CONTROL SYSTEM

CHAPTER 5
ROOT LOCUS TECHNIQUE

Session – 1
Root Locus Basics
 Root Locus Technique
• Important tool in Analysis and Design of control systems

• Developed by W.R.Evans

• Analysis gives information about Absolute Stability and to some extent

Relative Stability of control system

• Design Gain K can be adjusted according to desired location of closed

loop poles

• In addition to determining the stability of the system, the root locus can be used to
design the damping ratio (ζ) and natural frequency (ωn) of a feedback system. By
selecting a point along the root locus that coincides with a desired damping ratio
and natural frequency, a gain K can be calculated and implemented in the
controller.
 What is Root Locus Diagram?

• Root Locus Diagram is the plot of locus of roots (closed loop poles) of
characteristic equation [1+ G(s)H(s) =0] w.r.t. Gain K

With this technique we make a plot of the path of the roots as a

parameter (usually the gain) varies. We then choose pole locations,
and find the value of K necessary.
 Closed-loop control system

Consider Negative feedback systems,

Closed loop Transfer function is

4
• Characteristic Equation of system is 1+ G(s)H(s) =0
• Closed-loop poles of the closed-loop
transfer function are the roots of the
characteristic equation
Angle of G(s)H(s) = ± 180o (2m+1)

where m = 0,1,2,.........
NOTE:
• The root locus of a control system is determined from the
closed loop transfer function of system

• When constructing the root loci in s plane,

 using Angle condition we can check any point in s-plane for its
existence in the Root Locus

using the magnitude condition value of K can be calculated at

above point.

eg: S= -1 satisfies Angle condition means its a point on RL

Using magnitude condition we can find gain K at the point s=-1

 Example - 1

• Consider a control system whose open loop transfer function is

G(s)H(s) = K/(s+3)
Example - 2
The response with K=1 (blue) is very slow, the response with K=100 (maroon) is faster
but very oscillatory. However the response with K=10 (green) is fast and has about 20%
overshoot
THANK YOU
CONTROL SYSTEM
CHAPTER 5
ROOT LOCUS TECHNIQUE

Session – 2
Plotting Root Locus Diagram
 Procedure to Plot Root Locus
1.Find out all the roots and poles from the open loop transfer function and then plot them
on the complex plane.

2.All the root loci starts from the poles where k = 0 and terminates at the zeros where K
tends to infinity. The number of branches terminating at infinity equals to the difference
between the number of poles & number of zeros of G(s)H(s).

3.Find the region of existence of the root loci

4.Calculate break away points and break in points if any.
5.Plot the asymptotes and centroid point on the complex plane for the root loci by
calculating the slope of the asymptotes.

6.Now calculate angle of departure and the intersection of root loci with imaginary axis.
7.Now determine the value of K
Rules for Construction of Root Locus
 Rule 1 − Locate the poles and zeros in the ‘s’ plane.

 Rule 2 − Find the number of root locus branches.

The root locus branches start at the open loop poles (k=0) and
end at open loop zeros (k=infinity).

So, the number of root locus branches N is equal to the number

of finite open loop poles P or the number of finite open loop
zeros Z, whichever is greater.
The number of root locus branches N as
N=P if P≥Z

N=Z if P<Z
 Rule 3 − Identify and draw the real axis root locus branches.
If the angle of the open loop transfer function at a point is an odd
multiple of 1800, then that point is on the root locus.
If odd number of the open loop poles and zeros exist to the left
side of a point on the real axis, then that point is on the root locus
branch. Therefore, the branch of points which satisfies this condition
is the real axis of the root locus branch.
Rule 4 − Find the centroid and the angle of asymptotes.

• If P=Z, then all the root locus branches start at finite open loop poles
and end at finite open loop zeros.

• If P>Z, then Z number of root locus branches start at finite open loop
poles and end at finite open loop zeros and P−Z number of root locus
branches start at finite open loop poles and end at infinite open loop
zeros.
•If P<Z, then P number of root locus branches start at finite open loop
poles and end at finite open loop zeros and Z−P number of root locus
branches start at infinite open loop poles and end at finite open loop
zeros.

