Name: Abid Kamal

Reg No: 3798

LAB No. 10
Analysis of Linear control system using
Root Loci Technique

Objectives
 Root Locus and its construction.
 Root Locus Problems.

Theory
Introduction to Root Locus
A root loci plot is simply a plot of the s zero values and the s poles on a graph with real and
imaginary coordinates.  The root locus is a curve of the location of the poles of a transfer
function as some parameter (generally the gain K) is varied. The number of zeros does not
exceed the number of poles. The locus of the roots of the characteristic equation of the closed
loop system as the gain varies from zero to infinity gives the name of the method.   Such a plot
shows clearly the contribution of each open loop pole or zero to the locations of the closed loop
poles. This method is very powerful graphical technique for investigating the effects of the
variation of a system parameter on the locations of the closed loop poles. General rules for
constructing the root locus exist and if the designer follows them, sketching of the root loci
becomes a simple matter. The closed loop poles are the roots of the characteristic equation of the
system. From the design viewpoint, in some systems simple gain adjustment can move the closed
loop poles to the desired locations.   Root loci are completed to select the best parameter value
for stability.  A normal interpretation of improving stability is when the real part of a pole is
further left of the imaginary axis.
A root loci plot with a zero of -2 and poles at (-2 ± 2 j ω) is Shown below:

Representation of ploes & Zeros on S-plane...Fig(1)

A typical feedback system is shown below.

The closed-loop transfer function =

K is the value of the open loop gain; & 1 + KG(s) H(s) is the characteristic equation

Procedure:
 The root locus is symmetrical about the real axis. Mark the open-loop poles and
Zeros in the s-plane.
 Write the Closed-Loop transfer function in terms of the equation mentioned above.
 Existence of Locus on Real Axis:
Segments of the real axis having an odd number of real axis open-loop poles plus
Zeros to their right are parts of the root locus.
 Asymptotes:
Asymptotes intersection on real axis can be determined by

α=
∑ ∑ of real parts of Poles−¿ ∑ ∑ of real parts of Zeros ¿
No . of Poles−No . of Zeros
and angle of asymptotes is given by
± 180(2 k +1)
∅=
No . of Poles−No . of Zeros

 Breakaway Points:
dk
From Characteristic Equation; by putting =0 gives the breakaway Points.
ds

 Intersection on Imaginary axis:

Use Routh’s criteria to determine whether the asymptotes intersect the imagery axis or
not. By letting ‘s=jω’, the value of ‘K’ in terms of ' ω ' can be found.
  Use “rlocus(tf(num,den))” to view the plot on Matlab. Note that, just write down the
transfer function of Open-Loop Poles & Zeros. No need to mention the value of ‘K’.
Matlab itself plots loci for ‘0<K<∞ ' .

Lab Task 8.0

Rules of root locus:
Rule 1 − Locate the open loop poles and zeros in the ‘s’ plane.
Rule 2 − Find the number of root locus branches.
Rule 3 − Identify and draw the real axis root locus branches.
Rule 4 − Find the centroid and the angle of asymptotes.
 If P=Z, then all the root locus branches start at finite open loop poles and end at
finite open loop zeros.
 If P>Z, then Z number of root locus branches start at finite open loop poles and
end at finite open loop zeros and P−Z number of root locus branches start at
finite open loop poles and end at infinite open loop zeros.
 If P<Z, then P number of root locus branches start at finite open loop poles and
end at finite open loop zeros and Z−P, number of root locus branches start at
infinite open loop poles and end at finite open loop zeros.
Rule 5 − Find the intersection points of root locus branches with an imaginary axis
Rule 6 − Find Break-away point.

Lab Task 8.1

For the system shown, sketch the root locus and find the following and verify in Matlab.
 Asymptotes
 Breakaway points
 The range of K for stability

K 1
( s+ 1 )( s+2 ) ( s+ 3)
Output:

Lab Task 8.2

K ( s −2 s+ 2 )
2
G(s) =
( s+ 2 )( s+ 4 )( s+5 ) (s+ 6)

For a unity feedback system, do the following and validate in Matlab:

a) Sketch the root locus
b) Find the Asymptotes
c) Find range of Gain K that makes the system stable
d) Find the break-away points.
Conclusion:
In this lab we came to know about the root locus of a function which is used to find the
stability of a function. We also came to know how to implement it on Matlab and notice it on
siso tool. Then we study the rules of root locus.
Checked By: Date: