Root Locus Method

Lecture II

MCT5202 Control Engineering II

Compiled by Dr Mukhtar Fatihu Hamza

What is root locus?
• Root means root of characteristic equation (poles of
the closed loop)
• Locus means path
• Root locus means closed loop poles path by varying
the gain K from zero to infinity.
Locus
Pole Zero

• Controller Design Using Root Locus

Letting the CL characteristic equation (CLCE) be the polynomial
equation, one can use the Root Locus technique to find how a positive
controller design parameter affects the resulting CL poles, from which
one can choose a right value for the controller parameter.
Important of root locus
• Absolute stability means whether system is stable or
unstable. Relative Stability gives the degree
of stability or how close it is to instability. Root
locus gives you the positions of the roots of the
characteristic equation as the gain K is varied.
 The Root Locus Method

No matter what we pick K to be, the closed-loop system must always have n poles, where
n is the number of poles of G(s).
The root locus must have n branches, each branch starts at a pole of G(s) and goes to a
zero of G(s).
If G(s) has more poles than zeros (as is often the case), m < n and we say that G(s) has
zeros at infinity. In this case, the limit of G(s) as s -> infinity is zero.

The number of zeros at infinity is n-m, the number of poles minus the number of zeros,
and is the number of branches of the root locus that go to infinity (asymptotes).

Since the root locus is actually the locations of all possible closed loop poles, from the
root locus we can select a gain such that our closed-loop system will perform the way we
want. If any of the selected poles are on the right half plane, the closed-loop system will
be unstable. The poles that are closest to the imaginary axis have the greatest influence on
the closed-loop response, so even though the system has three or four poles, it may still
act like a second or even first order system depending on the location(s) of the dominant
pole(s).
 Closed-Loop Characteristic Equation
Disturbance
(CLCE)
Reference Control
D(s)
Input
Gf (s) + Error
GC (s)
Input ++ G(s)
Output
R(s) E(s) U(s) Y(s)
Plant
H(s)
The closed-loop transfer function GYR(s) is:
G ( s )G c ( s )G f ( s )
GYR ( s ) 
1  G ( s )G c ( s ) H ( s ) Img
.
The closed-loop characteristic equation (CLCE) is:
1  G ( s )G c ( s ) H ( s )  0
For simplicity, assume a simple proportional feedback Transient
controller: Performance
Gc ( s )  K p  1  K p GH  0 Region Real

The transient performance specifications define a region on the

complex plane where the closed-loop poles should be located.

Q: How should we choose KP such that the CL poles are

within the desired performance boundary?
Motivation
Ex: The closed-loop characteristic equation for the DC motor positioning system
under proportional control is:
16
1  K P K S G (s)  0  1  K P  0.03  0
s (0.0174 s  1)

Q: How to choose KP such that the resulting closed-loop poles are in the
desired performance region?
– How do we find the roots of the equation:
16
1  K P  0 .03  0
s ( 0 .0174 s  1)
as a function of the design parameter KP ?

– Graphically display the locations of the closed-loop poles for all

KP>0 on the complex plane, from which we know the range of
values for KP that CL poles are in the performance region.
 Root Locus – Definition
Root Locus is the method of graphically displaying the roots of a polynomial
equation having the following form on the complex plane when the parameter
K varies from 0 to :
N (s)
1  K  G ( s )  0 or 1 K  0
D(s)
where N(s) and D(s) are known polynomials in factorized form:
N ( s )  ( s  z1 )( s  z 2 )  ( s  z N )
Z

D ( s )  ( s  p1 )( s  p 2 )  ( s  p N P )
Conventionally, the NZ roots of the polynomial N(s) , z1 , z2 , …, zNz , are called
the finite open-loop zeros. The NP roots of the polynomial D(s) , p1 , p2 , …,
pNp , are called the finite open-loop poles.

Note: By transforming the closed-loop characteristic equation of a feedback

controlled system with a single positive design parameter K into the
above standard form, one can use the Root Locus technique to
determine the range of K that have CL poles in the performance
region.
 Methods of Obtaining Root Locus
• Given a value of K, numerically solve the 1 + K G(s) = 0 equation to obtain all
roots. Repeat this procedure for a set of K values that span from 0 to  and
plot the corresponding roots on the complex plane.

• In MATLAB, use the commands rlocus and rlocfind. A very efficient root locus
design tool is the command rltool. You can use on-line help to find the usage
for these commands.

16 0 .48
1  K P  0 .03  0  1  KP  0
s ( 0 .0174 s  1) 0 .0174 s 2  s
>> op_num=[0.48]; No open-loop zeros
>> op_den=[0.0174 1 0];
Two open-loop poles
>> rlocus(op_num,op_den);
>> [K, poles]=rlocfind(op_num,op_den);
• Apply the following root locus sketching rules to obtain an approximated root
locus plot.
 Root Locus Sketching Rules
N (s) ( s  z1 )( s  z 2 )  ( s  z N Z )
1 K  0  1 K  0
D(s) ( s  p1 )( s  p2 )  ( s  p N P )

Rule 1: The number of branches of the root locus is equal to the number
of closed-loop poles (or roots of the characteristic equation). In
other words, the number of branches is equal to the number of
open-loop poles or open-loop zeros, whichever is greater. Ds   KN s   0
Rule 2: Root locus starts at open-loop poles (when K= 0) and ends at
open-loop zeros (when K=). If the number of open-loop poles
is greater than the number of open-loop zeros, some branches
starting from finite open-loop poles will terminate at zeros at
infinity (i.e., go to infinity). If the reverse is true, some branches
will start at poles at infinity and terminate at the finite open-loop
zeros. Ds   KN s   0
K  0? K  ?
Rule 3: Root locus is symmetric about the real axis, which reflects the
fact that closed-loop poles appear in complex conjugate pairs.
Rule 4: Along the real axis, the root locus includes all segments that are
to the left of an odd number of finite real open-loop poles and
zeros. N s 
Check the phases K    1   rad   180


D s 
 Root Locus Sketching Rules Cont.
Rule 5: If number of poles NP exceeds the number of zeros NZ , then as K,
(NP - NZ) branches will become asymptotic to straight lines. These
straight lines intersect the real axis with angles k at 0 .

0   i  i 
p  z Sum of open-loop poles  Sum of open-loop zeros
NP  NZ # of open-loop poles  # of open-loop zeros
 80
 k  (2k  1) [rad]  (2 k  1) [deg] , k  0, 1, 2, 
NP  NZ NP  NZ

If NZ exceeds NP , then as K0, (NZ - NP) branches behave as above.

Rule 6: Breakaway and/or break-in (arrival) points should be the solutions to

the following equations:

d  N (s)  d  D (s) 
   0 or    0
ds  D ( s )  ds  N ( s ) 
 Root Locus Sketching Rules Cont.
Rule 7: The departure angle for a pole pi ( the arrival angle for a zero zi) can be
calculated by slightly modifying the following equation:
angle  ( s  z1 )   ( s  z 2 )     ( s  z N Z )   ( s  p1 )   ( s  p 2 )     ( s  p N p )  180 
criterion
The departure angle qj from the pole pj can be calculated by replacing the term
with
( s  pqj ) and replacing all the s’s with p in the other terms.
j j

Rule 8: If the root locus passes through the imaginary axis (the stability boundary),
the crossing point j and the corresponding gain K can be found as
follows:
– Replace s in the left side of the closed-loop characteristic equation
with j to obtain the real and imaginary parts of the resulting
complex number
– Set the real and imaginary parts to zero, and solve for and K. This
will tell you at what values of K and at what points on the j axis the
roots will cross. s  p1 s  p 2  s  p N
K  P

magnitude criterion s  z1 s  z 2  s  z N z
 Steps to Sketch Root Locus
Step 1: Transform the closed-loop characteristic equation into the standard form for
sketching root locus:
N (s) ( s  z1 )( s  z 2 )  ( s  z N Z )
1 K  0 or 1  K  0
D(s) ( s  p1 )( s  p2 )  ( s  p N P )
Step 2: Find the open-loop zeros, zi, and the open-loop poles, pi. Mark the open-loop
poles and zeros on the complex plane. Use to represent open-loop poles
and  to represent the open-loop zeros.
Step 3: Determine the real axis segments that are on the root locus by applying Rule
4.
Step 4: Determine the number of asymptotes and the corresponding intersection 
and angles kby applying Rules 2 and 5.
Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.
Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.
Example 1
DC Motor Position Control
In the previous example on the printer paper advance position control, the proportional control block
diagram is:

D DV 16
KP
Ei 
0.03 s ( 0.0174 s  1)
Controller Plant G(s)
V
0.03

Sketch the root locus of the closed-loop poles as the proportional gain KP varies from 0 to .

Find closed-loop characteristic equation:

1  K pG  s  H  s   0
0.48

N s 
1 Kp 0
s 0.0174 s  1
     
Ds 
Example 1 Cont.
Step 1: Transform the closed-loop characteristic equation into the standard form for
sketching root locus:

1

N s 
1  27.58 K p 0
s  s  57.47 
    
K Ds 

Step 2: Find the open-loop zeros, zi , and the open-loop poles, pi :

No open-loop zeros
open-loop poles p1  0, p2  57.47

Step 3: Determine the real axis segments that are to be included in the root locus by
applying Rule 4.

p2  57.47 p1  0
 Example 1
Step 4:Determine the number of asymptotes and the corresponding intersection 
and angles kby applying Rules 2 and 5.
0  p i   zi

 57.47
  28.74
NP  NZ 2

 
 k  (2 k  1) [rad]  2

NP  NZ  

 2

Step 5:(If necessary) Determine the break-away and break-in points using Rule 6.
d  N (s)  d  D (s) 
   0 or  0,
ds  D ( s )  ds  N ( s ) 

d  s  0.0174 s  1  
   0, 0.0348 s  1  0, s   28.74
ds  0.48 

Step 6:(If necessary) Determine the departure and arrival angles using Rule 7.
 ( p 2  p1 )   p2  180 ,  p2  0


 p1   ( p1  p 2 )  180  ,  p1  180 

Step 7:(If necessary) Determine the imaginary axis crossings using Rule 8.
Could s be pure imaginary in this example?
 Example 1 cont.
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.

Img. Axis

30

20

10

-57.47
-28.74
Real Axis 0
-60 -50 -40 -30 -20 -10 0

-10

-20

-30
Example 2
A positioning feedback control system is proposed. The corresponding block diagram
is: R(s) +
U(s) 16 Y(s)
K(s + 80)
s ( 0.0174 s  1)
 Controller
Plant G(s)

Sketch the root locus of the closed-loop poles as the controller gain K varies from 0 to
.
Find closed-loop characteristic equation:

1  Gc  s  G  s  H  s   0
16
1  K  s  80  0
s 0.0174 s  1
Example 2 Solution
Step 1: Formulate the (closed-loop) characteristic equation into the standard form
for sketching root locus:
16  s  80 
    K s  80


N s  N s 
1 K  1  920 K 0
s 0.0174 s  1 s  s  57.47 
          
Ds  D s 

Step 2: Find the open-loop zeros, zi , and the open-loop poles, pi :

open-loop zeros z1  80

open-loop poles p1  0, p2  57.47

Step 3: Determine the real axis segments that are to be included in the root locus
by applying Rule 4.

z1  80 p2  57.47 p1  0
 Example 2 Cont.
Step 4: Determine the number of asymptotes and the corresponding intersection  and
angles kby applying Rules 2 and 5.

0  
pi   zi Sum of open-loop poles  Sum of open-loop zeros
 = -45.8
NP  NZ # of open-loop poles  # of open-loop zeros
 80
 k  (2k  1) [rad]  (2 k  1) [deg] , k  0, 1, 2, 180 and 540 degrees
NP  NZ NP  NZ

Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.

d  N (s)  d  D (s) 
   0 or  0,
ds  D ( s )  ds  N ( s ) 

d   s  80   s  s  57.47    s  80 2 s  57.47 

   0,
ds  s  s  57.47    s  s  57.47 
2

s2  160s  4600  0
s1   122, s 2   37.6
Example 2 Conts.
Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.
Imag Axis

40

30

20

10

Real Axis 0
122 z1  80 p2  57.47 37.6 p1  0
-10

-20

-30

-40

-140 -120 -100 -80 -60 -40 -20 0

Example 3
A feedback control system is proposed. The corresponding block diagram is:

R(s) + K U(s)
1
Y(s)
 ( s  4) s ( s 2  4 s  20 )
Controller Plant G(s)

Sketch the root locus of the closed-loop poles as the controller gain K varies from
0 to .
Find closed-loop characteristic equation:

1  Gc  s  G  s  H  s   0
K 1
1 0
s  4 s  s 2  4 s  20 
Example 3 Conts.
Step 1: Transform the closed-loop characteristic equation into
the standard form for sketching root locus:
1
N s 
1 K 0
s  s  4 s  20   s  4 
2

        
Ds 

Step 2: Find the open-loop zeros, zi , and the open-loop poles, pi :

open-loop zeros No open-loop zeros

open-loop poles p1  0, p2  4, p3,4  2  4 j
Step 3: Determine the real axis segments that are to be included
in the root locus by applying Rule 4.

p2  4 p1  0
 Example 3
Step 4: Determine the number of asymptotes and the corresponding intersection  and
angles kby applying Rules 2 and 5.

0  p i   zi

0   4   2  4 j   2  4 j 
 2
NP  NZ 40

4

 3

 k  (2 k  1) [rad] 
  4
NP  NZ  5
 4
 7

 4

Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.
d  N (s)  d  D (s) 
   0 or  0,
ds  D ( s )  ds  N ( s ) 

d  D  s   d  s  s  4 s  20   s  4   d 4
2

      s  8 s 3  36 s 2  80 s 
ds  N  s   ds  1  ds
 
 4 s 3  24 s 2  72 s  80  0

s1   2, s 2 ,3   2  2.45 j
Example 3
Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
Nz Np

  ( s  z )    ( s  p )  180 
i 1
i
i 1
i

p1  0 :  p  180 
1 p3  2  4 j :  p   90 
3

p2  4 :  p  0
2
p4  2  4 j :  p  90 
4

Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.

1 K
1
0 s  s 2  4 s  20   s  4   K  0 CLCE
s  s  4 s  20   s  4 
2

 s 4  8s 3  36s 2  80s  K  0
s  j
  36 2  K    8 3  80  j  0
4

 4  36 2  K  0  K1  0  K 2  260
  ,
 8 3
 80  0 
 1  0 2  10  3.16
 Example 3
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.

Imag Axis

Real Axis 0

-1

-2

-3

-4

-6 -5 -4 -3 -2 -1 0
Example 4
A feedback control system is proposed. The corresponding block diagram is:
R(s) + U(s) s 2  2 s  101 Y(s)
K
( s  2 )( s 2  2 s  26 )

Controller Plant G(s)

Sketch the root locus of the closed-loop poles as the controller gain K varies from 0 to
.
Find closed-loop characteristic equation:

s  2 s  101
2
1 K 0

s  2 s  2s  26
2

Example 4
Step 1:Formulate the (closed-loop) characteristic equation into the standard
form for sketching root locus:
s 2  2s 
 101

N s 
1 K 0
s  2s  2s 26
2


D s 

Step 2:Find the open-loop zeros, zi , and the open-loop poles, pi :

s 2  2 s  101  s  1  100  0, z1, 2  1  10 j
2
open-loop zeros
open-loop poles s  2s  12  25  0, p1  2, p2,3  1  5 j
Step 3:Determine the real axis segments that are to be included in the root
locus by applying Rule 4.

p1  2
Example 4
Step 4: Determine the number of asymptotes and the corresponding intersection  and angles
kby applying Rules 2 and 5.
N p  Nz  1 One asymptote
 k   2k  1  180  180
Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.
Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
p1  2  p  180o
z1  1  10 j  z1  90  tan 10  90  90  180
1
o 1 o o o

p2  1  5 j  p  11o
 z  354  6
1
o o
2

z 2  1  10 j   6o p3  1  5 j  p  11o
z2 2

Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.
s  2s 2  2s  26 K s 2  2s  101  0
 s 3  4  K s 2  30  2 K s  52  101K   0

   
s  j
 52  101K   4  K  2  30  2 K    2 j  0
52  101K    4  K   2  0 1  0 2  9.5 3  5.7
   ,
52  ,
 30  2 K       0  K1   101  K 2  30.4  K 3  1.1
2
 Example 4
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.

10
9.5273j
8
Stability condition   6o
0  K  1.1z1
6 5.6658j or
K  30.4
4

0  K  1.1  p  11o
2

2
or
K  30.4 0

-2

-4

-6 -5.6658j
 p  11o
2
-8
-9.5273j
-10
-18 -16 -14 -12 -10 -8 -6 -4 -2 0 2
 z  6o
2
Example 5 (Stability analysis by root
locus)

Im

Re
-2 -1 1
Example 6

Im K

Re
-2 -1 1 2 3 4
 Sketching a Root Locus with Asymptotes
Example 7: Sketch the root locus for the system.

• Let us begin by calculating the asymptotes.

Using Eq. (v), the real-axis intercept is evaluated as;

• The angles of the lines that intersect at - 4/3, given by Eq. (vi), are

a) Number of finite poles = n = 4

b) Number of finite zeros = m = 1
c) Number of asymptotes = n - m =
3
d) Number of branches or loci equals
to the number of finite poles (n) = 4

• If the value for, k, continued to increase, the angles would begin to repeat.
• The number of lines obtained equals the difference between the number of finite
poles and the number of finite zeros.
 Root-Locus Plot
Example-7: Continue.
• This Figure shows the complete root locus as
well as the asymptotes that were just calculated.

• Notice that we have made use of all the rules

learned so far.

• For this example there are more open-loop

poles than open-loop zeros. Thus, there must
be zeros at infinity.

• The asymptotes tell us how we get to these

zeros at infinity.

• The real-axis segments lie to the left of an odd number of poles and/or zeros.

• The locus starts at the open-loop poles and ends at the open-loop zeros.

• For this example there is only one open-loop finite zero and three infinite zeros.

• Rule 5, then, tells us that the three zeros at infinity are at the ends of the
asymptotes.
 Example-8: Find the breakaway and break-in points for
the root locus of Figure, using differential calculus.

• Using the open-loop poles and zeros, we

represent the open-loop system whose root locus
is shown in Figure as follows:

• But for all points along the root locus, KG(s)H(s) = -

1, and along the real axis, s = σ. Hence,
Figure: shows real-axis breakaway
(σ1) and break-in points (σ2)
or

• Differentiating K with respect to σ and setting the derivative equal to zero yields;

=>

Hence, solving for σ, we find the

σ = -1.45 and 3.82
break-away and break-in points;
 Breakaway and Break-in Points Without Differentiation

• The second method is a variation on the differential calculus method. Called the
transition method, it eliminates the step of differentiation (Franklin, 1991).

• Breakaway and break-in points satisfy the relationship;

(vii)

where zi and pi are the negative of the zero and pole values, respectively, of
G(s)H(s).

• Solving Eq. (vii) for σ, the real-axis values that minimize or maximize K, yields
the break-away and break-in points without differentiating.
 Example-9: Repeat example-8 without differentiating.

Using Eq.(vii), (vii)

=>

=>

=>

=> => σ = -1.45 and 3.82

 Example-10: Determine the break-away points for the
system without differentiating.

=>

=> =>

• For K > 0, the branches of the root locus lie between 0 and -1, and between -∞ and
-2.

• Therefore, the root at -0.423 is a breakaway point of the system for K > 0.

• For K < 0, the portion of the real axis between -1 and -2 is on the root locus.

• Therefore, the root at -1.577 is a breakaway point of the system for K < 0.
 Example-11: Sketch the root locus for the system with the open loop
transfer function is;

a) Number of finite poles = n = 3.

b) Number of finite zeros = m = 0.
c) Number of asymptotes = n - m = 3.
d) Number of branches or loci equals to the number of finite poles (n) =
3.
e) The portion of the real-axis between, 0 and -2, and between, -4 and -
∞, lie on the root locus for K > 0.
• Using Eq. (v), the real-axis asymptotes intercept is evaluated
as;

• The angles of the lines that intersect at - 2, given by Eq. (vi),

are; For K = 0, θa = 60o
For K = 1, θa = 180 o

For K = 2, θa = 300o
 Example-11: Continue.

• Since two branches of the root-locus for K > 0 come together on the real axis
between 0 and -2, a breakaway point exists on that portion of the real axis.
• The exact location of the breakaway point is determined as;

(vii)

• Where pi and zi are the poles and zeros of open loop transfer function GH.

• In this example,

• Using Eq. (vii), the breakaway point, σ, can be determine as;

Which simplifies to

The solution of the above equation is

Root-Locus Plot
 Example-11: Continue.

Root Locus for K > 0 Root Locus for K < 0

• The root locus for K < 0 is constructed in a similar

manner.
• The portion of the real axis between 0 and ∞ and
between -2 and -4 lie on the root locus.
• For K < 0, the break-away point is located at -3.15.
• The asymptotes have angles of 0o, 120o, and 240o.
 Example-12: Sketch the root locus for the system with the
characteristic equation of;

a) Number of finite poles = n = 4.

b) Number of finite zeros = m = 1.
c) Number of asymptotes = n - m = 3.
d) Number of branches or loci equals to the number of finite poles (n) =
4.
e) The portion of the real-axis between, 0 and -2, and between, -4 and -
∞, lie on the root locus for K > 0.
• Using Eq. (v), the real-axis asymptotes intercept is evaluated as;

• The angles of the asymptotes that intersect at - 3, given by Eq. (vi), are;

For K = 0, θa = 60o
For K = 1, θa = 180o
For K = 2, θa = 300o
 Example-12: Continue.

• The root-locus plot of the system is shown in the figure below.

• It is noted that there are three asymptotes. Since n – m = 3.
• The root loci must begin at the poles; two loci (or branches) must leave the
double pole at s = -4.
• Using Eq. (vii), the breakaway point, σ, can be determine as;

• The solution of the above equation is

 Example-13: Sketch the root loci for the system for K > 0.

The procedure for plotting the root loci is as follows:

•Locate the open-loop poles and zeros on the complex plane. Root loci exist on the
negative real axis between 0 and –1 and between –2 and –3.

•The number of open-loop poles and that of finite zeros are the same. This means
that there are no asymptotes in the complex region of the s plane.

•Determine the breakaway and break-in points. The characteristic equation for the
system is

(a)
 Example-13: Continue.

• The breakaway and break-in points are determined by taking the derivative of Eq.
(a).

• Notice that both points are on root loci. Therefore, they are actual breakaway or
break-in points.

• At point s = –0.634, the value of K is,

• Similarly, at s = –2.366, the value of K is,

 Example-13: Continue.

• Note that point s = –0.634 lies between two poles, therefore it is a breakaway point,
and point s = –2.366 lies between two zeros, hence it is a break-in point.

• Determine a sufficient number of points that satisfy the

angle condition. (It can be found that the root loci involve
a circle with center at [ -2.366 – (-0.634) ]/2 = -0.866,
-0.866 - 0.634 = –1.5 that passes through the breakaway
and break-in points.)

• The root-locus plot for this system is shown in the Figure.

 Example-14: Sketch the root loci for the system.

• A root locus exists on the real axis between points s = –1 and s = –3.6.
• The intersection of the asymptotes and the real axis is determined as,

• The angles of the asymptotes that intersect at – 1.3, given by Eq. (vi), are;

For K = 0, θa = 90o
For K = 1, θa = -90o or 270o

• Since the characteristic equation is

• We have (a)
 Example-14: Continue.

• The breakaway and break-in points are found from Eq. (a) as,

From which we get,

• Point s = 0 corresponds to the actual breakaway point. But points

are neither breakaway nor break-in points, because the corresponding gain
values K become complex quantities.
Example-14: Continue.
 The jω-Axis Crossings
• The jω-axis crossing is a point on the root locus that separates the stable
operation of the system from the unstable operation.

• The value of ω at the axis crossing yields the frequency of oscillation.

• The gain K at the jω-axis crossing yields the maximum positive gain for system
stability.

• Above value of gain K at the jω-axis crossing , the closed-loop system’s poles
move into the right half-plane, signifying that the system is unstable.

• To find the jω-axis crossing, we can use the Routh-Hurwitz criterion as;

i) Forcing a row of zeros in the Routh table will yield

the gain K;

ii) Going back one row to the even polynomial

equation (auxiliary equation) and solving for the
roots yields the frequency at the imaginary-axis
crossing.
 Example-15: Determine the frequency and the gain at the jω-axis
crossover for the open-loop transfer function using a Routh table.

The characteristic equation for this system is;

The Routh table for the characteristic polynomial is;

The s1 row is zero for K = 16. The auxiliary equation (from s2 row) then
becomes;

Thus for K = 16 the characteristic equation has solutions (closed-loop poles) at

s = ± j2, and the root-locus crosses the jw-axis at j2.
Example-16: For the system shown below, find the frequency
and gain, K, for which the root locus crosses the imaginary
jω-axis. For what range of gain K is the system stable?

The closed-loop transfer function for the system is;

Using the denominator and simplifying some of the entries by multiplying any row
by a constant, we obtain the Routh array shown in the Table;
 Example-16: Continue.

• A complete row of zeros yields the possibility for imaginary axis roots.

• For positive values of gain, K > 0, those for which the root locus is plotted, only
the s1 row can yield a row of zeros. Thus,
• From the above equation, K is evaluated as; K = 9.65.
• Forming the even polynomial by using the s2 row with K = 9.65, we obtain

• Where frequency s is found to be equal to ± j1.59.

• Thus the root locus crosses the jω-axis at s = ± j1.59 at a gain, K = 9.65.
• We conclude that the system is stable for 0 ≤ K < 9:65.
Matlab commands for root locus sketching and analysis
K from the root locus
• The plot above shows all possible closed-loop pole
locations for a pure proportional controller.
• So use the command sgrid(Zeta,Wn) to plot lines of
constant damping ratio and natural frequency.
• Its two arguments are the damping ratio (Zeta) and
natural frequency (Wn) [these may be vectors if you
want to look at a range of acceptable values]. In the
problem, an overshoot less than 5% (which means a
damping ratio Zeta of greater than 0.7) and a rise time
of 1 second (which means a natural frequency Wn
greater than 1.8).
zeta=0.7; Wn=1.8; sgrid(zeta, Wn)