Control System I

Rules for Determining a Positive (180 ) Root Locus

For the example given
1 Asymptotic line
L(s )  , n = 3, m = 0.
s  s  4   16 
2
  4.62 j
x
180
a(s )  s 3  8s 2  32s , 180 60
Zero: none x
-8/3 
poles : 0,  4  4 j ,  4  4 j 60
⇒ a1  8, b1  0, x 4.62 j

 
 pi   zi

 a1  b1 (8)  0
 
8
nm nm 30 3
Asymptotic line
 : the center of asymptotes
At this point, we know that the loci begin at the points marked X (the poles
of 𝑳 𝒔 ), and that they go either to the points marked O (the zero of 𝑳 𝒔 ) or
they go to infinity approaching the radial asymptotes.

Chap 5, No. 17
Control System I Rules for Determining a Positive (180) Root Locus
RULE 4: Compute the departure and arrival angles
Departure angles: the angle which is a branch of the locus departs
from one of the poles, given by
dep   i   i  180 ,
i  dep
where  i is the sum of the angles to the remaining poles, and  i is the
sum of the angles of all zeros.
Departure angles of repeated poles with multiplicity q:
q ,dep   i   i  180  360   1 ,
i  ,dep

where is an integer and takes on the values 1, 2, …, q. Note that q

repeated poles will result in q branches of locus departing angle.
Arrival angles: the angle which is a branch of the locus arrives at one of
the zeros, given by
q  ,arr   i    i  180  360   1 ,
i  ,arr
where  i is the sum of the angles to all the poles, and  i is the sum of the
angles to the remaining zeros, and again, takes on the values 1, 2, …, q
and there are q branches for the q repeated zeros. Chap 5, No. 18
Control System I Rules for Determining a Positive (180) Root Locus
RULE 4: Compute the departure and arrival angles s Im( s )
- 4 + j4 0 1
Use the simple example to explain the concept.
Want to know the departure angle at all poles. pole 1
We have the situation where all angles but one are 3
fixed, and that one takes on whatever value will be
necessary to meet the root-locus angle condition. pole 3 Re(s )
Let s0 near pole 1 as the test point, then 2
- 4 - j4
2  90 and 3  135
pole 2
1   i   i  180  0  90  135  180
i  dep
(for small K)
 405  45 . ( such that  180  1  180)
Thus the departure angle from pole 1 is 45 180
By symmetry, the departure angle from pole 2 is
  
2  0  90  135  180  45 . 
And the departure angle from pole 3 is

3  0  45  45  180  180 .  Chap 5, No. 19
Control System I Rules for Determining a Positive (180) Root Locus
RULE 5: The locus can have multiple roots at points on the locus and the
branches will approach a point of q roots angles separated by
180  360   1
,
q
K 1
and will depart at angles with the same
separation. K  1/ 4
Example 5.1 K 0
K 0
Two roots at s = -1/2 when K = 1/4. The
roots become complex for K > 1/4.
At s = -1/2 (K = 1/4) with two repeated roots,
the departure angles are
180  360   1
   90  180   1 ,
2
   90
The arrive angles at breakaway point is: 0 , 180

Chap 5, No. 20
Control System I Rules for Determining a Positive (180) Root Locus
Continuation locus (Example 5.1):
In order to compute the angles of arrival
and departure from a point of multiple
roots, it is useful to use a trick, called K2  3 4
continuation locus.
K2  0 K1  1 / 4
a  s   Kb  s   s 2  s  K  0.
Let K  K1  K 2 , K1  0 K1  0
the breakaway point is K = 1/4.
Then the initial range can be
1
0  K1  ,
4
Let K  1 4  K 2 , then s  s  1 4  K 2  0.
2

1
 1
2
Ls  ,
  s    K 2  0. s  s  1
 2
 a  s   s  s  1 , b  s   1
Plot the “new” root locus for K2 from 0 to  .

Chap 5, No. 21
Control System I Determine the departure angle from a point of multiple roots
Example 5.1: Multiple roots located at s   1 2
1
Applying the rules of departure angles to the double pole at s   .
2
180  360   1
   90  180   1 ,
2
   90 A new locus can be plotted
with parameter K2,
2
 1
 s    K2  0 Departure angle of new locus
 2 which is the breakaway of
the original locus

1  0  180  360

2 1 0  K  K1
 1  180  360  180
180  2  180  360
 2  0

Chap 5, No. 22
Control System I 5.2.2 Summary of the Rules for Determining a Root Locus
RULE 1: Mark an x on the s-plane for each pole and an o for each zero. The
n branch of the locus start at each pole of L(s) and end on the zeros of L(s).
RULE 2: The loci on the real axis to the left of an odd number of pole plus
zero.
RULE 3: For large s and K, n – m branches of the loci are asymptotic to
lines at angle  radiating out from the center s = on the real axis, where
180  360   1  pi   zi
  ,  1, 2, ..., n  m  .
nm nm
RULE 4: Compute the departure and arrival angles
q ,dep   i   i  180  360   1 ,
i  ,dep

q  ,arr   i    i  180  360   1 ,

i  ,arr
RULE 5: The locus can have multiple roots at points on the locus and the
branches will approach a point of q roots angles separated by
180  360   1
,
q
and will depart at angles with the same separation. Chap 5, No. 23
Control System I
Selecting the Parameter Value
Positive root locus: a plot of all possible locations for roots to the equation
1  KL  s   0, for some real positive K.
If the equation is actually to have a root at a particular place when the
phase of L(s) is 180 , then a magnitude condition must also satisfied and
is given as 1 1 damping ratio = 0.5
K , K
Ls Ls
1
For the example: L(s ) 
s  s  4   16 
2

1  
L(s0 ) 
s0  s0  s2  s0  s3 
1
K  s0 s0  s2 s0  s3
L(s0 )

s0  4.0, s0  s2  2.1, s0  s3  7.7.

