BTE3323-Control Systems-CHAPTER 5 - Root Locus-Lecture 11-12

BTE 3323: CONTROL SYSTEMS
Chapter 5
Root Locus
Chapter Description
• Aims
– Construct of Root Locus for a control system
– Examine the stability of a system using root locus
• Expected Outcomes
– Students will be Able to sketch the Root Locus for a given system
– Students will be Able to determine the stability of the system based on the Root Locus sketch
• Other related Information

– Rules of sketching Root Locus
• References
– Norman S. Nise., Control System Engineering, 7th Ed. John Wiley & Sons, 2015.
– C. Dorf, Robert H. Bishop Richard, Modern control systems, 13th Ed, Pearson, 2017.
– Katsuhiko Ogata, Modern Control Engineering5th Ed, Pearson 2010
23 November
Control Systems– BTE3323 By Dr. Waheb A. Jabbar Faculty of Engineering Technology 2
2023
Chapter Contents #5
• Control System Problem

• Defining and properties of the Root
Locus
• Construction of Root Locus
• Stability in Root Locus
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Introduction
▪ Root locus, a graphical presentation of the closed-loop poles as a system

parameter is varied, is a powerful method of analysis and design for stability
and transient response.
▪ Root Locus illustrates how the poles of the closed-loop system vary with the
closed-loop gain.
▪ The root locus can be used to describe qualitatively the performance of a

system as various parameters are changed.
▪ Besides transient response, the root locus also gives a graphical

representation of a system’s stability.
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The Control System Problem
• A typical closed-loop feedback control
system is shown in Figure) a).
• The open-loop transfer function was
defined as KG(s)H(s). T(s)
• Ordinarily, we can determine the poles of
KG(s)H(s), since these poles arise from
simple cascaded first- or second-order
subsystems.
• Further, variations in K do not affect the
location of any pole of this function.
• On the other hand, we cannot determine FIGURE 1 a. Closed-loop system; b. equivalent transfer function
the poles of T(s) unless we factor the
denominator. Also, the poles of T(s)
change with K.
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Vector Representation of Complex Numbers
• Any complex number, 𝜎 + 𝑗𝜔 , described in Cartesian coordinates can be

graphically represented by a vector.
• The complex number also can be described in polar form with magnitude M and
angle 𝜃, as M∠𝜃.
• If the complex number is substituted into a complex function, F(s), another complex
number will result.
• We conclude that (s + a) is a complex number and can be represented by a vector

drawn from the zero of the function to the point s.
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𝑠 = 𝜎 + 𝑗𝜔 𝑠+𝑎
Alternate representation of s+a
FIGURE 2 Vector representation of complex numbers
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Example-1
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Defining the Root Locus
• The root locus is the path of the roots of the characteristic equation traced out in
the s-plane as a system parameter varies from zero to infinity.
• The root locus technique can be used to analyze and design the effect of loop
gain upon the system’s transient response and stability.
• The individual closed-loop pole locations are removed and their paths are
represented with solid lines. It is this representation of the paths of the closed-
loop poles as the gain is varied that we call a root locus.
• The root locus shows the changes in the transient response as the gain, K,
varies.
• For most of our work, the discussion will be limited to positive gain, or K>=0.
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TABLE 1 Pole location as function of gain for the system
FIGURE 3 Security cameras with auto tracking: b. block diagram; c. closed-loop transfer function
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FIGURE 4 a. Pole plot from Table 1; b. root locus
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Properties of the Root Locus
R(s) C(s)
+ K G(s)
-
H(s)
Given a forward-loop transfer function; KG(s)H(s)
where K is the root locus gain, and the corresponding closed-loop

transfer function
the root locus is the set of paths traced by the roots of the characteristics equation
1 + KG(s)H(s) =0
where K varies from zero to infinity. As K changes, the solution to this equation changes.
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Root locus starts from the characteristic
equation:
1 + KG ( s ) H ( s ) = 0
Magnitude condition Angle condition
where k = 0,1,2, 
If Si is a root of the characteristic equation, then 1+G(s)H(s) = 0 OR

both the magnitude and angle conditions must be satisfied
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• If a value of s is substituted into the function KG(s)H(s), a

complex number results.
• If the angle of the complex number is an odd multiple of

180o that value of s is a system pole for some particular
value of K.
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• For the second-order system in FIGURE 3

• The fact that closed-loop poles exist at -9.47 and -0.53
when the gain is 5 has already been established in Table
1.
• For this system,
• Substituting the pole at -9.47 for s and 5 for K yields

