Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
1
ROOT-LOCUS ANALYSIS
Lecture 12: Examples of Root Locus Plots
Example: Given that
( )
( 2)( 4)
K
KG s
s s s
=
+ +
Sketch the root locus of 1 + KG(s) = 0 and compute the value of K that
will yield a dominant second order behavior with a damping ratio,
= 0.7.
We have n = 3 and m = 0.
Open loop zero: none
Open loop poles: s = 0, 2, 4
Rule 1: The loci start from K = 0 at the OL poles
Rule 2: The loci end at K at 3 infinite zeros at ||
Rule 3: The number of loci is 3, as n = 3
Rule 4: Root loci are symmetrical with respect to real axis
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
2
(2 1)
; 0,1, 2
3 0
3 5
, ,
3 3 3
j
j
j
+
= =
=
OL_poles OL_zeros
(0 2 4) ( 0)
2.0
3 0
c
n m
= =
Rule 5: There are (3 0) = 3 asymptotes. The angles of asymptotes are
given by:
i.e.
j
= 60, 180, 300 (60)
Rule 6:The point of intersection of the asymptotes is
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
3
Rule 7: Identify branches of loci on the real axis.
Rule 9: Crossing the imaginary axis.
3 2
( )
( ) 6 8
Y s K
R s s s s K
| |
=
|
+ + +
\
48
6
K
j
2 3 1
0
4 5 6
60
o
asymptotes
branches of loci on real axis
The C.E. is s
3
+ 6s
2
+ 8s + K = 0
s
3
1 8 0
s
2
6 K
s
1
s
0
K
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
4
2
6 48 0 s + =
2 2 s j =
0 =
ds
dK
3 2
( 6 8 ) K s s s = + +
2
(3 12 8) 0
dK
s s
ds
= + + =
When K = 48 in the s
1
row we get an all zero row.
The Auxiliary Equation is
Rule 10: The breakaway point is the solution of
Solving, s = 0.845 is the valid breakaway point for K > 0.
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
5
With = 0.7, we have . One of the poles that will give
the required is given by the intersection of the root locus with the
straight line that has angle w.r.t. the negative real axis.
1 o
cos 45.6
= =
j
K
j2
j1
j1
2
3
1
0
s-plane
4
K =48
K
K
K =48
Stable Unstable
b
a
=-0.845
The Root-Locus is plotted as shown:
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
6
1
K A B C =
j
K
j2
j1
j1
2
3
1
0
s-plane
4
K
K
b
a
=-0.845
A
B
C
This pole and its
conjugate yield = 0.7
If the root-locus is sketched to scale, the value of K that will yield the
required can be computed from the measured values of A, B and C,
i.e.
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
7
2
( 3)
( ) ( )
( 5)( 6)( 2 2)
K s
KG s H s
s s s s s
+
=
+ + + +
1 1 j
Example: Construct the Root-Locus for a system with open-loop transfer
function
That is, n = 5 and m = 1.
Open loop zero: s = 3
Open loop poles: s = 0, 5, 6,
Rule 1:The loci start from K = 0 at the OL poles
Rule 2:The loci end at K at the OL zero and 4 infinite zeros at ||
Rule 3:The number of loci is 5, as n = 5
Rule 4:Root loci are symmetrical with respect to real axis
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
8
4
7
,
4
5
,
4
3
,
4
. 3 , 2 , 1 , 0 ;
4
) 1 2 (
=
=
+
= j
j
j
OL_poles OL_zeros
(0 5 6 1 1 1 1) ( 3)
2.5
5 1
c
n m
j j
+
= =
Rule 5:There are (5 1) = 4 asymptotes. The angles of asymptotes are
given by:
i.e.
j
= 45, 135, 225 (135), 315 (45)
Rule 6:The point of intersection of the asymptotes is
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
9
]
[ ] { }
1 1 1 1
1 1 1
180 tan tan ( 1) tan tan 90
3 1 5 1 6 1
180 26.6 135 14 11.3 90
43.7
d
| | | | | |
= + + + +
`
| | |
\ \ \ )
= + + + +
=
j
p
1
j1
j1
2
3
1 0 4 5 6
2.5
p
5
p
4
p
2
p
3
z
1
Rule 7: Identify branches of loci on the real axis.
Rule 8:The angle of departure from the complex pole at (1 + j1) is given by:
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
10
+ = 7 . 43
d
0 ) 3 ( ) 2 2 )( 6 )( 5 (
2
= + + + + + + s K s s s s s
j
j1
j1
1 0
43.7
43.7
By conjugate symmetry, angle of departure from the complex pole at
(1 j1) is
Rule 9:The points of intersection of root locus with the imaginary axis
using the Routh-Hurwitz Criterion.
The Characteristic Equation is
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
11
0 3 ) 60 ( 82 54 13
2 3 4 5
= + + + + + + K s K s s s s
K
K K
21 . 0 6 . 65
16 . 0 105 3940
2
s
5
1 54 (60 + K) 0
s
4
13 82 3K 0
s
3
47.7 (60 + 0.77K) 0
s
2
(65.6 0.21K) 3K
s
1
For stability,
65.6 0.21K > 0 K < 309
3940 105K 0.16K
2
> 0 K < 35
3K > 0 K > 0
i.e. 0 < K < 35
Substitute K = 35 in the s
1
row gives an all zero row.
s
0
3K
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
12
[ ] 0 ) 35 ( 3 ) 35 ( 21 . 0 6 . 65
2
= + s
0 =
ds
dK
( )
) 3 (
60 82 54 13
2 3 4 5
+
+ + + +
=
s
s s s s s
K
( ) ( )
4 3 2 5 4
2
5 52 162 164 60 13 60
0
( 3) ( 3)
s s s s s s s
dK
ds s s
+ + + + + + +
= + =
+ +
The Auxiliary Equation is
58.2s
2
+ 105 = 0 => s = j1.343
The root loci intersect the imaginary axis at s = j1.343
Rule 10: The breakaway point is the solution of
Solving, s = -5.52 is the breakaway point.
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
13
Alternatively, plot K vs s
s 5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8
K 3.89 7.05 9.43 10.9 11.6 11.4 10.2 7.9
12
10
8
6
4
2
5.0 5.5 6.0
K
max
At s = 5.5, the breakaway point, K is maximum.
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
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j1.34
j1
j
2
1 3 4 5 6
45
0
43.7
j1
j1.34
K
K
K
2.5
K = 11.7
K
K
From the information obtained, the root-locus is sketched as shown:
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
15
1 + ks
+
2
16
s
2
16(1 )
1 0
ks
s
+
+ =
K not a Multiplying Factor
If K is not a multiplying factor, some modification of the Characteristic
Equation is required for constructing the root loci.
Example Consider the system
The Characteristic Equation for the system is
Sketch the root locus w.r.t. k. From the root locus, compute the
value of k that will give a damping ratio = 0.707.
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
16
2
16
1 0
16
ks
s
+ =
+
2
1 0
16
Ks
s
+ =
+
Since k is not a multiplying factor, we modify the C.E. such that k
appears as a multiplying factor.
The C.E. is s
2
+ 16 + 16ks = 0
Rewrite it as
Define K = 16k, then the above equation becomes
Open loop poles: p
1,2
= j4.0
Open loop zero: z
1
= 0
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
17
1 o
cos 45
= =
1
3.061 7.391
5.656
4
B C
K
A
= = =
j
j1
1 5 6
K
1
= 5.656
j2
j3
j4
j1
j2
j3
j4
2 3 4
7
1 2 0
45
C
The root locus can be easily sketched as given below.
With = 0.707, we have
From the root-locus, the value of K that will yield the required can be
computed from the measured values of A, B and C, i.e.
But K = 16k, hence k = 0.3535.
Lecture 12: Examples of Root Locus Plots
Dr. Kalyana Veluvolu
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Information Obtainable from the Root-Locus
(1) The stability condition for any value of K, or other system
parameter against which the root-locus is plotted.
(2) The limits of K for which the system is stable.
(3) The effect of variation of K on the performance potential of the
system.
(4) The actual characteristic equation for any value of K.
(5) Evaluation of performance criteria such as undamped and
damped natural frequencies, damping ratio and the transient
response exponential terms.
