The transient response of a closedloop

system depends upon the

positionof poles
the system has variable loopgain the locationof the closed
If a
on the value of the loop
loop poles depends gain
R
K s Gcs 9 openloop KG HCD
a Feedforward KGG
Hcs

Ccs KG Characteristics Equation It KG Hcs O

RTs It Kats His The roots poles depends upontin k
goin
The position closedloop poles in s plane as the loop
is charged
of changes gain
An appropriate value of K can beselected for desired locationof
poles
gain alone doesnot yield required position
the a compensator is
If
used
RootLocus Method Developed by w R Evans
Roots
of characteristics Equationplotted for all values of
are

Usually the gain is varied from o

a System parameter x

to see the position of w loop poles in S plane

the
Using root loves one can predict effectof varying gain
on the location
or
adding open loop poles and open loopzeros
closed
of loop poles
Root Locus
Considerthe closed
loopsystem
as Kab
h K s Ges Cpg It KGb HID
a
Hcs

Characteristics Equation It Kals Hcs 0

KGB HCS I

Gcsi HID is a complex quantity so we can write two

equations by equating magnitude and angles of both sides

Magnitude Condition I KGCs HCDl 1

Angle Condition ka HID 18812g t 1
where O L 2 3
q
All values of which fulfill the magnitude and angle conditions
are the roots of characteristics Equation closedloop poles
The locus points in the complex plane satisfying the angle
of
condition alone is the rootmum
loves
Magnitude condition can be used to find out
closed
looppoles
value of gain 12 or vice versa
for given
The soot loci forthe system are the loci of the closed
poles as the loop gain K is variedfrom 0
loop

The generic characteristics equation can be written as

I t K is g 8
32 ft Jm O
pi
1Pa
Capri
m no
of open loop zeros
n no
of open loop poles
Angle of a Test Point
Suppose a
following system is given
HCS K Cst3D
Kals
1Stpi DtPD Sfpd tPD

The angles quantities originating from the openloop

of complex
poles and open loop zeros to the test point is are measured
in the counter clockwise direction

Pz and pa are re deal poles

pz and pz are complex Conjugate

s is the Testpoint
129153
Hlf 4 0 Oz Oz 04

ZHEN E layoff
I KG HID K B1
At Az As A4
Note The complex poles or zeros always exist as a conjugate
pain and symmetrically located about the real aai
Root locus is always about the real axis
symmetric
the root locus is constructed draw The
If
upper half of
of upperhalf in the lower half plane
minor image the s

Determine which partof Her real anis is the partofrootloan

Example
915 K H CS L
SCAD 2

Kab Hcs LE LE LE
I 180 2g l
of
0 I 2

KGB HID L
K_
S S DCS12

Ajw Ajw

Testpint

X
o oo
X
Z 180
64 Xs f ng Q o f
5 2 S I 5 2 S I

v jw v jw
O 1800 188
satisfiesthe conditionofangle
Real axis fan o to 1 is the partof
soot locus
 Ajw
O 188 Igo
Testpoint
360
Coo
f 480 480
64
5 2 5 1 so b angle condition is not satisfied
Real anisfsan l bi z is not
the partofroot locus
a jw
Ajw

O 188 1800 1800

Testpoint
Ligo 480 480 5400
O X X X D
64 5 0 A
5 2 5 1 angle condition is satisfied
Realaxis from 2 to O is the
Patof the soot
locus
wjw

Ajw

Potton Rootbows

givorootloas
Z z
X X X x
64 5 1 5 0

21
5

Noroot
lows
v jw
General Method of Root hoeus
Symmetry Rule I Root locus is always symmetric aboutThe
real axis The roots are either real or complex conjugate or
the combination both so the soot locus is always symmetric
of
about the real axis
Rule 2 Numberof Loei
0L TF poles n

OL T F m
zeros
No of soot loci n
IfEach locus
m m

start from the open loop pole and

will
will end on the open loop
zero
No of loei ending an x n m

Imagine the zeroes at the infinity

Total number of loci no of poles n

Example GIS HCD Kl s 12 poles n 3 Totalloci n 3

SC 1 4 m I
yews
of loci ending at a
no n m 3 I 2
The loci will start
from I 4 Ee o and will end at 2 and
othertwo will end at infinity in

Rule 3 Real Axis Loci

Some loci will lie on real axis A point on real

the
of lie on the root locus
axis will and only
if the sum ofif
oh F poles and zeros to eight ofthe point is an odd
number
 G HCS KCB12 zeros
s 2
Example 1 4 poles S o 1 4
Ajw

taxis In s Eo kami
g Eng
k
RL
RL

x
jw
Rule 4 Angle
of Asymptotes
as n m that is no
of poles greater then zero
are

n m branches will move towards the and these

infinity
branches along a line called asymptote
move

An symptote is defined as a line on which the root locus

touches
infinity
n m
no
of asymptotes
calculated as
Angles for asymptotes are

0 29 1 188 K
for O

where 072 z en m D
q
O
3 x188 for KO

O l Z Ch M l
of
Rules Center
of Asymptotes

The point where the asymptotes touch the real axis is

called the centriod a and is calculated as

G 2 realpartsof polesof Zeealparts ofHlszero of

a It Gls
h M

Example GG Hcs KG 12 k O
81st 1 is 14
n 3 m I n m 2 M m l L q
o I

No of asymptotes n m 2
0
q o
14
21 188
Iz x 188 900

q I O 29h11m 188 3
2
1800 278
Centirod O l 4 C 2 I 5
2
521 32

Ajw

275

E sEas.Et 5 1 xs.o f

43
asymptotes v
jw

Mattals
I 2 I 5 9 03
y tf
slows y
or
slouisplatly
 Example GC HCS K K o
BCS 11
f stitj
n 3 m O n m 3 N M 1 2 O l Z
q
9 0 D 2qn m i8o 13 1800 600

9 1 O 2q m l8o 1800 1800

32
2 D 1800 3000
9 2q m 18o 55
Cartridge I O I O O 667
Iz Ig
I
jw
S A

18 30
q68
a 4 K
53 0
6axis 3 taxis

X 1
82 1
j jw is

Matlab Code

polycco Iti I i

fitfcs.gs
slowly
Example 9 It KG 133
fast 2 8 4 5

n 4 m I n m 3 n m 1 2 0 1,2
q
q o 0 2914 1800 13 188 Gd
6 0 2 4 5 C3
1800
g I
D 3 1800
2qmXl8o 3
3
2 667
2 O
2qn.I.mx
8oo
5gX 893000
1800
3

Ajw
3ooo

i x x is
6 6

I
Ljw
RuleG Break Away Break In Points

It is which soot loves

point at
BreakAway
defined as a

comes out of real axis

Break in It is defined as a point at which soot loves

enters the real axis
These are the points where multiple roots exist ofcharacteristic
Equation
there are a'branches the locus leaves the real axis
Ifat
Asda

Prediction 1 two adjacently placed poles on the seal

there are
If
axis and the real axis is the part of the root locus one
minimum break away point exists in between adjacently
placed poles as shown in figure

Iw
Gts H S K
SCs ti 3
greedfaypirt

x x x
to X y
do 6
a
Roothours

v
jw

Prediction 2
there aretwo adjacently placed zeros on The real axis
If
and the axis in between is the
part of the soot locus one
minimum break in point exists in b w the adjacentlyplaced
zeros
Example ACS Hls Kast 2 4
nm
84 15
Ajw
Break
in
point
Fk
6 Es a
a
s so
f
Roothours

jw

poles and zeros to the leftof

Prediction 3
If there are no

andthe real axis is the part root locus on the of

zero of left
exist minimum one break in point to the
gero there left of
that zero
Gcs Hcs KCS 16
Stl 3

Ajw

Breakin

a O
do a 5 6 SE s i

RL
x
jw
 break in points
Steps to determine break away
Steps Frame the characteristics equation ofthe system
I Kals Hcs 0

Step 2 write K in terms of is i e K fCs

Derive dads and set ddI o
Steps s
step a
Roots
of d o be break in break away points
may
the value of K is positive soot of the roots
If for any so

are valid breakaway points

a Hcs K
Example SC 12 3
I 1963A k
Step 1 O It O
PC's12K 13
2 1st 3 K o
428 3 11 0

83 582 6 K 0

Step 2 3 2
K 5 Gs
Step 3 dk 315 10 f
DTs
3g 10 6 0
315 110 16 0

Step 4 B 10
IF U 3 6 o 785g 2.55
6
Break in Break at o 785 or s 2.55
away expected
S O 785

K 0.785 5C O 7855 6C o 785

K 2.113 Confirmed break away pointfor root lows
 S 2.55
3 Z
K C 2.55 5 2.55 G 2.55

K 0.631 as Ris ve so it is not confirmed as a

break
away1in

Rule 7 Intersection of Root hours with axis

jw
To
find the intersection
of soot lows with jw axis following

procedure is followed
Construct the equation It G His 0
Steps
Away in terms of K
Routh
Steps Develop
Find K critical stable condition
step 3 for
step a Make Acs
auxiliary equation
steps find roots
ofAes to get pointof intersection

