 infinite zeros

root locus lies on the real axis for -4 < s, -3 < s < -2 and -1 < s < 0.

four branches; the root locus is symmetrical about the real axis
 Root Locus Example 5
Useful Observations
 System with several roots; those moving towards
imaginary axis with increasing values of K becomes
more dominant influence in transient response
 Value of K giving negative real roots close to the origin
can result in sluggish exponential response
 Roots lying along the same horizontal line have the same
damped natural frequency of oscillation; while roots
lying along a particular vertical line constrain the
amplitude of decaying response to the same exponential
envelope
 Every pair of complex roots yields an oscillatory term in
the response but the pair nearest to the origin dominates

Exercises
Sketch the root loci for a unity feedback control
system with a feedforward transfer function

K ( s  1)
1. G(s) 
s ( s  2)( s  4) 2
K
2. G (s) 
s ( s  4 j 4)( s  4  j 4)