KG(s)H(s)= -1
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• Let us apply the complex number concepts to the root
locus of the system shown in Figure.
• For this system the open-loop transfer function is
• The closed-loop transfer function, T(s), is
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• If point s is a closed-loop system pole for some value of gain, K, then s must
satisfy Eqs.
• Assume -2+j3 is a closed-loop pole for some value of gain,

then the angles of the zeros minus the angles of the poles
must equal an odd multiple of 180o. But
−𝟏
𝒐𝒑𝒑𝒐𝒔𝒊𝒕𝒆
𝜽 = tan ( )
𝒂𝒅𝒋𝒂𝒄𝒆𝒏𝒕
• Therefore, -2+3j is not a point on

the root locus, or alternatively, it is
not a closed-loop pole for any gain.
Vector representation of G(s) at -2+j3
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Example-2
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− b  b 2 − 4ac
s= = s1 , s2
2a
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Example 3
K
G( s) =
s( s + 2)
S1
Let say the first search point, S1 S1 = −1 + j1
(A) Satisfy the angle condition FIRST 2 1

G ( s ) |s = −1+ j1 = −1 −  2 -2
-1 0
= −135o − 45o = −180o

(B) Magnitude condition to find K
K
=1
( −1 + j1)( −1 + j1 + 2)
K =( 2 )( 2) = 2
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Sketching the Root Locus
Construction Rules of Root Locus
KG( s) H (s) = −1
M
Assume
K  ( s + zi )
KG ( s ) H ( s ) = N
i =1
 (s + p )

j
j =1 (s + p )
K =−
j
 (s + z )
M
Then
K  ( s + zi ) i
KG ( s ) H ( s ) = N
i =1
= −1
 (s + p
j =1
j )
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For sketching Root Locus: 8 Rules to Follow
Rule 1 : Branches: The number of branches of the root locus equals
the number of closed-loop poles.
Rule 2: Symmetry: Root locus is symmetry about the real axis
Rule 3: Real-axis segments: On the real axis, for K > 0 the root
locus exists to the left of an odd number of real-axis, finite open-loop
poles and/or finite open-loop zeros.
R-L doesn’t exist here
K ( s + 3)( s + 4)
G( s) =
( S + 1)( S + 2)
R-L exist here R-L exist here

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Rule 4: Starting and ending points: The root locus begins at
the finite and infinite poles of open loop function G(s)H(s) and
ends at the finite and infinite zeros of open loop function
G(s)H(s).
Rule 5 : Behavior at Infinity (Asymptote Centroid)
A =
 Re( p ) −  Re( z ) j i
NP − NZ
K
G( s) = A
s( s + 1)( s + 2)
-1
−1 − 2
A = = −1
3
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Rule 5 : Behavior at Infinity (Angle of asymptote)
180o (1 + 2k )
A = , k = 0,1,  ( N P − N Z − 1)
NP − NZ
K
G( s) =  A2
s ( s + 1)( s + 2)
A1
 A3
 A1 =
180 o (1 + 2(0))
= 60 o 
3−0 Centroid
180 o (1 + 2(1))
 A2 = = 180 o
3−0
180 o (1 + 2(2))
 A3 = = 300 o = −60 o
3−0
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Example-4
Note that:
• # Branches = # finite open-loop poles = 4
• RL start @open-loop poles and end@ open-loop zeros (start at (0,-1,-2, -4) and end at (ꝏ, ꝏ,-3,ꝏ))
• # open-loop zeros @ infinity = # finite open-loop poles - # finite open-loop zeros = 4-1=3
• RL is placed on the left of odd numbers of finite poles and zeros
• RL symmetric around real axis
• The asymptotes tell us how poles get to zeros at infinity.
• The number of asymptotes lines obtained equals the difference between the number of finite poles
and the number of finite zeros.
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Let us begin by calculating the asymptotes
• The angles of the lines that intersect at -4/3
• If the value for k continued to increase, the angles would begin to repeat.
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Example-5
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Refining the Sketch
Rule 6: Real-Axis Breakaway and Break-In Points
0 0
-2 -1 -2 -1
Break away point Break in point
How to find these points ?
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Rule 6: Break away & break in points via differentiation
−1
KG( s) H ( s) = −1 K =
G( s) H ( s)
Differentiate K with respect to S & equate to zero
dK d  −1  d
=   = G ( s) H ( s ) = 0
ds ds  G ( s ) H ( s )  ds
Solve for S → this value will either be the break away or break in point
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Rule 6: Break away & break in points without
differentiation
KG( s) H ( s) = −1
For points along the real-axis segment of the root locus where breakaway and breakin
points could exist, s = σ
Use the below equation:
Solve for σ → this value will give be the break away or break in point
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Rule 7: The jω-Axis Crossings
We now further refine the root locus by finding the

imaginary-axis crossings.
How to determine these values ?
0
-2 -1 -0.42
• Construct Routh Hurwitz table and calculate the range for K to get
the maximum allowable gain to maintain stability and calculate
the root to get the frequency.
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Rule 7: jω-axis Crossings
From characteristic equation

