Root Locus Analysis
AUTOMATION & CONTROL (I)
(111&112)
Course Outline
Part1: Math.
• State-Space Fundamentals
• Modeling of physical systems
o State Space Models
o Modeling in Time domain
Part 2: Automatic Control
• Introduction & Basic Concepts
• TIME RESPONSE (Transient and Steady state)
• Stability
• Disturbance Rejection
• Sensitivity Analysis
• Basic Control Actions & Controllers
• PID Control Tuning and Design
• Root Locus
• Reachability, Controllability and Observability
• Frequency Response Analysis
• Fuzzy control
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Root Locus Analysis

AUTOMATION-I
CONTROL SYSTEMS

Lecture 8 (Control Part):

ROOT LOCUS ANALYSIS1

Instructor: Dr. Raafat SHALABY

rshalaby@nu.edu.eg

1
Ref: : Ogata, Nise and Dorf
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Root Locus Analysis

OBJECTIVES:

• Getting familiar with

o The definition of root locus (RL), and
o The concept of RL analysis.
• Understanding
o The use of RL to find the poles of a closed loop system,
o The selection of system gains to meet specific transient response and stability
requirements.

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Root Locus Analysis

Root Locus is the trajectory of the closed

loop poles of a system in the 𝑆𝑆 −plane, as
the open loop gain 𝐾𝐾 is varied.

Consider a typical closed loop system.

𝑁𝑁(𝑠𝑠)
• Open loop transfer function: 𝐾𝐾𝐾𝐾 (𝑠𝑠)𝐻𝐻(𝑠𝑠) = ( )
𝐷𝐷 𝑠𝑠
𝐶𝐶 (𝑠𝑠) 𝐾𝐾𝐾𝐾 (𝑠𝑠)
• Closed loop transfer function: =
𝑅𝑅 (𝑠𝑠) 1+𝐾𝐾𝐾𝐾 (𝑠𝑠)𝐻𝐻 (𝑠𝑠)

The transient response and stability are dependent on the poles of the closed loop
characteristic equation, 1 + 𝐾𝐾𝐾𝐾(𝑠𝑠)𝐻𝐻(𝑠𝑠) = 0.

The poles of the closed loop transfer function vary as 𝑲𝑲 varies.

𝑁𝑁(𝑠𝑠) 𝐷𝐷(𝑠𝑠)+𝐾𝐾𝐾𝐾(𝑠𝑠)
Then the characteristic equation is → 1 + 𝐾𝐾𝐾𝐾 (𝑠𝑠)𝐻𝐻(𝑠𝑠) = 1 + 𝐾𝐾 = =0
𝐷𝐷(𝑠𝑠) 𝐷𝐷(𝑠𝑠)

𝐷𝐷(𝑠𝑠)
• Thus, 𝐷𝐷 (𝑠𝑠) + 𝐾𝐾𝐾𝐾(𝑠𝑠) = 0 (1) and + 𝑁𝑁(𝑠𝑠) = 0 (2)
𝐾𝐾

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Root Locus Analysis
𝐷𝐷(𝑠𝑠)
𝐷𝐷(𝑠𝑠) + 𝐾𝐾𝐾𝐾(𝑠𝑠) = 0 (1) and + 𝑁𝑁(𝑠𝑠) = 0 (2)
𝐾𝐾
• From (1), if 𝑲𝑲 → 𝟎𝟎, the closed loop poles are given by 𝑫𝑫(𝒔𝒔) = 𝟎𝟎, i.e., the poles of
the open loop transfer function.
• From (2), if 𝑲𝑲 → ∞ the closed loop poles are given by 𝑵𝑵(𝒔𝒔) = 𝟎𝟎, i.e., the zeroes of
the open loop transfer function.
I.e., as 𝑲𝑲 varies from 𝟎𝟎 to ∞, the roots of the characteristic equation, start as the poles of
𝐺𝐺 (𝑠𝑠)𝐻𝐻(𝑠𝑠), and end as the zeroes of 𝐺𝐺 (𝑠𝑠)𝐻𝐻(𝑠𝑠).

For an 𝒏𝒏𝒕𝒕𝒕𝒕 order system, let the order of the numerator of 𝐺𝐺 (𝑠𝑠)𝐻𝐻(𝑠𝑠) is 𝒛𝒛 and the denominator
is 𝒑𝒑, where 𝒏𝒏 > 𝒑𝒑 > 𝒛𝒛.
• Among the 𝒏𝒏 poles of the closed loop system, 𝒑𝒑 poles will start from the 𝐺𝐺 (𝑠𝑠)𝐻𝐻(𝑠𝑠) poles,
and 𝒛𝒛 of the 𝒑𝒑 poles will end at the 𝐺𝐺 (𝑠𝑠)𝐻𝐻(𝑠𝑠) zeros at infinity.
• The remaining closed loop poles 𝒒𝒒 = 𝒑𝒑 − 𝒛𝒛 will end at infinity, i.e., t the 𝐺𝐺 (𝑠𝑠)𝐻𝐻(𝑠𝑠) zeroes.

