Chapter 7

ROOT LOCUS

R +

H
C K G (s) = R 1 + K G (s)H (s)

1+ K G(s) H(s) = 0 is called the characteristic equation of the system and its roots are closed loop poles.

Root locus is the locus of the roots of the characteristic equation as parameter K is varied ( 0 < K < )

First order System

+ -

1 s + 1

Closed loop Pole, s = - 1 - K

K=0

-1

Root locus for G(s)H(s) = 1/(s+1)

closed loop system is stable for all K As K is increased, closed loop pole is moved farther away from imaginary axis; hence the time constant reduces. i.e. Transient response improves.

Ex:

K KGH = s-1

s = 1-K
K

K=0
K=1

Root locus for G(s)H(s) = 1/(s-1) From the plot , for K < 1, system is unstable

Second Order

+ -

1 s (s + 1)

Ch Eq: s2 + s + K = 0 closed loop poles at

1- 4 K -0.5 2

For K = 0 : Roots at 0 and - 1 For 0 < K < 0.25 : Roots are real and equidistant from -0.5. For K = 0.25 : Roots at -0.5
For K > 0.25: Roots are complex conjugate with real part at - 0.5

-1

0.5

locus is always symmetric about the real axis closed loop system is stable for all K system under damped for K > 0.25 damping factor reduces as K increases

>

>

>

Root locus for G(s)H(s) = 1/s(s+1)

>

For systems of order 3 & above, it is difficult to solve for roots and hence we will work out short cuts to plot the root locus.

R +

K
H

Ch Eq: 1 + K G H = 0

K G H = - 1= 1180 Magnitude of K G H = 1 Magnitude Criterion

& Phase angle of K G H = Phase angle of G H, as K = 0 = (2n+1) 180 where n = 0,1,2,.

Angle Criterion

The method :
On the s - plane, check for the angle of G H at a chosen (Test) point. If the angle criterion is satisfied, the point is on the locus. Substitute in magnitude criterion to find K, at that point.

Ex:

K F(s)= s( s + 2)

is -1 + j 1 lie on locus ? If yes, K=?

j1

-2

-1

K GH = 1= K/s(s+2) K/s(s+2) =1 at s= -1+j1

F (s) at test point = ( - 135 - 45) = - 180

K =2

Point is on locus

Ch. eq:1 + K G H = 0
(s+ z 1) (s+ z 2)... or 1+ K =0 (s+ p 1)(s+ p 2 )... or (s +p1)(s +p2)+ K (s + z1)(s + z2) = 0 for K = 0, s = - p1, - p2, ...
K = 0, open loop poles are closed loop poles. i.e. From every open loop pole, a branch of the root locus STARTS .

(s + z 1) (s + z 2 )... 1+ K =0 (s + p 1)(s + p 2 )...

(s +p1)(s +p2)+ K (s + z1)(s + z2)= 0 or (1/K)(s +p1)(s +p2)+ (s +z1)(s +z2)..= 0

for K = , s = - z1,- z2, ... Open loop zeroes are closed loop poles i.e. Each branch of the root locus ENDS at a open loop zero

Ex:

1 G(s)H(s) = ( s + 1)

s = - 1,

is the open loop pole

Hence the root locus STARTS at s = - 1

There is no open loop zero at a finite point. However, the function goes to zero as s
1 G(s) = = ( s + 1)

1 s 1+1 s

As s , G(s) = 0
i.e. The open loop zero is at infinity.

Ex

.
T2

-1

.
T1

At T1 angle = 0, T1 is not on locus At T2 angle = 180, T2 is on locus

K=0 -1

Example

T4 .
T1 T2 T3 T4

-2

T.3

T2 .

T1 .

- not on locus - on locus - on locus - not on locus.

Locus on real axis is from 0 to - 2

Rule : Real axis locus

Point on real axis is part of locus if Number of open loop zeroes & poles to right of test point are ODD.

Example :

1 G(s) H(s) = ( s + 1 )2

K= 0

-1

No locus on real axis

At any point T,
Angle = - 2 = - ( 2n + 1 ) 180 T = 90 , 270

-1

Root locus For

1 G ( s ) H (s ) = 2 ( s +1)

-1

Root locus for ?

-1

j1

-j 1

Example :

1 G(s) H(s) = 3 ( s +1)

-1

real axis locus from - 1 to

 At any point T, -3 = - ( 2n + 1 ) 180

.T

= 60 , 180 300

1 Root locus G (s ) H (s ) = for ( s + 1 )3

Ex.
1. 2. 3. 4.

1 GH = s (s + 1) (s + 2)

Locus starts at s = 0, -1, -2, 2 All three branches go to infinity Real axis locus from 0 to -1 & -2 to - Break away point between 0 and -1

<

> <0 -2 -1

break away point, dK / ds = 0

3 s2 + 6s + 2 = 0

s = -1 1

= - 0 .42 or - 1. 58 s = - 0 .42 is the break away point

5. Imaginary axis crossing: Ch. Equation :

s3 + 3s + 2s + K = 0 s3 s2 s1 s0 1 3
6-K 3

2 K

Closed loop system is stable for 0 < K < 6

K = 6, A(s) = 3s2 + 6 = 0 , s = j 2 The locus crosses imaginary axes at

s = j 2 with K = 6

Asymptotes :
Consider GH with n poles & m zeroes

nm

Suppose all poles are at point s = - A

1 GH = n- m (s + A )

i.e. (n - m) branches go to infinity at angle

180 ( 2q + 1 ) = .... (n-m)

When n poles and m zeroes are distributed ,

m

GH =

( s + zi ) + pi )

i =1 n

(s
i=1

1
n m

(s
i=1

+ pi )

(s
i=1

+ zi )

1 = n-m n-m-1 s +(pi -zi )s +...

Considering very large values for s, we take first 2 terms When s takes very large values , all poles and zeroes may be considered to be at the same point.
m

( s +z )
i

G H =

i=1 n

=
i

1 ( s + A )
n-m

( s + p )
i =1

( s + A )
Or

n- m

=s

n- m

+( pi -zi ) s

n - m-1

pi - zi = (n-m)

- A is known as centroid

( real part of poles) - (real part of zeroes) = (no. of poles - no. of zeroes.)

asymptotes

< -2

> <0 -1

j 2

While two branches cross Imaginary axis and go to , the third branch from - 2 goes to -

The third order system can be approximated as a second order system with dominant pole pairs located on the complex conjugate parts the third closed loop pole is on the negative real axis far away from imaginary axis.

For = 0.707, = 45

P1

.<
P3

>

.
P2

<

P1 - P2 dominant pole pair

Example:

K=0

j1

K=0

-2

-1

K=0

0 K=

- j1

GH =

1 2 + 2s+ 2 ) s ( s + 2)( s

4 branches go to infinity Real axis locus from 0 to -2

180(2n + 1) = = 45, 135 A 4

= 0 - 2 - 1 - 1 = -1 A 4

Break Away Pt

dK / ds = 0 4s 3 +12s 2 + 12s + 4 = 0 or s 3 + 3s 2 + 3s + 1 = 0 (s + 1) 3 = 0, s = -1
Imaginary axis crossing :

K=5,s = j1

Angle of departure from a complex conjugate pole : Let P be the point in the neighbourhood of s = - 1 +j 1(open loop pole)

= - 90

= 180 90 135 45


<
<
<

j1
<

-2

>
<
<

<

0
-j1

Root Contours Locus of closed loop poles as any other parameter also is varied.

Example :

+ -

1 s(s + a)

K and a are varied

Characteristic Equation :

s2 + a s + K = 0 ( s2 + K )+a s = 0
s 1+ a . 2 = 0 s +K
This equation is similar to 1+KGH = 0 With a varying, we plot the locus with open loop zero at s = 0 and open loop poles at s = j K

a = 0
<

>

<

>

a= .
0

a = 0

Root Contours
<

.> > . << 0 K=1 . .

>

<
>

K=4

. j2 . j1