1 + KG( s) = 0
 1 
1+ K   =0
 s ( s + 1)( s + 2) 
s + 3s + 2s + K = 0
3 2
Construct the Routh array
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Rule 7: jω-axis Crossings
S3 1 2
S2 3 K
S1 6-K
S0 K
3s + 6 = 0
2 Since
Force S1 row to zero or K=6
s = j
Replace K=6 into S2 row
s = −2
2
j = j  2
s = j 2 = 2
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Rule 8 : Angles of Departure and Arrival
• Finding departure angle from the complex poles and the arrival
angle to the complex zeros.
• Root locus start from open loop poles → Angle of departure
p
• Root locus terminates at open loop zeros → Angle of arrival
z
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Angle of Departure
 p = 180 o +  zi −  p j
1 =  2 + 3 −  4 − 5 + 6 − (2k + 1)180 o
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Angle of Arrival
 2 = 1 − 3 +  4 + 5 − 6 + (2k + 1)180 o
 z = 180 o +  p j −  zi
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Example-6
Sketch the root locus for the system with
K
G( s) =
s( s 2 + 6s + 25) 4
Step 1: Determine poles & zeros

−6 36 − 100 Np=3 -3 0
poles at : 0, = −3  j 4
2 Nz=0
Step 2: Maps poles & zeros on the s-plane -4
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Step 3: Calculate angle of asymptote
180o (1 + 2k )
A = , k = 0,1,  (3 − 0 − 1) = 0,1,2
NP − NZ
180 o (1 + 2(0))
 A1 = = 60 o 4
3−0
180 o (1 + 2(1))
 A2 = = 180 o -3 0
3−0
180 o (1 + 2(2))
 A3
-4
= = 300 o = −60 o
3−0
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poles: = 0,−3  j 4
Step 4: Determine centroid
A =
 Re( p j ) −  Re( zi ) 4
NP − NZ
−3−3
A = = −2
3−0
-3 -2 0
Step 5: Sketch asymptotes line with dotted line
-4
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Step 6: Determine the break-away or break in points
dK d  1  d
= −  =
ds ds  G ( s)  ds
− s ( s 2

+ 6s + 25) = 0 
4
= −[3s + 12 s + 25] = 0
2
-3 -2 0
− 12  144 − 300 − 12  − 156

s1 , s2 = =
6 6 -4
Complex numbers
NO break away or break in points

→ only exist on real-axis of s-plane
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Step 7: Since complex poles exist, calculate the angle of departure
 p |s =−3+ j 4 = 180 o +  zi − p j
 p = 180 −  − 90
o o
4
due to s=0 due to its


complex
conjugate -3 0
How to determine θ?→

-4
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To determine θ
 = 180 − 
o
4
4 
 = tan ( ) −1

3
−1  4 
-3 0
 = 180 − tan   = 126 .87
o o
3
-4
Angle of departure :
 p = 180 − 126.87 − 90 = −36.87

o o o
-36.87o
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Step 8: Sketch the root locus
-36.87o 4
-3 -2 0
-4
36.87o
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K
G( s) =
s( s 2 + 6s + 25)
Step 9: Determine jω-crossing
From Characteristic equation:

-36.87o 4
1 + G( s) = 0
K
1+ =0
s ( s + 6 s + 25)
2
-3 -2 0
s 3 + 6s 2 + 25s + K = 0
-4
36.87o
Construct the Routh array
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s3 1 25
s2 6 K
s1 (6(25)-K)/6= (150-K)/6
s0 K
Force row s1 to be zero, thus 150-K=0; K = 150
Substitute K = 150 into row s2
6s 2 + 150 = 0 s 2 = −25
s =  − 25 =  j5 j =  j 5  = 5
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Final Sketch
-36.87o 5
4
-3 -2 0
20 points
-4
36.87o -5
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Stability In Root Locus
Stable region
K=0 -36.87o 5
4
Unstable region
K=0
-3 -2 0
Start from K=0 untill K=∞
Routh Hurwitz
-4
36.87o -5
K=0
s-plane
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Root Locus Analysis
1. Stability
→Stable region
→Unstable region
2. Each point at Root Locus, we can get:-
→ Value of Gain, K
→ Percentage Overshoot, %OS
→Settling time, Ts Transient Response
n
→Natural Frequency,
23 November
→Damping ratio, ζ
2023
Formulas
− ln(% OS / 100)
=
 + ln (%OS / 100)
2 2
 = cos 
4
Ts =
n
 | (s + p j ) |
| K |=
 | ( s + zi ) |
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Example-7
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In-Class Exercise-1
The block diagram of the M-900iA robot system with a unity feedback is
shown in Figure.
(a)Sketch the root locus of the robot system and state all steps and
calculations clearly.
(b)Find the asymptotes, breakaway points, the range of K for stability
R(s) + 1
1 C(s)
K (𝑠 + 31)(𝑠 + 2)(𝑠 + 3)(𝑠 + 4)
-
s + 13s 2 + 50s + 56
Amplifier
Motor and Robot
RGB sensor
1
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SUMMARY
WHAT IS ROOT LOCUS ?
A technique introduced by W. R. Evans in 1948 for the analysis