So, some of the root locus branches approach infinity, when P≠Z.
Asymptotes give the direction of these root locus branches.
The intersection point of asymptotes on the real axis is known
as centroid.

calculate the centroid α by using this formula,

• The formula for the angle of asymptotes θ is
• Rule 5 − Find the intersection points of root locus branches with
an imaginary axis.
• Method 1: We can calculate the point at which the root locus
branch intersects the imaginary axis and the value of K at that
point by using the Routh array method and special case (ii).
• Ifall elements of any row of the Routh array are zero, then the
root locus branch intersects the imaginary axis and vice-versa.
• Identify the row in such a way that if we make the first element as
zero, then the elements of the entire row are zero. Find the value
of K for this combination.
• Substitute this K value in the auxiliary equation. We get the
intersection point of the root locus branch with an imaginary axis
• Method 2: put s=jw in Characteristic Equation
 Rule 6

• Find Break-away and Break-in points.

• If there exists a real axis root locus branch between two open
loop poles, then there will be a break-away point in between
these two open loop poles.
• If there exists a real axis root locus branch between two open
loop zeros, then there will be a break-in point in between
these two open loop zeros.
• Note − Break-away and break-in points exist only on the real
axis root locus branches.
 Rule 7

Find the angle of departure and the angle of arrival.

The Angle of departure and the angle of arrival can be calculated at

complex conjugate open loop poles and complex conjugate open loop
zeros respectively.
The formula for the angle of departure ϕd is

The formula for the angle of arrival ϕa is

Rule 8
THANK YOU
CONTROL SYSTEM
CHAPTER 5
ROOT LOCUS TECHNIQUE

Session – 3
Plotting Root Locus Diagram- Examples
 Procedure to Plot Root Locus
1.Find out all the roots and poles from the open loop transfer function and then plot them
on the complex plane.

2.All the root loci starts from the poles where k = 0 and terminates at the zeros where K
tends to infinity. The number of branches terminating at infinity equals to the difference
between the number of poles & number of zeros of G(s)H(s).

3.Find the region of existence of the root loci in real axis.

4.Calculate break away points and break in points if any.
5.Plot the asymptotes and centroid point on the complex plane for the root loci by
calculating the slope of the asymptotes.

6.Now calculate angle of departure and the intersection of root loci with imaginary axis.
7.Now determine the value of K
• Letus now draw the root locus of the control system having
open loop transfer function

Step 1 − The given open loop transfer function has three poles
at s=0, s=−1 and s=−5.
It doesn’t have any zero.

Therefore, the number of root locus branches is equal to the

number of poles of the open loop transfer function
The line segment between s=−1 and s=0 is one branch of root locus on real
axis. And the other branch of the root locus on the real axis is the line segment
to the left of s=−5.

Step 2 −centroid and the angle of asymptotes

Centroid α=−2

The angle of asymptotes are θ=600,1800, and 3000.

Step 3 − Since two asymptotes have the angles of 600 and 3000, two root locus
branches intersect the imaginary axis. By using the Routh array method , the
root locus branches intersects the imaginary axis at j√5 and −j√5.

There will be one break-away point on the real axis root locus branch between
the poles s=−1 and s=0.

By following the procedure given for the calculation of break-away point, we will
get it as s=−0.473
Example 2
• Earlier we have predicted that one breakaway point will be present in
the section between points 0 and -5. So, now using the method to
determine the breakaway point we will check the validity of the
breakaway point.
• Roots obtained on differentiating K with respect to s and equating it to
0, will be the breakaway point.

Thus, on solving, roots obtained will be -2.113 and -7.88.

As the root -7.88 falls beyond the predicted section for the
breakaway point thus s = -2.113 is the valid breakaway
point.
Further, we can get the value of K on substituting the value
of s= -2.113 in the equation,
• Thus, these are the intersection points of the root locus with
the imaginary axis.
• Also, as the poles are not complex thus angles of departure
not needed. Hence, at the breakaway point, the root locus
breaks at ± 90°.
The root locus can be shifted in ‘s’ plane by adding the open loop poles and the open
loop zeros.

 If we include a pole in the open loop transfer function, then some of root locus
branches will move towards right half of ‘s’ plane.
 Because of this, the damping ratio δ decreases. Which implies, damped
frequency ωd increases and the time domain specifications like delay time td, rise
time tr and peak time tp decrease. But, it effects the system stability.
 If we include a zero in the open loop transfer function, then some of root locus
branches will move towards left half of ‘s’ plane. So, it will increase the control
system stability.
 In this case, the damping ratio δ increases. Which implies, damped
frequency ωd decreases and the time domain specifications like delay time td, rise
time tr and peak time tp increase.

So, based on the requirement, we can include (add) the open loop poles or zeros to
the transfer function
THANK YOU