MODULE 4

ROOT LOCUS PLOTS

1. Definition of Root Loci
2. General rules for constructing root loci
3. Analysis using root locus plots
Steps for constructing Root Locus plots:
STEP 1: The root locus begins at open loop poles (P). The open loop poles define the start of
the root locus. The sign X is used to show the location of poles in the s plane.

STEP 2: The root locus terminates at open loop zeros (Z). The sign ‘0’ is used to show the
location of zeros in the s plane

STEP 3: Number of branches is represented by N.

N = P when P > Z
N = Z when Z > P

STEP 4: Number of branches terminating at ∞ is P – Z

 2k  11800
STEP 5: Angle of Asymptotes  k 
PZ
Where = 0, 1, 2 … = (P-Z)
STEP 6: The asymptotic straight line will intersect on the real axis at a point known as
centroid.

STEP 7: The root locus on the real axis: The root locus exists on the real axis if the total
number of poles and zeros to the right of the sections is ODD
STEP 8: Break away and Break in points: The point at which two root locus leaves/enters the
real axis and enters the complex region of the s plane in order to terminate at zeros. Such
points occur between two adjacent poles when the root locus exists between them.

Break away point can be determined from the characteristic equation i.e.,

STEP 9: Cross over point of the root locus with the imaginary axis: It is a point where root
locus intersects with the imaginary axis and enters the other side of the complex plane can
be found by considering characteristic equation and Routh- Hurwitz criterion. We can find
the values of and

STEP 10: Angle of Departure: When the poles are of complex conjugates we have to find
angle of departure.

STEP 11: Angle of Arrival: When the zeros are of complex conjugates we have to find angle of
arrival.
Effect of Addition of Poles:
1. Adding a left-half-plane pole pulls the root locus to the right

2. This tends to lower the system’s relative stability and slow down the settling of the
response

3. But, providing that the closed-loop system is stable, the pole can also decrease
steady-state errors.
Effect of Addition of Zeros:

1. Adding a left-half-plane zero pulls the root locus to the left.

2. This tends to make the system more stable, and speed up the settling of the
response

3. Physically, a zero adds derivative control to the system, introducing anticipation into
the system, speeding up transient response

4. However, steady-state errors can get worse.

 PROBLEM 1

(Root locus begins @ OL Poles)

(Root locus ends @ OL Zeros)

(No.of Branches = N = P as P>Z)

(No. of Branches terminating @ Infinity)

* Step 6:

* Step 7: Segment which belongs to Root locus

Sum of OL Poles and OL Zeros

to the right of any section should be ODD
for the segment to be valid

(4) Even
Characteristic Equation

*Step 8 : Break Away/Break in Points

for characteristic equation
Step 9: Cross Over Point

Since K is Negative and Value of 's' is not imaginary, the root locus does not cross imaginary
axis. The given transfer function will be stable for all values of K

THE ROOT LOCUS FOR THE GIVEN OPEN LOOP TRANSFER FUNCTION IS SHOWN BY
PLOTTING THE VALUES CALCULATED ABOVE IN GRAPH SHEET TO SCALE
Poles  0, 1, 8 Scale: X-axis : 1cm = 1 units j (img )
Y-axis : 1cm = 1 units
Zeros  2
0  900
1  2700
 A  3.5
 0  900
BARoots  0.57

Crossover  Nil

 0 . 57
2
  0  ( real )
8 3.5 1

1  2700
PROBLEM 2
Poles  0, 0, 3, 5
Zeros  1 Scale: X-axis : 1cm = 2 units j (img )
 0  600
Y-axis : 1cm = 2 units
1  1800
 0  600
 2  300 0

 A  2.33
BARoots  Nil
Crossover   j 2.645

 j 2 . 645

 C
    ( real )
1  180 0
5 3 1 0

 j 2 . 645


 2  3000
PROBLEM 3
Poles  2, 4, 6, 8
Zeros  Nil Scale: X-axis : 1cm = 2 units j (img )
 0  450 Y-axis : 1cm = 2 units
1  1350
 2  2250
 3  3150
 A  5
BARoots  2.763 & 7.23  0  450
1  1350
Crossover   j 4.48
 
 j 4 . 48

 7 . 23 C  2 . 76
 
6
   ( real )
8 4 2

 j 4 . 48
 

 2  2250 3  3150
PROBLEM 4
Therefore, K= -4. Since K is Negative Root Locus does
not cross imaginary axis. The given transfer function will be stable
for all values of K
Poles  1, 3
Zeros  6 Scale: X-axis : 1cm = 1 units j (img )
 0  1800 Y-axis : 1cm = 1 units
 A  2
BARoots  2.127 & 9.872
Crossover  Nil