Thus, as 𝑲𝑲: 𝟎𝟎 → ∞ there are 𝒑𝒑 branches; each starts at an OL-pole and ends either at an OL-
zero or at ∞.
o Hence, by proper selection for 𝑲𝑲, the poles can be located such that the system response is
close to the desired response.

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Root Locus Analysis

Example: Draw the root locus for the shown system.

Answer: The location of poles as a function of 𝐾𝐾 can
be calculated using 1 + KG(s)H(s) = 0
s 2 + 10s + K = 0 s1,2 = −5 ± √25 − 𝐾𝐾
i. e.

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Root Locus Analysis

RULES TO SKETCH THE ROOT LOCUS

The following rules allow us to sketch the root locus using minimal calculations.

𝐶𝐶 (𝑠𝑠) KG(s)
=
𝑅𝑅 (𝑠𝑠) 1+KG(s)H(s)

Rule 1: Root Loci:

𝑝𝑝: #𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝
o Consider, KG(s)H(s) has: � 𝑧𝑧: #𝑧𝑧𝑧𝑧𝑧𝑧𝑧𝑧𝑧𝑧
𝑞𝑞 = (𝑝𝑝 − 𝑧𝑧)
o #Loci = max(p, 2)
o Identify the loci of both zeros and poles of
KG(s)H(s).

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Root Locus Analysis

Rule 2: Branches of the Locus:

o Number of branches of the root locus equals 𝑝𝑝.

o Root locus is symmetric about real axis since poles move on the real axis or
appear as complex conjugate.
o All branches start with 𝐾𝐾 = 0, at the poles of the open-loop TF.
o Branches ends with 𝐾𝐾 → ∞,
• Some poles (#Z) ends at the zeros of
the open-loop transfer function.
• The remaining branches (𝑞𝑞 = 𝑝𝑝 − 𝑧𝑧)
will go to ∞.
o On real axis, the locus exists only to
the left of an odd number of poles and
zero.
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Root Locus Analysis

Rule 3: Asymptotes as |s|→∞:

For 𝑝𝑝 ≠ 𝑧𝑧 there will be 𝑞𝑞 asymptotes for the

root locus.
o Asymptotes intersect the real axis at:
𝑝𝑝
∑𝑖𝑖=1 𝑅𝑅𝑝𝑝 −∑𝑧𝑧𝑖𝑖=1 𝑅𝑅𝑧𝑧
𝑖𝑖 𝑖𝑖
𝜎𝜎𝑎𝑎 =
𝑞𝑞

o Asymptotes radiate out with angles,

𝜋𝜋
𝜃𝜃𝑎𝑎 = ±(2𝑟𝑟 + 1)
𝑞𝑞

where 𝑟𝑟 = 0,1,2, … , (𝑞𝑞 − 1)

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Root Locus Analysis
Rule 4: Locus Break-Away/-In Points on Real Axis:

o A breakaway point is a point on a real-axis segment of the root locus between two real
poles where they meet and diverge to become complex conjugates.
o A break-in point is a point on a real axis segment of the root locus between two real zeros
where two closed-loop complex conjugate poles meet and diverge to become real.

o Break-away point ≡ 𝐾𝐾𝑚𝑚𝑚𝑚𝑚𝑚 : where root-locus leaves the real axis.

o Break-in point ≡ 𝐾𝐾𝑚𝑚𝑚𝑚𝑚𝑚 : where root locus enters the real axis.
o Thus, the Break-Away/-In Points are the real-points corresponding to the maximum and
minimum values of 𝐾𝐾.
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Root Locus Analysis
… Rule 4: Locus Break-Away/-In Points on Real Axis:

o To calculate 𝐾𝐾𝑚𝑚𝑚𝑚𝑚𝑚 and 𝐾𝐾𝑚𝑚𝑚𝑚𝑚𝑚 , obtain 𝐾𝐾 from the Ch. Eq. 1 + KG(s)H(s) = 0, then let:
𝒅𝒅𝒅𝒅
= 𝟎𝟎
𝒅𝒅𝒅𝒅

Rule 5: Intersection with Imaginary Axis:

o Construct the Roth’s matrix for the Ch. Eq. 1 + KG(s)H(s) = 0, then find 𝑲𝑲𝒄𝒄 ,
o Substitute for 𝑲𝑲𝒄𝒄 and solve the Auxiliary Eq.

Rule 6: Angle of Departure/Arrival:

o The angle of departure is the angle at which the locus leaves a complex pole. in the s-
plane.
o The angle of arrival is the angle at which the locus arrives at a complex zero in the s-
plane.
𝑃𝑃−1 𝑧𝑧

𝜙𝜙𝐷𝐷𝑝𝑝 = 𝜋𝜋 − �� 𝜙𝜙𝑝𝑝𝑗𝑗 .𝑝𝑝𝑖𝑖 − � 𝜙𝜙𝑧𝑧𝑗𝑗 .𝑝𝑝𝑖𝑖 �

𝑖𝑖
𝑗𝑗=1 𝑗𝑗=1

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Root Locus Analysis

Then: Sketch the root locus.

Example 1: Obtain the root-locus of the shown system.

Solution: The closed loop Ch. Eq. is:

𝐾𝐾
1 + KG(s)H(s) = 1 + =0
𝑠𝑠(𝑠𝑠+10)

Rule 1: Root Loci: Rule 2: Branches of the Locus:

𝑝𝑝1 = 0, o #𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩 = 𝑝𝑝 = 2
⎧ 𝑝𝑝 = 2: �𝑝𝑝 = −10
⎪ 2 o Symmetric about real axis.
KGH(s) has: 𝑧𝑧 = 0: o Start at 𝑝𝑝1 = 0, 𝑝𝑝2 = −10.
⎨𝑞𝑞 = 2 o End at ∞.
⎪
⎩#Loci = max(p, 2) = 2 o Exists to the left of an odd number of P’s & Z’s.
Rule 3: Asymptotes as |s|→∞: Rule 4: Locus Break-Away/-In Points:
∑𝑝𝑝 ∑𝑧𝑧 𝐾𝐾
o Centroid: 𝜎𝜎𝑎𝑎 = 𝑖𝑖=1 𝑅𝑅𝑝𝑝𝑖𝑖 − 𝑖𝑖=1 𝑅𝑅𝑧𝑧𝑖𝑖
= −5 o Ch. Eq. 1 + 𝑠𝑠(𝑠𝑠+10) = 0 → 𝐾𝐾 = −𝑠𝑠 2 − 10𝑠𝑠
𝑞𝑞
o Radiate out with 𝜃𝜃𝑎𝑎 Then,
𝑑𝑑𝑑𝑑
° = 0 → −2𝑠𝑠 − 10 = 0 → 𝑠𝑠 = −5
𝜃𝜃𝑎𝑎 = (2𝑟𝑟 + 1) 𝑞𝑞 → � 90 ° , 𝑟𝑟 = 0, 1
𝜋𝜋
𝑑𝑑𝑑𝑑
270
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Root Locus Analysis
Rule 5: Intersection with Imaginary Axis: Rule 6: Angle of Departure/Arrival:
o Roth’s matrix for, 𝑠𝑠 2 + 10𝑠𝑠 + 𝑘𝑘 = 0 𝜙𝜙𝐷𝐷𝑝𝑝 = 𝜋𝜋 − ∑𝑃𝑃−1 𝑧𝑧
𝑗𝑗=1 𝜙𝜙𝑝𝑝𝑗𝑗 .𝑝𝑝𝑖𝑖 + ∑𝑗𝑗=1 𝜙𝜙𝑧𝑧𝑗𝑗 .𝑝𝑝𝑖𝑖
𝑖𝑖
o The system is absolutely stable, as 𝜙𝜙𝐷𝐷𝑝𝑝1 = 180° − 0° + 0° = 180°
there is no intersection with the 𝒔𝒔𝟐𝟐 𝟏𝟏 𝑲𝑲
imaginary axis. 𝒔𝒔𝟏𝟏 10 0 𝜙𝜙𝐷𝐷𝑝𝑝2 = 180° − 180° + 0° = 0°
𝒔𝒔𝟎𝟎 𝐾𝐾

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Root Locus Analysis
Example 2: Obtain the root-locus of the shown system.
Solution: The closed loop Ch. Eq. is:
𝐾𝐾
1 + KG(s)H(s) = 1 + =0
𝑠𝑠 3 +15𝑠𝑠 2 +50𝑠𝑠

• Rule 1: Root Loci:

𝑝𝑝1 = 0, 𝑝𝑝2 = −5,
⎧ 𝑝𝑝 = 3: � 𝑝𝑝 = −10
⎪ 3
KGH(s) has: 𝑧𝑧 = 0:
⎨𝑞𝑞 = 3
⎪
⎩#Loci = max(p, 2) = 3
Rule 2: Branches of the Locus: Rule 3: Asymptotes as |s|→∞:
𝑝𝑝
#𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩 = 𝑝𝑝 = 3, ∑𝑖𝑖=1 𝑅𝑅𝑝𝑝 −∑𝑧𝑧𝑖𝑖=1 𝑅𝑅𝑧𝑧 −5−10
𝑖𝑖 𝑖𝑖
Centroid: 𝜎𝜎𝑎𝑎 = = = −5
𝑞𝑞 3
Symmetric about real axis.
radiate out with
Start at 𝑝𝑝1 = 0, 𝑝𝑝2 = −5, 𝑝𝑝3 = −10.
°
𝜋𝜋
60
End at ∞. 𝜃𝜃𝑎𝑎 = (2𝑟𝑟 + 1) → �180° , 𝑟𝑟 = 0,1,2
𝑞𝑞
300°

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Root Locus Analysis
Rule 4: Locus Break-Away/-In Points on Real Axis:

𝐾𝐾
Char. equation: 1 + = 0 → 𝐾𝐾 = −𝑠𝑠 3 − 15𝑠𝑠 2 − 50𝑠𝑠
𝑠𝑠 3 +15𝑠𝑠 2 +50𝑠𝑠
𝑑𝑑𝑑𝑑 −2.11
= 0 → −3𝑠𝑠 2 − 30𝑠𝑠 − 50 = 0 → 𝑠𝑠1,2 = �
𝑑𝑑𝑑𝑑 −7.88 refused ?
Rule 5: Intersection with Imaginary Axis: 𝒔𝒔𝟑𝟑 𝟏𝟏 𝟓𝟓𝟓𝟓
𝒔𝒔𝟐𝟐 15 𝐾𝐾
Roth’s matrix for, 𝑠𝑠 3 + 15𝑠𝑠 2 + 50𝑠𝑠 + 𝐾𝐾 = 0
𝒔𝒔𝟏𝟏 750 − 𝐾𝐾 0
For marginal stability: 𝐾𝐾𝑐𝑐 = 750. 15
𝒔𝒔𝟎𝟎 𝐾𝐾
Aux. Eqn. 15𝑠𝑠 2 + 750 = 0 → 𝑠𝑠1,2 = ±𝑗𝑗7.07
intersection with imaginary axis at 𝑠𝑠1,2 .

Rule 6: Angle of Departure/Arrival:

No complex poles nor zeros, i.e., no need to find 𝜙𝜙𝐷𝐷𝑝𝑝

𝑖𝑖

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Root Locus Analysis
𝐾𝐾
Example 3: Obtain the root-locus of KG(s)H(s) = .
𝑠𝑠(𝑠𝑠+4)(𝑠𝑠 2 +4𝑠𝑠+20)

𝐾𝐾
Solution: The closed loop char. equation is: 1 + KG(s)H(s) = 1 + =0
𝑠𝑠 4 +8𝑠𝑠 3 +36𝑠𝑠 2 +80𝑠𝑠

Rule 1: Root Loci:

𝑝𝑝1 = 0, 𝑝𝑝2 = −4,

⎧ 𝑝𝑝 = 4: � 𝑝𝑝 = −2 ± 𝑗𝑗4
⎪ 3,4
o KGH(s) has: 𝑧𝑧 = 0:
⎨𝑞𝑞 = 4
⎪
⎩ #Loci = max(p, 2) = 4

Rule 2: Branches of the Locus:

o #𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩 = 𝑝𝑝 = 4
o Symmetric about real axis.
o Start at 𝑝𝑝1 = 0, 𝑝𝑝2 = −4, 𝑝𝑝3,4 = −2 ± 𝑗𝑗4.
o End at ∞.
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Root Locus Analysis
Rule 3: Asymptotes as |s|→∞:
𝑝𝑝
∑𝑖𝑖=1 𝑅𝑅𝑝𝑝 −∑𝑧𝑧𝑖𝑖=1 𝑅𝑅𝑧𝑧 −4−2−2
𝑖𝑖 𝑖𝑖
Centroid: 𝜎𝜎𝑎𝑎 = = = −2
𝑞𝑞 4
45°
°
𝜋𝜋
Radiate out with 𝜃𝜃𝑎𝑎 = (2𝑟𝑟 + 1) 𝑞𝑞 → � 135 , 𝑟𝑟 = 0,1,2,3
225°
315°
Rule 4: Locus Break-Away/-In Points on Real Axis:
𝐾𝐾
o Char. Eq.: 1 + = 0 → 𝐾𝐾 = −𝑠𝑠 4 − 8𝑠𝑠 3 − 36𝑠𝑠 2 − 80𝑠𝑠
𝑠𝑠 4 +8𝑠𝑠 3 +36𝑠𝑠 2 +80𝑠𝑠
𝑑𝑑𝑑𝑑 −2
= 0 → −4𝑠𝑠 3 − 24𝑠𝑠 2 − 72𝑠𝑠 − 80 = 0 → 𝑠𝑠1,2 = �
𝑑𝑑𝑑𝑑 −2 ± j2.45 ?
Rule 5: Intersection with Imaginary Axis: 𝒔𝒔𝟒𝟒 𝟏𝟏 𝟑𝟑𝟑𝟑 𝑲𝑲
𝒔𝒔𝟑𝟑
o Roth’s matrix: 𝑠𝑠 4 + 8𝑠𝑠 3 + 36𝑠𝑠 2 + 80𝑠𝑠 + 𝐾𝐾 = 0 𝒔𝒔𝟐𝟐
8
26
80
𝐾𝐾
o For marginal stability: 𝐾𝐾𝑐𝑐 = 260. 𝒔𝒔𝟏𝟏 8𝐾𝐾 0
80 −
o Aux. Eqn. 26𝑠𝑠 2 + 260 = 0 → 𝑠𝑠1,2 = ±𝑗𝑗3.16 𝒔𝒔𝟎𝟎 𝐾𝐾
26

o intersection with imaginary axis at 𝑠𝑠1,2 .

o Rule 6: Angle of Departure/Arrival:
no need to find 𝜙𝜙𝐷𝐷𝑝𝑝 , whey?
𝑖𝑖

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Root Locus Analysis
𝐾𝐾�𝑠𝑠 2 +2𝑠𝑠+2�
Example 4: Obtain the root-locus of KG(s)H(s) = .
𝑠𝑠(𝑠𝑠 4 +9𝑠𝑠 3 +33𝑠𝑠 2 +51𝑠𝑠+26)

𝐾𝐾�𝑠𝑠 2 +2𝑠𝑠+2�
Solution: The closed loop char. equation is: 1 + KG(s)H(s) = 1 + =0
𝑠𝑠(𝑠𝑠 4 +9𝑠𝑠 3 +33𝑠𝑠 2 +51𝑠𝑠+26)

Rule 1: Root Loci:

𝑝𝑝1 = 0, 𝑝𝑝2 = −1,

⎧ 𝑝𝑝 = 5: � 𝑝𝑝 = −2, 𝑝𝑝 = −3 ± 𝑗𝑗2
⎪ 2 4,5
o KGH(s) has: 𝑧𝑧 = 2:
⎨𝑞𝑞 = 3
⎪
⎩#Loci = max(p, 2) = 5

Rule 2: Branches of the Locus:

o #𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩 = 𝑝𝑝 = 5
o Symmetric about real axis.
o Start at
𝑝𝑝1 = 0, 𝑝𝑝2 = −1, 𝑝𝑝2 = −2,
| P a g e 18
Root Locus Analysis
𝑝𝑝4,5 = −3 ± 𝑗𝑗2.
o End at
𝑧𝑧1,2 = −1 ± 𝑗𝑗1
� .
𝑡𝑡ℎ𝑟𝑟𝑟𝑟𝑟𝑟 𝑎𝑎𝑎𝑎 ∞
o exists to the left of an odd #of poles and zero.

Rule 3: Asymptotes as |s|→∞:

𝑝𝑝
∑𝑖𝑖=1 𝑅𝑅𝑝𝑝 −∑𝑧𝑧𝑖𝑖=1 𝑅𝑅𝑧𝑧 −1−2−3−3+1+1
𝑖𝑖 𝑖𝑖
o Centroid: 𝜎𝜎𝑎𝑎 = = = −2.33
𝑞𝑞 3
°
𝜋𝜋
60
o radiate out with 𝜃𝜃𝑎𝑎 = (2𝑟𝑟 + 1) → �180° , 𝑟𝑟 = 0,1,2
𝑞𝑞
300

Rule 4: Locus Break-Away/-In Points on Real Axis:

𝐾𝐾�𝑠𝑠 2 +2𝑠𝑠+2�
o Char. Eq.: 1 + =0
𝑠𝑠(𝑠𝑠 4 +9𝑠𝑠 3 +33𝑠𝑠 2 +51𝑠𝑠+26)

| P a g e 19
Root Locus Analysis
𝑠𝑠 5 +9𝑠𝑠 4 +33𝑠𝑠 3 +51𝑠𝑠 2 +26𝑠𝑠
→ 𝐾𝐾 = −
𝑠𝑠 2 +2𝑠𝑠+2
𝑑𝑑𝑑𝑑
=0→
𝑑𝑑𝑑𝑑

(𝑠𝑠 2 + 2𝑠𝑠 + 2)(5𝑠𝑠 4 + 36𝑠𝑠 3 + 99𝑠𝑠 2 + 102𝑠𝑠 + 26) + (𝑠𝑠 5 + 9𝑠𝑠 4 + 33𝑠𝑠 3 + 51𝑠𝑠 2 + 26𝑠𝑠)(2𝑠𝑠 +
2) = 0

(5𝑠𝑠 6 + 46𝑠𝑠 5 + 181𝑠𝑠 4 + 372𝑠𝑠 3 + 428𝑠𝑠 2 + 256𝑠𝑠 + 52) − (2𝑠𝑠 6 + 20𝑠𝑠 5 + 84𝑠𝑠 4 + 168𝑠𝑠 3 +
154𝑠𝑠 2 + 52𝑠𝑠) = 0

−2.70 ± j1.1
−0.65 ± 𝑗𝑗1.6
3𝑠𝑠 6 + 26𝑠𝑠 5 + 97𝑠𝑠 4 + 204𝑠𝑠 3 + 274𝑠𝑠 2 + 204𝑠𝑠 + 52 = 0, → 𝑠𝑠1,2,3,4 =�
−1.40
−0.46

𝟓𝟓 𝟐𝟐𝟐𝟐
𝒔𝒔 𝟏𝟏 𝟑𝟑𝟑𝟑
+ 𝟐𝟐𝟐𝟐
𝒔𝒔𝟒𝟒 9 51+K 2𝐾𝐾
| P a g e 20
Root Locus Analysis
Rule 5: Intersection with Imaginary Axis: 𝒔𝒔𝟑𝟑
𝒔𝒔𝟐𝟐
𝐾𝐾�𝑠𝑠 2 +2𝑠𝑠+2� 𝒔𝒔𝟏𝟏
o Roth’s matrix for: 1 + =0
𝑠𝑠 5 +9𝑠𝑠 4 +33𝑠𝑠 3 +51𝑠𝑠 2 +26𝑠𝑠
𝒔𝒔𝟎𝟎
𝑠𝑠 5 + 9𝑠𝑠 4 + 33𝑠𝑠 3 + (51 + 𝐾𝐾 )𝑠𝑠 2 + (26 + 2𝐾𝐾 )𝑠𝑠 + 2𝐾𝐾 = 0
o For marginal stability:→ 𝐾𝐾𝑐𝑐 = 123 crossing imaginary axis at 𝑠𝑠1,2 = ±𝑗𝑗4.21
o Intersection with imaginary axis at 𝑠𝑠1,2 .

Rule 6: Angle of Departure/Arrival:

o 𝜙𝜙𝐷𝐷𝑝𝑝 = 𝜋𝜋 − �∑𝑃𝑃−1 𝑧𝑧
𝑗𝑗=1 𝜙𝜙𝐻𝐻.𝑝𝑝𝑗𝑗 .𝑝𝑝𝑖𝑖 − ∑𝑗𝑗=1 𝜙𝜙𝐻𝐻.𝑧𝑧𝑗𝑗 .𝑝𝑝𝑖𝑖 �
𝑖𝑖

o 𝜙𝜙𝐷𝐷𝑝𝑝4 = 180° − �146° + 135° + 116.4° + 90° − 153.5° −

123.5° � = −30° +
o 𝜙𝜙𝐴𝐴𝑧𝑧1 = 180° − �135° + 45° + 45° − 26.5° � = −18.5°

| P a g e 21
Root Locus Analysis
𝐾𝐾 (𝑠𝑠+1.5)(𝑠𝑠+5.5)
Example 5: Obtain the root-locus of KG(s)H(s) = .
𝑠𝑠(𝑠𝑠+1)(𝑠𝑠+5)

𝐾𝐾 (𝑠𝑠+1.5)(𝑠𝑠+5.5)
Solution: The closed loop char. equation is: 1 + KG(s)H(s) = 1 + =0
𝑠𝑠(𝑠𝑠+1)(𝑠𝑠+5)

Rule 1: Root Loci:

𝑝𝑝1 = 0, 𝑝𝑝2 = −1,

⎧ 𝑝𝑝 = 3: �
⎪ 𝑝𝑝3 = −5
KGH(s) has : 𝑧𝑧 = 2: 𝑧𝑧1 = −1.5, 𝑧𝑧2 = −5.5
⎨𝑞𝑞 = 1
⎪
⎩ #Loci = max(p, 2) = 3
Rule 2: Branches of the Locus:

o #𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩𝑩 = 𝑝𝑝 = 3
o Symmetric about real axis.
o Start at 𝑝𝑝1 = 0, 𝑝𝑝2 = −1, 𝑝𝑝3,4 = −5
𝑧𝑧 = −1.5, 𝑧𝑧2 = −5.5
o End at � 1 .
and one at ∞
| P a g e 22
Root Locus Analysis
Rule 3: Asymptotes as |s|→∞:
𝑝𝑝
∑𝑖𝑖=1 𝑅𝑅𝑝𝑝 −∑𝑧𝑧𝑖𝑖=1 𝑅𝑅𝑧𝑧 −1−5−(−1.5−5.5)
𝑖𝑖 𝑖𝑖
o Centroid: 𝜎𝜎𝑎𝑎 = = =1
𝑞𝑞 1
𝜋𝜋
o radiate out with 𝜃𝜃𝑎𝑎 = (2𝑟𝑟 + 1) → 180° , 𝑟𝑟 = 0,
𝑞𝑞

Rule 4: Locus Break-Away/-In Points on Real Axis:

𝐾𝐾 (𝑠𝑠+1.5)(𝑠𝑠+5.5) 𝑠𝑠 3 +6𝑠𝑠 2 +5𝑠𝑠
o Char. Eq.: 1 + = 0 → 𝐾𝐾 = −
𝑠𝑠(𝑠𝑠+1)(𝑠𝑠+5) 𝑠𝑠 2 +7𝑠𝑠+8.25
𝑑𝑑𝑑𝑑
= 0 → (𝑠𝑠 2 + 7𝑠𝑠 + 8.25)(3𝑠𝑠 2 + 12𝑠𝑠 + 5) −
𝑑𝑑𝑑𝑑

(2𝑠𝑠 + 7)(𝑠𝑠 3 + 6𝑠𝑠 2 + 5𝑠𝑠) = 0

−0.63
𝐵𝐵𝑎𝑎𝑎𝑎 �
𝑠𝑠1,2,3,4 =� −3.59
−2.50
𝐵𝐵𝑖𝑖𝑖𝑖 �
−7.27

Rule 5: Intersection with Imaginary Axis:

| P a g e 23
Root Locus Analysis
o Roth’s matrix:
𝑠𝑠 3 + (6 + 𝐾𝐾 )𝑠𝑠 2 + (5 + 7𝐾𝐾 )𝑠𝑠 + 8.25𝐾𝐾 = 0
o For marginal stability: 7𝐾𝐾 2 + 38.75𝐾𝐾 + 30 > 0.
𝟓𝟓
o No intersection with imaginary. 𝒔𝒔𝟑𝟑 𝟏𝟏
+ 𝟕𝟕𝟕𝟕
𝒔𝒔𝟐𝟐 6 + 𝐾𝐾 8.25𝐾𝐾
Rule 6: Angle of Departure/Arrival: 𝜙𝜙𝐷𝐷𝑝𝑝 ?
𝑖𝑖 7𝐾𝐾 2 + 38.75𝐾𝐾 + 30
𝒔𝒔𝟏𝟏 0
6 + 𝐾𝐾
𝒔𝒔𝟎𝟎 8.25𝐾𝐾

| P a g e 24
Root Locus Analysis
Example: Draw the root locus for the following system. Select a value for the gain 𝐾𝐾 such that
the system has an undamped natural frequency of at least 0.5 𝐻𝐻𝐻𝐻 and a damping ratio between
0.5 to 0.8.
Answer: To draw the root locus, first determine the open loop
K
transfer function. KG(s)H(s) =
s(s+1)(s+2)

o 3 open loop poles, (0, −1, −2)

o 0 open loop zeroes, (3 open loop zeroes at infinity)
• Thus, the root locus will have 3 branches starting from
the open loop poles at 0, −1, and −2 and all of them
will go to infinity.
K
KG(s)H(s) =
s(s+1)(s+2)

Enter the MATLAB commands:

| P a g e 25
Root Locus Analysis
% 𝐃𝐃𝐃𝐃𝐃𝐃𝐃𝐃𝐃𝐃𝐃𝐃 𝐭𝐭𝐭𝐭𝐭𝐭 𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭 𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟
𝐧𝐧𝐧𝐧𝐧𝐧 = [𝟏𝟏]; % 𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧 𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜
𝐝𝐝𝐝𝐝𝐝𝐝 = [𝟏𝟏, 𝟑𝟑, 𝟐𝟐, 𝟎𝟎]; % 𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝 𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜
𝐓𝐓 = 𝐭𝐭𝐭𝐭(𝐧𝐧𝐧𝐧𝐧𝐧, 𝐝𝐝𝐝𝐝𝐝𝐝); % 𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜 𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭𝐭 𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟𝐟
% 𝐏𝐏𝐏𝐏𝐏𝐏𝐏𝐏 𝐭𝐭𝐭𝐭𝐭𝐭 𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫 𝐥𝐥𝐥𝐥𝐥𝐥𝐥𝐥𝐥𝐥
𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫𝐫(𝐓𝐓)
𝐚𝐚𝐚𝐚𝐚𝐚𝐚𝐚([−𝟒𝟒 𝟏𝟏 − 𝟐𝟐. 𝟓𝟓 𝟐𝟐. 𝟓𝟓])

Remember that for a complex pole: 𝑠𝑠1,2 = −𝜉𝜉𝜔𝜔𝑛𝑛 ± 𝑗𝑗𝜔𝜔𝑛𝑛 �1 − 𝜉𝜉 2

K K Closed loop poles

KG(s)H(s) =
s(s+1)(s+2) 0 0, −1, −2

Add 3 more MATLAB commands. 0.385 −0.423, −0.423, −2.155

num = [1]; % numerator coefficients 6 −3, ±𝑗𝑗√2
den = [1,3,2,0]; % denominator coefficients
T = tf(num, den); % create transfer function 10 −3.3, 0.155 ± 1.73𝑗𝑗
rlocus(T)
axis([-4 1 -2.5 2.5])
zeta=0.5;
wn=0.5;
sgrid(zeta,wn)

| P a g e 26
Root Locus Analysis

To get the constant undamped natural frequency and damping ratio lines.
K
KG(s)H(s) =
s(s+1)(s+2)

Add 3 more MATLAB commands.

num = [1]; % numerator coefficients
den = [1,3,2,0]; % denominator coefficients
T = tf(num, den); % create transfer function
rlocus(T)
axis([-4 1 -2.5 2.5])
[K, poles]=rlocfind(T)

Click on the crosshair cursor in the graphics window put by rlocfind to select a pole location on
an existing root locus. The root locus gain associated with this point is returned in 𝑲𝑲 and all the
system poles for this gain are returned in poles.

| P a g e 27
Root Locus Analysis
𝐊𝐊(𝐬𝐬+𝟑𝟑)
Example Given 𝟏𝟏 + 𝐆𝐆(𝐬𝐬)𝐇𝐇(𝐬𝐬) = 𝟏𝟏 +
𝐬𝐬 𝟑𝟑 +𝟑𝟑𝐬𝐬 𝟐𝟐 +𝟓𝟓𝒔𝒔+𝟏𝟏
𝟑𝟑 𝟐𝟐
we will have the characteristic equation. 𝐬𝐬 + 𝟑𝟑𝐬𝐬 + (𝟓𝟓 + 𝐊𝐊)𝒔𝒔 + (𝟏𝟏 + 𝟑𝟑𝟑𝟑) = 𝟎𝟎
The following MATLAB code will plot the root locus of the closed-loop transfer function as 𝑲𝑲
varies using the described manual method as well as the rlocus built-in function:
% Manual method
K_array=(0:0.1:220).'; % .' is a transpose. Looking it up in MATLAB documentation.
NK=length(K_array);
x_array=zeros(NK,3);
y_array=zeros(NK,3);
for nK=1:NK
K=K_array(nK);
C=[1,3,(5+K),(1+3*K)];
r=roots(C).';
x_array(nK,:)=real(r);
y_array(nK,:)=imag(r);
end
figure();
plot(x_array,y_array);
grid on;
% Built-in method
sys=tf([1,3],[1,3,5,1]);
figure();
rlocus(sys);

| P a g e 28
Root Locus Analysis

1. Consider the negative feedback system whose open-loop transfer function is

𝐾𝐾
𝐺𝐺 (𝑠𝑠)𝐻𝐻(𝑠𝑠) = . Use MATLAB to obtain the root-locus plot.
𝑠𝑠(𝑠𝑠+0.5)(𝑠𝑠 2 +0.6𝑠𝑠+10)

Answer:

% --------- Root-locus plot ---------

num = [1];
den = [1 1.1 10.3 5 0];
K1 = 0:0.2:20;
K2 = 20:0.1:30;
K3 = 30:5:1000;
K = [K1 K2 K3];
r = rlocus(num,den,K1);
plot(r, '.')
v = [-4 4 -4 4]; axis(v)
grid
title('Root-Locus Plot of G(s) = K/[s(s +
0.5)(s^2 + 0.6s + 10)]')
xlabel('Real Axis')
ylabel('Imag Axis')

| P a g e 29
Root Locus Analysis

2. Use MATLAB to obtain the root-locus plot for the negative feedback system
whose state-space model has the following matrices,
0 1 0 0
𝐴𝐴 = � 0 0 1 � , 𝐵𝐵 = � 1 � , 𝐶𝐶 = [1 0 0], and 𝐷𝐷 = [0]
−160 056 −14 −14
Answer:
% --------- Root-locus plot ---------
A = [0 1 0;0 0 1;-160 -56 -14];
B = [0;1;-14];
C = [1 0 0];
D = [0];
[num,den] = ss2tf(A,B,C,D)
K = 0:0.1:400;
rlocus(num,den,K);
%rlocus(A,B,C,D,K);
v = [-20 20 -20 20]; axis(v)
grid
title('Root-Locus Plot of System Defined in State
Space')

| P a g e 30
Root Locus Analysis

3. Plotting Polar Grids in the Root-Locus Diagram

The command Sgrid: overlays lines of constant damping ratio (𝜁𝜁 = 0 ~ 1 with 0.1
increment) and circles of constant 𝜔𝜔𝑛𝑛 on the root-locus plot.
Answer:

sgrid
v = [-3 3 -3 3]; axis(v); axis('square')
title('Constant \zeta Lines and Constant
\omega_n Circles')
xlabel('Real Axis')
ylabel('Imag Axis')

| P a g e 31
Root Locus Analysis

4. Example with sgrid

num = [1]; den = [1 4 5 0]; K =

0:0.01:1000; r = rlocus(num,den,K);
plot(r,'-'); v = [-3 1 -2 2]; axis(v);
axis('square')
sgrid([0.5,0.707], [0.5,1,2])
grid
title('Root-Locus Plot with \zeta = 0.5
and 0.707 Lines and \omega_n = 0.5,1,
and 2 Circles')
xlabel('Real Axis'); ylabel('Imag Axis')
gtext('\omega_n = 2')
gtext('\omega_n = 1')
gtext('\omega_n = 0.5')

| P a g e 32
Root Locus Analysis
5. Example of Conditionally Stable Systems.
It can be seen from the root-locus plot
that this system is stable only for
limited ranges of K—that is,0<K<12
and 73<K<154. The system becomes
unstable for 12<K<73 and 154<K.
Such a system is called conditionally stable.

num = [1 2 4]; den = conv(conv([1 4 0],[1 6]), [1

1.4 1]);
rlocus(num, den)
v = [-7 3 -5 5]; axis(v); axis('square')
grid
title('Root-Locus Plot of G(s) = K(s^2 + 2s +
4)/[s(s + 4)(s + 6)(s^2 + 1.4s + 1)]')
text(1.0, 0.55,'K = 12')
text(1.0,3.0,'K = 73')
text(1.0,4.15,'K = 154')

| P a g e 33
Root Locus Analysis

6. Finding the Gain Value K at an Arbitrary Point on the Root Loci.

In MATLAB analysis of closed-loop systems, it is frequently desired to find the gain value
K at an arbitrary point on the root locus. This can be accomplished by using the following
rlocfind command:
[K, r] = rlocfind(num, den)

Execution and result:

>> [K, r] = rlocfind(num, den)

Select a point in the graphics
window
selected_point = -1.9527 - 1.8610i
𝐾𝐾 = 45.2496
−7.6001
𝑟𝑟 = � −1.9566 ± 1.8642i
0.0567 ± 1.8049i

| P a g e 34
Root Locus Analysis

7. Construct the rot locus of the below system and find 𝐾𝐾 at which the damping-ratio
is 0.7.
Answer: From time response 𝜔𝜔𝑑𝑑 =
𝜔𝜔𝑛𝑛 �1 − 𝜁𝜁 2 thus 𝜙𝜙 = sin−1 𝜁𝜁

| P a g e 35