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Root Locus
Techniques

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Introduction
What is root locus?
A technique developed by W.R. Evanes (1948)
Root locus is a graphical representation of the closed
loop poles as a system parameter is varied.
It can be used to describe qualitatively the performance
of a system as various parameters are changed.
It gives graphic representation of a systems transient
response and also stability .
We can see the range of stability, instability, and the
conditions that cause a system to break into oscillation

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The Control System Problem
The poles of the open loop transfer function are easily found
by inspection and they do not change with changes in system
gain. But the poles of the closed loop transfer function are
more difficult to find and they change with changes in
system gain.
Consider the closed loop system in the figure with Closed
loop system And its Equivalent transfer function
Note: KG(s)H(s) = Open Loop Transfer Function, or loop gain

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System poles and zeros:
The closed loop transfer function for any feedback control
system may be written in factored form;

The position of the closed loop poles in the s plane determine

the nature of the transient behavior of the system.
The open loop transfer function may be expressed as:

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TIP:
Vector representation of complex number
Vector has a magnitude
and a direction.
Complex number ( + j)
can be described in
Cartesian coordinate or in
polar form. It can also be
represented by a vector.
If a complex number is
substituted into a complex
function, F(s), another
complex number will
Result.
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Example:
If s = ( + j) is substituted into F(s) = (s + a).
Then F(s) = ( + a) + j
Therefore;(s + a) is a complex number
and can be represented by a vector drawn
from the zero of the function to point S

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Draw the vector representation of (s + 7)|s 5 + j2 Recall

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NB:
M = zero lengths / pole lengths

Magnitude Criterion
= zero angles pole angles

Angle Criterion

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Defining the Root Locus
Consider the system represented by block diagram:

The C.L.T.F. = K / s^2+10s + K

Where K = K1K2
If we plot the poles of the
C.L.T.F. for value K = 0 50,
we will obtain the following plots:

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Knowing the properties of Root Locus will enable us to
sketch the root locus without having to factor the
denominator of the closed loop transfer function
Consider the general representation of the C.L.T.F:
T(s) = KG(s) / 1 + KG(s)H(s)
NB: A pole exists when the characteristic polynomial in
the denominator becomes zero.
Hence, KG(s)H(s) = -1 = 1(2k + 1)180, k =0,+1,+2,
Or |KG(s)H(s)| = 1 and KG(s)H(s) = (2k + 1)180

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Similarly, Magnitude criterion

Hence, Given the poles & zeros of the open loop Transfer
function, KG(s)H(s), a point in the s-plane is on the root
locus for a particular value of gain, K, if the angles of the
zeros minus the angles of the poles, all drawn to the
selected point on the S-plane, add up to (2k + 1)180
Angle criterion

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Example: Given a unity feedback system that has the

following forward transfer function

a. Calculate the angle of G(s) at the point (-3 + j0) by

finding the algebraic sum of angle of the vectors drawn
from the zeros & poles of G(s) to the given point.
b. Determine if the point specified in (a) is on the root
locus
c. If the point is on the Root Locus, find the gain K
using the lengths of the vectors
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Solution:

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Considering the above specific example
Taking a trial point S1:
Magnitude Criterion:
If a point S1 lies on the locus, GH=1, then the value of
the open loop gain constant K at that point may be
evaluated using magnitude criterion,

It can be written as:

If there are no open loop zeros in the transfer function,

the denominator will be unity

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General Root Locus Construction Rules:
1. Starting points (K=0): the root loci starts at the open
loop poles.
2. Termination points (K=): root loci terminate at the
open loop zeros if available, else at infinity ()
3. Number of distinct root loci (branches): which is
equal to the order of the characteristic equation.
4. Symmetry of the root loci: they are symmetrical about
the real axis.
5. Root locus asymptote: for large value of k the root loci
are asymptotic to straight lines, with angle given by

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6. Asymptotic intersection: the asymptotes intersect the
real axis at the point:
7. A point on the real axis which is part of the root locus: a
point on the real axis is part of the root locus if the sum of
the number of open loop poles and zeros to the right of the
point concerned be odd.
8. Breakaway/in points: the points at which the locus breaks
away from the real axis. It can be calculated as:
a. Finding the roots of the equation:

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9. Imaginary axis cross over: the location on the imaginary
axis of the loci (marginally stability) can be calculated
either:
a. Routh Hurwitz stability criterion or
b. Replacing S by j in the characteristics equation (since
=0 on the imaginary axis)
10. Angle of departure and arrival: computed using angle
criterion by positioning a trial point at a complex open
loop poles (departure) and zeros (arrival).
11. Determination of points on the root loci: Exact points
on the root loci are found using the angle criterion.
12. Determination of K on the root loci: the value of K on
the root loci is found using magnitude criterion.
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Explaining rules in detail for Sketching the Root Locus
Based on the properties of root locus, some rules are
established to enable us to sketch the Root Locus:

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No. of branches

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Symmetry

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Real-axis segment

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Starting & Ending Points

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Concept of Infinite pole & zero
Infinite pole: If the function approaches as s
approaches , then the function has an infinite pole.
Infinite zero: If the function approaches zero as s
approaches , then, the function has an infinite zero
Example: KG(s)H(s) = K / s(s + 1)(s + 2)
This function has 3 finite poles at 0, -1, -2 & 3 infinite
zeros.
Every function of s has an equal no. of poles & zeros if
we included the infinite poles & zeros as well as the
finite poles & zeros.

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Behavior at infinity
The root locus approaches straight lines as asymptotes
as the locus approaches infinity.
The equation of the asymptotes is given by the real-axis

And the angle is given in radians w.r.t. the positive

extension of the real-axis

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Example: Sketch the root locus for the system shown

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Root locus and asymptotes for the system of previous
example

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Rules for Refining our Sketch

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Real-Axis Breakaway & Break-in Points

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Finding the Breakaway & Break-in points via
differentiation
We know that for a point to be on a Root-locus,
K = -1 / G(s)H(s)
Thus, on the real-axis (j = 0),
K = -1 / G()H()
Note also that
at the breakaway point, K is maximum (for the R-L on
the real-axis),
- and at the break-in point, K is minimum.
Breakaway & Break-in point can be found by
differentiating K G()H() = -1 & set it to zero
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Find the breakaway & break-in points for the root
locus shown

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Finding Breakaway & Break-in Points by transition
Method:

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Finding the j axis crossings
J axis crossing is a point on the R-L that separates the stable
operation of the system from the unstable operation.
The value of at the axis crossing yields the frequency of
oscillation.
The gain at the j axis crossing yields the max. positive gain
for system stability.
J-axis crossing can be found by using Routh-Hurwitz
criterion
as follows:
Forcing a row of zeros in the Routh Table will yield the gain.
Going back one row to the even polynomial equation &
solving for the roots yields the frequency at the imaginary
axis crossing.
(Recall that a row of zeros in the Routh Table indicates the
existence of poles on the j axis.)
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Example: For the system shown, find the frequency &
gain, K, for which the root locus crosses the imaginary
axis. For what range of K is the system stable?

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Construction of Routh table

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Angle of departure & arrival from complex poles & zeros

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Angle of departure & arrival

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Example: Given the unity feedback system, find the angle
of departure from the complex poles & sketch the root
locus

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Example 1: A control system with open loop transfer
function:

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Cont

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Cont..

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Cont..

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Cont..

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Cont..

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Cont..

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Example 2

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Solution

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Cont..

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Cont..

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Cont..

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Do you have any

question on the
chapter?

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