GG Hls K
Example
IS 8 12 4

step 1 It His o It I O 546 48 ist Keo

51812 8 14

step2 S3 I 8
2
6 K
1 48 o

fo k O

48 12 48
step 3 0
61
Step 4 A 684K
ACD 684K 0 682 48 5 8
Steps
IS Ij 2E
 Rule 8 Angle of Departure Arrival
The root trees leaves
from the complex pole and arrives
at the complex The two angles are known as angle
zero
of departure and angle of assinal
Angle of departure Od 188
a G Hes
tag
angle of a Hcs excludingthe pole
where the
anglaisHess is
which angle is to be calculated
for
Angle of arrival 188 anglais Hess
Oa
the
ay Cam Hess is the angle of Gls His excluding
where

the whom theangle is to be calculated

zero for

Example GG HG Kist 3 k o
G 12 tj is 12J
fu pole is 2
tj the term is 12J should be excluded

t i I IE HIT
K 445
524900
24450

Od 180 t C 45 135

For pole 8 2
j
96 Hcs K s 13 KC 2
j 13 K
2 Cz
s a
j Ds j j iz
j
4450
KII 445 Iq
 Ode 180 t 450 2250
Angle of Departures Ods 135 G Od 2250

1350 Ajw
A
x j
y
y
d o
o
225
j
v
jw

Example acs HCD Kastl k o

t2tj St2 j
acDHCD KC 2 jtD Kfi j
s z
j C2 jk 2
jtz jjc 2 jjf 3gg

to 4108430

0dg 180 1108 430 288 45 71.570

9 HCD KC 2g't KC HD
5 2
yc 2tjjf 2
jtztjjf ztjxzjJ
o.ae
kfooh
Odz 188 108 45 71.570
 A

A jw
f71.570
X 1g

4 y
o H o
C Zo
i
x Ij
71.570
xjw

I
 Root Hocus Plot
Steps for
Determine poles and theirnumbers number of loci
zeros
Rule 1 Ee Rule 2
using
Indicat pole zero location on plane
Find the seal loci using Rule 3 Show the real axis
loci by dark line
Find the number of asymptotes and Their angleis using
Rule 4
Determine the center of asymptotes using Rule 5
sketch results of step 4 Ee 5
Determine the breakaway I break in points using the
Sule 6 Show these points on graph
Determine the Rule 7 The
jw crossovers using if
locus crosses the axis
jar
Calculate angle of departure or the angle of animal
due to complex poles and zeros using Rule 8
Combine all above steps and draw root locus
Predict
stabilityofthe system
Comprehensive Example 1
Gcs Hcs K K O
8C8tItj C tl j
0
ofloei n 3
steps poles n zeros _m
3 no

no
G loci meeting at infinity n m 3

step2 ajw steps ajw

x tj yi tj
g X p G X P
G f f 6
i
x
I
Rootlerus
T i
I
jw jw

Steps For asymptotes n m 1 2 0,1 2

angles q
9 0 0 2914 1800 13
1800 600

g I O 2qn.IM 180 1800 180

33
8j 3000
q 2 O 2qn I.mx Izxl8ci
real partsofzerosof
Steps G Zseaffpaffgffgpoles 2 acslites
X M

Ge o l l O O 667
3

ajw ajw y
tj 1j
i i

i i
e i s
f g p
6
f i f
x j x I
x x
jw jw
I
 Since the loci do not break real axis
Steps away from
calculations
for break away point is not required
Stept It GCs Hcs 0

I t k o 93 282 28 14 0
Sf tltj SH J

S3 I 2
0 12 4
2 2 K 421
1 41
2
o AG 282112 0
282 14 0
80 K O
S
g 2
IF2j
Gls Hfs K k o
Steps
Sitt j C tltj
H k 435
u jgkh j i
jg e czj
j
Od 1801 1350 315 450
By symmetry Ode 145
asymptote
Steph

e.fi
ajwq.i
II

no
a 4 X is
asymptote 6 i i 6

I
ray asymptote
T'w
Comprehensive Example 2
GCD HCS K K O
K 13 15

n 3 m O n m 3 n m 1 2 0,112
steps q
Munhuofloee n 3
number ofbriapproachington n m 3

Step 2 a jw steps a jw

d x x x x 4 X X X x
6 5 5 5 3 5 0 6 6 5 5 5 3 5 0 6
of pg
RL
v
jw v
jw
Step 2o 68 Steps
q o Q m
1800
O
co 3 5
83 2 667
01 1806

02 300 7
Ajw
1800960
a 4 X XD X x
6 5 5 5 3 5 0 6

steps Hals His O

S 8 13 8 15 1 0
v
jws
83 882 158 119 0
12 93 815 158 7 K 8.2088 5 1.2138
k 279.69 5 4.1195
342 165 15 0
ddIg s 1.2138
Breakaway
382 16151 15 0
1.2138 8 4.1195

Step 7 HG HG O
83 882 115 11 0
S3 I 15
120 12 0 AG 882119 0
82 g k 8 882 120 0
k 120
1 120
1
8
O S IfT5j o
S I 3.87J
fo k O
 assined
Steps No complex poles or genes no no angle ofdepartun

Step ajw
i

Btd 3 873J Karen _120

68
d X X Tia X x
6 5 5 5 311 i 5 0 6

4 38738
ni
G i
i
i
jw I