ISTANBUL AYDIN UNIVERSITY

FACULTY OF ENGINEERING
ELECTRICAL & ELECTRONICS ENGINEERING DEPT.

EEE376: CONTROL SYSTEMS

7. Root Locus Technique

Part - I

Instructor:
Assist. Prof. Dr. Mohammed ALKRUNZ
Electrical & Electronics Engineering Department
 Root Locus,,,

 Root Locus is a graphical method.

 It is a plot of the roots of the closed-loop system as the parameter “k” varies from zero (0)
value to infinity (∞).

𝑹(𝒔) + 𝒀(𝒔)
The closed loop transfer function is: 𝒌 𝑮(𝒔)
𝑌(𝑠) 𝑘 𝐺(𝑠) −
=
𝑅(𝑠) 1 + 𝑘 𝐺(𝑠)𝐻(𝑠) 𝐇(𝒔)
Then, characteristic equation is:

𝟏 + 𝒌 𝑮 𝒔 𝑯(𝒔) = 𝟎
𝒐𝒑𝒆𝒏 𝒍𝒐𝒐𝒑  This characteristic equation is the basic equation to
plot the root locus.
 In other meaning, the root locus is the plot of all the
roots of this characteristic equation as “k” changes.

Dr. M. Alkrunz
April 26, 2024 2
EEE376: Control Systems
 Root Locus,,,

To clarify the idea more, let us consider this example:

1
𝐺 𝑠 = 𝑹(𝒔) 𝒀(𝒔)
𝑠(𝑠 + 2) +
𝒌 𝑮(𝒔)
−
The closed loop transfer function is:

𝑌(𝑠) 𝑘 𝐺(𝑠) 𝑘
= = 2 𝒌 𝒔𝟏 𝒔𝟐
𝑅(𝑠) 1 + 𝑘 𝐺(𝑠) 𝑠 + 2𝑠 + 𝑘
0 0 −2
Then, characteristic equation is: 1 −1 −1
𝒔𝟐 + 𝟐𝒔 + 𝒌 = 𝟎 2 −1 + 𝑗 −1 − 𝑗
3 −1 + 𝑗1.41 −1 − 𝑗1.41

 As it is clear from the table that as “k” 4 −1 + 𝑗1.73 −1 − 𝑗1.73

changes, new roots are obtained. ⋮ ⋮ ⋮
∞ ∞ ∞
Dr. M. Alkrunz
April 26, 2024 3
EEE376: Control Systems
 Root Locus,,,

Now, as we said that as “k” changes, new roots are given, then if we plot these roots
together in one plot, the root locus is obtained.

𝑰𝒎(𝒔)
𝒌 𝒔𝟏 𝒔𝟐
0 0 −2
×
1 −1 −1 ×
2 −1 + 𝑗 −1 − 𝑗 × 𝒋

3 −1 + 𝑗1.41 −1 − 𝑗1.41
× ×
× ×
4 −1 + 𝑗1.73 −1 − 𝑗1.73 −𝟐 −𝟏 𝑹𝒆(𝒔)
⋮ ⋮ ⋮ × −𝒋

∞ ∞ ∞ ×
×
Root Locus Plot

Dr. M. Alkrunz
April 26, 2024 4
EEE376: Control Systems
 Rules of Root Locus,,,

1) Poles are marked with “×” and Zeros are marked with “𝐎”.

2) The root locus is symmetrical with respect to the real axis.

3) The root locus begins at the poles “𝒌 = 𝟎”, and terminates at zeros “𝒌 = ∞” (or at
infinity if the transfer function does not contain any zero)

4) The root locus includes all points on the real axis to the left of an odd numbers of poles
and zeros.

𝒕𝒉𝒊𝒔 𝒂𝒓𝒆𝒂
𝑵𝒐 𝒀𝒆𝒔 𝑵𝒐 Y𝒆𝒔 (𝐧𝐨𝐭 𝐢𝐧𝐜𝐥𝐮𝐝𝐞𝐝)

× o × × 𝑹𝒆(𝒔)
𝒇𝒐𝒖𝒓 (𝒆𝒗𝒆𝒏) 𝒕𝒉𝒓𝒆𝒆(𝒐𝒅𝒅) 𝒕𝒘𝒐(𝒆𝒗𝒆𝒏) 𝒐𝒏𝒆 𝒑𝒐𝒍𝒆/𝒛𝒆𝒓𝒐 (𝒐𝒅𝒅)

Dr. M. Alkrunz
April 26, 2024 5
EEE376: Control Systems
 Plotting the Root Locus,,,

1) Obtain the open-loop function, 𝒌 𝑮 𝒔 𝑯(𝒔).