 K  s0 s0  s2 s0  s3  4  2.1 7.7   65.

If K = 65, then a root of 1 + KL will be at s0 , which has the desired damping
ratio of 0.5.
Chap 5, No. 24
Control System I Extra RULE 1: for Unstable Consideration
If we compute the Routh array using K as a parameter, we can locate those
values of K for which an incremental change will cause the number of roots
in the RHP. Such values must correspond to a root locus crossing the
imaginary axis and thus it is unstable.
Extra RULE 1: Estimate (or compute) the points where the locus crosses
the s = jω axis. ( For the system of order less than 4)
K The characteristic equation:
Example： 1  0
s  s  4   16 
2
  s 3  8s 2  32s  K  0
Route array
3 For the system to be stable, it needs
s : 1 32
K  0
2
s : 8 K   0  K  256
 256  K  0
s 1: 32 – (K/8) 0
s0: K
For K = 256, the characteristic equation s 3  8s 2  32s  K  0 has a pair of
roots at imaginary axis. Let s  j0 then
 j0 3  8  j0 2  32  j0   256  0 Chap 5, No. 25
Control System I Extra RULE 1: for Unstable Consideration
 j0 3  80 2  j 320  256  0

 j  0  320   0
 3

  0 2  32, 0   32  5.66

  8 0  256  0
2
( 0  0 , a trivial solution)
It means that when K = 256, the root locus crosses the s = jω axis and the
closed-loop system has a pair of roots on the RHP, which will cause the
system unstable.
The limitation of using this
method: 0   j 5.66
-- Not for two more variables
-- May not have solutions.
K
1 0
s  s  4   16 
2 0   j 5.66
 

Chap 5, No. 26
Control System I Complete of the Root Locus for the Demo Example
Asymptotic line 0   j 5.66 1
L(s ) 
s  s  4   16 
2

45  
X 4.62 j
s 3  8s 2  32s  K  0
180
60 Im(s)
X
-8/3 60
4
4.62 j
X
45
Re(s)
4
0   j 5.66
4
180  360   1
 
nm
 60 , 180 , 300 60 .  
pole: 0, -4 + j4, -4 - j4,
 
 pi   zi 
 a1  b1 (8)  0
 
8 zero: none
nm nm 30 3

Note that a root locus is symmetry with respective to the real axis.
Chap 5, No. 27
Control System I Extra RULE 2: Estimate locations of multiple roots
Extra RULE 2: Estimate locations of multiple roots, especially on the real
axis, and determine the arrival and departure angles at these locations.
Example 5.1
1
Ls  , 1  KL  s   0, K 1
s  s  1
K  1/ 4
 s  s  K  0.
2

K 0
In real axis between 0 and -1 K  0

dK d  1  d  a  s   1  da db 
 0,          2 
b  a 0
ds ds  L  s   ds  b  s   b  ds ds 
 da db 
 b a 0
 ds ds  Chap 5, No. 28
Control System IExtra RULE 2: Estimate locations of multiple roots
L(s) is a smooth function except at a pole, and K   1 L  s  , thus, the
change in K must be smooth.
 da db 
1    0
Ls  , b  1, a  s   s  s
2 b a
 ds ds 
s  s  1
db da 1
b  1,  0, a  s   s 2  s,  2s  1  0, s for K is max. between
ds ds 2
s = 0 and -1.
1 1
Ls  
s  s  4   16  s 3  8s 2  32s
2

db da
b  1,  0, a  s   s  8s  32s,
3 2
 3s 2  16s  32  0,
ds ds
s0  2.67 , 1.89 j
(Not on , the root locus and are extraneous.)
d
This emphasize that   1 L  s   does not indicate whether s0 is a multiple
root on the locus. ds
The derivative condition is necessary but not sufficient to indicate a
breakaway, or multiple, situation.
(some root loci do not have breakaway or multiple situation)
Chap 5, No. 29
Control System I
Determine the arrival angle from a point of multiple roots
Some case of multiple roots:
1) Two locus segments coming toward each other on the real axis will
always breakaway at 90 .
2) Two locus segments coming together at any point in the s-plane
will always approach at a relative angle of 180° and then breakaway
with 90 change in direction.
3) Three locus segments coming together will always approach at 120°
angles with respect to each other and then depart at the 120° angles
that are rotated 60° relative to the arrival angles.

1) 2) 3)
90
60
90
60

Chap 5, No. 30
Control System I
The effectiveness of K
(1) breakaway points: (2) break-in points:
K K

K max. in [b, a] K min. in [b, a]

real axis b a
b a ∞ K
At the real axis, K is
the largest value for K is the minimum value on the real axis
which the two closed- between two zeros or one zero and one
loop poles are real. infinity.
d 2K
 0.
Inflection ds 2

point
(3) Inflection points.
b a real axis
K=0
more than double roots Chap 5, No. 31
Control System I 5.3 Selected illustrative Root locus
Example 5.3: Root locus for Satellite Control with PD Control
1
The characteristic equation with PD Control, 1   kP  kD s  2  0.
s
To plot a root locus, define K  kD , and select the gain ratio kP kD  1
1 1  s  1
Then 1   kP  kD s  2  1  kD  kP kD  s  2  1  K 2
 0.
s s s
Solution: 1  K  s  1  0, L  s    s  1 . Im(s )
2 2
s s

1
Re(s )
-2 -1

pole:
zero:

Chap 5, No. 32