of control system.
This technique is carried out by adjusting the location of closed

loop poles to achieve a desired system performance.
The technique can be employed by varying one or more system

parameters.
23 November
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SUMMARY
Consider the open loop transfer function of system:
K
G( s) =
s ( s + P1 )( S + P2 )
The closed loop transfer function is:
K
T ( s) =
s ( s + P1 )( S + P2 ) + K
The characteristic polynomial equation is:
s(s + P1 )(S + P2 ) + K = 0
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SUMMARY
s(s + P1 )(S + P2 ) + K = 0
The root of this polynomial is a function of the open loop gain
K. The value of K can be varied from 0 - .
For
K = 0; the roots are given by the open loop poles
K =  ; the roots will take the value of open loop zeros
The path taken by the roots of characteristics equation when

K is varied from 0 -  is called ROOT LOCI or ROOT LOCUS
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Dr. Waheb A. Jabbar Al-Areeqi,
Ph.D in Electrical, Electronic and Systems Engineering UKM, Malaysia
Senior Lecturer
Faculty of Engineering Technology
University Malaysia Pahang, Kuantan Malaysia
Email: waheb@ump.edu.my
Tel. (Office): +6095492182
Mobile : +60173729028
Office: FTeK, A2, Level 1, Room No. 1003
https://sites.google.com/view/waheb/home

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BTE 3323: CONTROL SYSTEMS

• Other related Information

• Control System Problem

▪ Root locus, a graphical presentation of the closed-loop poles as a system

▪ The root locus can be used to describe qualitatively the performance of a

▪ Besides transient response, the root locus also gives a graphical

• Any complex number, 𝜎 + 𝑗𝜔 , described in Cartesian coordinates can be

• We conclude that (s + a) is a complex number and can be represented by a vector

Alternate representation of s+a

FIGURE 2 Vector representation of complex numbers

Given a forward-loop transfer function; KG(s)H(s)

where K is the root locus gain, and the corresponding closed-loop

Magnitude condition Angle condition

If Si is a root of the characteristic equation, then 1+G(s)H(s) = 0 OR

• If a value of s is substituted into the function KG(s)H(s), a

• If the angle of the complex number is an odd multiple of

• For the second-order system in FIGURE 3

• Substituting the pole at -9.47 for s and 5 for K yields

• For this system the open-loop transfer function is

• The closed-loop transfer function, T(s), is

• Assume -2+j3 is a closed-loop pole for some value of gain,

• Therefore, -2+3j is not a point on

(A) Satisfy the angle condition FIRST 2 1

= −135o − 45o = −180o

R-L exist here R-L exist here

• The angles of the lines that intersect at -4/3

Break away point Break in point

How to find these points ?

Use the below equation:

We now further refine the root locus by finding the

From characteristic equation

Construct the Routh array

• Root locus terminates at open loop zeros → Angle of arrival

Step 1: Determine poles & zeros

Step 2: Maps poles & zeros on the s-plane -4

Step 4: Determine centroid

− 12  144 − 300 − 12  − 156

NO break away or break in points

 p |s =−3+ j 4 = 180 o +  zi − p j

due to s=0 due to its

How to determine θ?→

 p = 180 − 126.87 − 90 = −36.87

From Characteristic equation:

Construct the Routh array

Force row s1 to be zero, thus 150-K=0; K = 150

Substitute K = 150 into row s2

2. Each point at Root Locus, we can get:-

WHAT IS ROOT LOCUS ?

A technique introduced by W. R. Evans in 1948 for the analysis

This technique is carried out by adjusting the location of closed

The technique can be employed by varying one or more system

K = 0; the roots are given by the open loop poles

K =  ; the roots will take the value of open loop zeros

The path taken by the roots of characteristics equation when

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