2) Obtain the number of poles “𝒏”, the number of zeros “𝒎” of 𝐺 𝑠 𝐻(𝑠) and find their
locations, then denote poles as “×” and zeros as “𝑜”.

3) Obtain the number of asymptotes (number of zeros at infinity) by:

𝜶=𝒏−𝒎

4) Obtain the angles of the asymptotes (if any) for 𝛼 ≥ 2 by:

𝟏𝟖𝟎
𝜽 = ±𝒓 𝑟 = 1, 3, 5, 7, … .
𝜶
5) Obtain the asymptote locations (intersect of real axis) by:

𝑷𝒐𝒍𝒆𝒔 − 𝒁𝒆𝒓𝒐𝒔
𝝈𝒂 =
𝜶
then sketch the asymptotes

Dr. M. Alkrunz
April 26, 2024 6
EEE376: Control Systems
 Plotting the Root Locus,,,

6) Obtain the break-away/in points by the roots of:

𝑑 𝑑
𝑁 𝑠 𝐷 𝑠 −𝐷 𝑠 𝑁 𝑠 =0
𝑑𝑠 𝑑𝑠
𝑁 𝑠 : 𝑖𝑠 𝑡ℎ𝑒 𝑛𝑢𝑚𝑒𝑟𝑎𝑡𝑜𝑟 𝑜𝑓 𝐺 𝑠 𝐻(𝑠)
𝐷 𝑠 : 𝑖𝑠 𝑡ℎ𝑒 𝑑𝑒𝑛𝑢𝑚𝑒𝑟𝑎𝑡𝑜𝑟 𝑜𝑓 𝐺 𝑠 𝐻(𝑠)

7) Finish sketching the Root Locus

You should follow these 7 steps in order to obtain the correct sketch of the Root Locus as
we will see in the following different examples.

Dr. M. Alkrunz
April 26, 2024 7
EEE376: Control Systems
 Plotting the Root Locus,,,

Example:

Plot the root locus for the given system:

𝑹(𝒔) + 1 𝒀(𝒔)
𝑘
− 𝑠(𝑠 + 1)

Solution:
𝒌
1) The open-loop function is: 𝒌 𝑮 𝒔 𝑯 𝒔 =
𝒔 (𝒔 + 𝟏)
2) Poles of 𝐺 𝑠 𝐻(𝑠) are: 𝑠1 = 0 and 𝑠2 = −1 𝒏=𝟐
Zeros of 𝐺 𝑠 𝐻(𝑠) are: (No Zeros) 𝒎=𝟎

3) Number of asymptotes are: 𝜶 = 𝒏 − 𝒎 = 𝟐 − 𝟎 = 𝟐

Dr. M. Alkrunz
April 26, 2024 8
EEE376: Control Systems
 Plotting the Root Locus,,,

Solution (Cont.):

𝟏𝟖𝟎 𝟏𝟖𝟎
4) The angles of asymptotes are: 𝜽 = ±𝒓 = ±𝟏 = ± 𝟗𝟎𝒐
𝜶 𝟐

𝑷𝒐𝒍𝒆𝒔− 𝒁𝒆𝒓𝒐𝒔 𝟎−𝟏 − 𝟎 𝟏

5) The asymptote locations are: 𝝈𝒂 = = = −𝟐
𝜶 𝟐

6) The break-away points are:

𝑰𝒎(𝒔)

𝑁(𝑠) 1 1
𝐺 𝑠 𝐻 𝑠 = = = 2
𝐷(𝑠) 𝑠 (𝑠 + 1) 𝑠 + 𝑠
𝟗𝟎𝒐
𝑑 𝑑
𝑁 𝑠 𝐷 𝑠 −𝐷 𝑠 𝑁 𝑠 =0 × ×
𝑑𝑠 𝑑𝑠
−𝟏 𝑹𝒆(𝒔)
1 2𝑠 + 1 − 𝑠2 +𝑠 0 =0
−𝟎. 𝟓 𝟗𝟎𝒐
2𝑠 + 1 = 0
𝒔 = −𝟎. 𝟓
Dr. M. Alkrunz
April 26, 2024 9
EEE376: Control Systems
 Plotting the Root Locus,,,