 A  2
 0  1800

3
  ( real )
 6 1

 9 . 827  2 . 127
PROBLEM 5
Since K = 0, Root locus does not cross imaginary axis as 's' will be a real number.
The given transfer function will be stable for all values of K
Poles  0, 0, 5
Zeros  1
Scale: X-axis : 1cm = 1 units
 0  900
Y-axis : 1cm = 1 units
1  2700
 A  2
BARoots  Nil  0  900
Crossover  Nil

A
 
5 1 0

 0  2700
PROBLEM 6
Poles  0, 1, 2
Zeros  6 Scale: X-axis : 1cm = 1 units
 0  900 Y-axis : 1cm = 1 units
1  2700
 A  1.5
BARoots  0.44  0  900
Crossover  2 j

 0 . 44
2 j

  A  1.5
6 2 1 0

2 j

 0  2700
PROBLEM 7
Since K = 0, the root locus does not cross imaginary axis as 's' will be a real number.
The given transfer function will be stable for all values of K
Poles  0, 0, 9
Zeros  1 Scale: X-axis : 1cm = 1 units
 0  900 Y-axis : 1cm = 1 units
1  2700
 A  4
BARoots  3  0  900
Crossover  Nil

3

  A  4

9 1 0

 0  2700
PROBLEM 8
(Contd.. PROBLEM 8)
 Since K is negative and 's' is a real number, the root locus does not cross
imaginary axis. The given transfer function will be stable for all values of K.
Poles  0, 2
Zeros  4, 6 Scale: X-axis : 1cm = 1 units
BARoots  1.26 & Y-axis : 1cm = 1 units
 4.73
Crossover  Nil

 4 . 73  1 . 27


2
0
6 4
ROOT LOCUS WITH COMPLEX POLES

PROBLEM 9
Poles  0, 3,
 1.5  j1.5, Scale: X-axis : 1cm = 2units j (img )
 1.5  j1.5 Y-axis : 1cm = 2 units
Zeros  Nil
 0  450
1  1350
 2  2250
 3  3150
 A  1.5  
BARoots  1.5
Crossover  1.5 j 1  1350  1 . 5  j1 . 5  0  450
AOD  900  @ 1.5  j1.5   j1 . 5
+900 @  1.5  j1.5  900

1.5
   ( real )
3 0

 900  j1 . 5

 1 . 5  j1 . 5 3  3150
 2  2250


PROBLEM 10
Poles  0, 2
 4  j 2, Scale: X-axis : 1cm = 2units j (img )
 4  j2 Y-axis : 1cm = 2 units
Zeros  Nil
 0  450
1  1350 1  1350
 2  2250  0  450
 3  3150
 A  2.5
BARoots  0.785
4  j 2
Crossover   j 2   198 . 50  j2
AOD  198.5 @  4  j 2
0

+198.50 @  4  j 2

 0 . 785
2.5
   ( real )
2 0

 198 . 50  j2

4  j 2

 2  2250
3  3150
PROBLEM 11
Poles  0, 4
 2  j 4, Scale: X-axis : 1cm = 2units j (img )
 2  j4 Y-axis : 1cm = 2 units
Zeros  Nil
 0  450
2  j 4
1  1350
 2  225 0
1  1350

    0  45
0

 90 0

 3  3150
 A  2  j 3 . 16
BARoots  2,
 2  j 2 . 45
 2  j 2.45,
 2  j 2.45
Crossover   j 3.16
AOD  900 @  2  j 4
+900 @  2  j 4
 2
0  ( real )
4

 2  j 2 . 45

 j 3 . 16
 2  2250 3  3150
 90

0
 
2  j 4
PROBLEM 12
Poles  0,
 3  j, Scale: X-axis : 1cm = 2units j (img )
3 j Y-axis : 1cm = 2 units
Zeros  Nil
 0  600
 0  600
1  1800
 2  3000

 A  2
BARoots  1.18  j 3 . 16
 2.81
Crossover   j 3.16
AOD  71.560 @  3  j 3  j
+71.56 @  3  j

0

 71 . 560
1  180 0

 2  1 . 18
 2 . 81
0  ( real )

  71 . 560
3  j

 j 3 . 16


 2  3000
 ADDITIONAL PROBLEMS FOR PRACTICE

K  s  1
1. G( s) H (s) 
s  s  10  s  5

K
2. G ( s ) H (s) 
s  s  8

K  s  8
3. G ( s ) H (s) 
s2

K  s  1 s  3
4. G ( s) H (s)  s3

K
5. G(s) H (s)  s s  6 s 2  4s  13
  

K  s  2
6. G ( s) H (s) 
s 2  2s  3

K  s 2  6 s  25 
7. G ( s ) H (s) 
s  s  1 s  2 

K
* 8. G(s) H (s) 
s  s  6s  25
2