Control Engineering Lab.

Electrical Eng. Dep.

2nd Stage / 2ND Semester

Lecture 1

Root Locus Method

INTRODUTION
The root locus method was introduced by W.R Evans in
1948. Root locus is a graphical method in which the
movement of poles in the s-plane can be located when a
specific parameter (K) is varied from 0 to infinity.

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 Consider the below closed loop system.

The equation of a closed loop system is given by:

1 + G(s)H(s) = 0
Where,
G(s) is the gain of the transfer function
H(s) is the feedback gain

In the case of root locus, the gain K is also assumed as part of

the closed-loop system. K is known as system gain or the gain
in the forward path. The characteristic equation after including
the forward gain can be represented as:

1 + KG'(s)H(s) = 0

Where,
G(s) = KG'(s)

When the system includes the variable parameter K, the roots of

the closed loop system are now dependent on the values of 'K.'

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The value of 'K' variable can vary in two cases, as shown below:

In the first case -∞ to +∞, for every different value of K, we will

get separate set of locations of the roots. The resulting plot is
defined as the root locus.

When the K varies from 0 to ∞, the plot is called the direct root
locus. If the system gain 'K' varies from -∞ to zero, the plot thus
obtained is known as inverse root locus. The gain K is generally
assumed from zero to infinity unless specially stated.

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Steps to Find The Root Locus.
1. Find the number of poles, zeroes, number of branches, etc., from the given
transfer functions.
2. Draw the plot that shows the poles and zeroes marked on it.
3. Calculate the angle of asymptotes and draw a separate sketch.
4. Find the centroid and draw a separate sketch.
5. Find the breakaway points. These points can also be in the form of complex
numbers. We can use the angle condition to verify such points in the
complex form.
6. Calculate the intersection points of the root locus with the imaginary axis
(or y-axis).
7. Calculate the angle of arrival and departure if applicable.
8. Draw the final sketch of the root locus by combining all the above sketches.

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Example: Draw the root locus diagram for a closed loop system
whose loop transfer function is given by:
G(s)H(s) = K/s(s + 5)(s + 10)
Also find if the system is stable or not.

Solution: We will follow the procedure according to the steps

discussed above

Step 1: Finding the poles, zeroes, and branches.

The denominator of the given transfer function signifies the poles

and the numerator signifies the zeroes. Hence, there are 3 poles
and no zeroes.
Poles = 0, -5, and -10
Zeroes = No zero
P-Z=3-0=3
There are three branches (P - Z) approaching to infinity and there
are no open loop zeroes. Hence infinity will be the terminating
point of the root locus.

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Step 2: Section of the real axis where the root locus lies.
There are three poles, which are shown below:

The breakaway point of the given system will lie between the
section on the real axis where the root locus exists, i.e., 0 and -5.

Step 3: Angle of asymptotes.

Angle of such asymptotes is given by:

= (2q + 1)180 / P - Z
q = 0, 1, and 2
For q = 0,
Angle = 180/3 = 60 degrees
For q = 1,
Angle = 3x180/3 = 180 degrees
For q = 2,
Angle = 5x180/3 = 300 degrees

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Step 4: The centroid is given by:

= 0 - 5 - 10 - 0/3
= -15/3 = -5
Thus, the centroid of the root locus is at -5 on the
real axis.

The plot showing the centroid and the angle of asymptotes is

given below:

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Step 5: Breakaway point
We know that the breakaway point will lie between 0 and -5. Let's find the
valid breakaway point.
1 + G(s)H(s) = 0
Putting the value of the given transfer function in the above equation, we
get:
1 + K/s(s + 5)(s + 10) = 0
s(s + 5)(s + 10) + K = 0
s(s2 + 15s + 50) + K = 0
s3 + 15s2 + 50s + K = 0
K = - s3 - 15s2 - 50s
Differentiating both sides,
dk/ds = - (3s2 + 30s + 50) = 0
3s2 + 30s + 50 = 0

Dividing the equation by 3, we get:

s2 + 10s + 16.667 = 0
Now, we will find the roots of the given equation by using the
formula:

Using the value, a = 1, b = 10, and c = 16.667

The roots of the equation will be -2.113 and -7.88.
Among the two roots, only -2.113 lie between 0 and -5.
Hence, it will be the breakaway point.

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Let's verify by putting the value of the root in the equation K = -
s3 - 15s2 - 50s.
K = - -2.113 3 - 15(-2.113)2 - 50(-2.113)
K = 48.112
The value of K is found to be positive. Thus, it is a valid
breakaway point.

Step 6: Intersection with the negative real axis.

Here, we will found the intersection points of the root locus on
the imaginary axis using the Routh Hurwitz criteria using the
equation s3 + 15s2 + 50s + K = 0
The Roth table is shown below:

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s 1 50
2
s 15 K

s 15x50 - 1xK/K = 750 - K/K 0

0
s K

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From the third row s, 750 - K/K = 0
750 - K = 0
K = 750
From the second row s2,
15 s2 + K = 0
Putting the value of K in the above equation, we get:
15 s2 = -750
s2 = -750/15
s2 = -50
s = j7.071 and -j7.071
Both the point lies on the positive and negative imaginary axis.

Step 7: There are no complex poles present in the given transfer

function. Hence, the angle of departure is not required.

Step 8: Combining all the above steps.

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Step 9: Stability of the system
The system can be stable, marginally stable, or unstable. Here,
we will determine the system's stability for different values of K
based on the Roth Hurwitz criteria discussed above.

The system is stable if the value of K lies between 0 and 750,

since the value of K is in the left half of the s-plane. For a value
greater than 750, the system becomes unstable, and it is because
the roots start moving towards the right half of the s-plane. But,
at K = 750, the system is marginally stable.

Using MATLAB to Find the Root Locus

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 Using MATLAB to Find the Root Locus of the Previous EXAMPLE

whose loop transfer function is given by:

G(s)H(s) = K/s(s + 5)(s + 10)

M-file
clear; clc;
N = [ 1]
D = [1 15 50 0]
GH = tf(N, D)
rlocus(GH)

Intersection with the

negative real axis.
K = 750

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 MATLAB Control System Toolbox Root Locus Design GUI
MATLAB Control System Toolbox contains two Root Locus design GUI,
sisotool and rltool. These are two interactive design tools for the analysis
and design of the single input single-output (SISO).
sisotool opens the SISO Design Tool with Root Locus View and Bode
diagram.
rltool opens the SISO Design Tool with only Root Locus view on.

To load an empty SISO Design Tool at MATLAB prompt type >> sisotool

sisotool can also be called with additional arguments.

For example,
>> sisotool(Gp), Where Gp is the plant transfer function.

Moving poles to intersect the imaginary axis, note that the

system getting marginally stable

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