Example:

Plot the root locus for the given system:

𝑹(𝒔) + 1 𝒀(𝒔)
𝑘
− 𝑠 3 + 4𝑠 2 + 𝑠 − 6

Solution:
𝒌 𝒌
1) The open-loop function is: 𝒌 𝑮 𝒔 𝑯 𝒔 = =
𝒔𝟑 + 𝟒𝒔𝟐 + 𝒔 − 𝟔 𝒔−𝟏 𝒔+𝟐 𝒔+𝟑

2) Poles of 𝐺 𝑠 𝐻(𝑠) are: 𝑠1 = 1, 𝑠2 = −2, and 𝑠3 = −3 (𝒏 = 𝟑)

Zeros of 𝐺 𝑠 𝐻(𝑠) are: (No Zeros) (𝒎 = 𝟎)

3) Number of asymptotes are: 𝜶 = 𝒏 − 𝒎 = 𝟑 − 𝟎 = 𝟑

Dr. M. Alkrunz
April 26, 2024 10
EEE376: Control Systems
 Plotting the Root Locus,,,

Solution (Cont.):

𝟏𝟖𝟎 𝟏𝟖𝟎 𝟏𝟖𝟎

4) The angles of asymptotes are: 𝜽 = ±𝒓 = ±𝟏 , ±𝟑 = ± 𝟔𝟎𝒐 , +𝟏𝟖𝟎𝒐
𝜶 𝟑 𝟑

𝑷𝒐𝒍𝒆𝒔− 𝒁𝒆𝒓𝒐𝒔 𝟏−𝟐−𝟑 − 𝟎 𝟒

5) The asymptote locations are: 𝝈𝒂 = = = − 𝟑 = −𝟏. 𝟑𝟑
𝜶 𝟑

6) The break-away points are:

𝑁(𝑠) 1
𝐺 𝑠 𝐻 𝑠 = = 3
𝐷(𝑠) 𝑠 + 4𝑠 2 + 𝑠 − 6

𝑑 𝑑
𝑁 𝑠 𝐷 𝑠 −𝐷 𝑠 𝑁 𝑠 =0
𝑑𝑠 𝑑𝑠
1 3𝑠 2 + 8𝑠 + 1 − 𝑠 3 + 4𝑠 2 + 𝑠 − 6 0 = 0
3𝑠 2 + 8𝑠 + 1 = 0
𝒔𝟏 = −𝟎. 𝟏𝟑𝟏𝟓
𝒔𝟐 = −𝟐. 𝟓𝟑𝟓 Not valid. It is on the left of the second pole (even number)
Dr. M. Alkrunz
April 26, 2024 11
EEE376: Control Systems
 Plotting the Root Locus,,,

Solution (Cont.):
𝑰𝒎(𝒔)

−𝟎. 𝟏𝟑𝟏𝟓

−𝟏. 𝟑𝟑 𝟔𝟎𝒐

× × ×
𝑹𝒆(𝒔)
−𝟑 −𝟐 𝟏

−𝟔𝟎𝒐

Dr. M. Alkrunz
April 26, 2024 12
EEE376: Control Systems
 Plotting the Root Locus,,,

Example:

Plot the root locus for the given system:

𝑹(𝒔) + 1 𝒀(𝒔)
𝑘
− 𝑠 𝑠 2 + 6𝑠 + 25

Solution:
𝒌
1) The open-loop function is:𝒌 𝑮 𝒔 𝑯 𝒔 =
𝒔 𝒔𝟐 + 𝟔𝒔 + 𝟐𝟓

2) Poles of 𝐺 𝑠 𝐻(𝑠) are: 𝑠1 = 0, and 𝑠2, 3 = −3 ± 𝑗4 (𝒏 = 𝟑)

Zeros of 𝐺 𝑠 𝐻(𝑠) are: (No Zeros) (𝒎 = 𝟎)

3) Number of asymptotes are: 𝜶 = 𝒏 − 𝒎 = 𝟑 − 𝟎 = 𝟑

Dr. M. Alkrunz
April 26, 2024 13
EEE376: Control Systems
 Plotting the Root Locus,,,

Solution (Cont.):

𝟏𝟖𝟎 𝟏𝟖𝟎 𝟏𝟖𝟎

4) The angles of asymptotes are: 𝜽 = ±𝒓 = ±𝟏 , ±𝟑 = ± 𝟔𝟎𝒐 , +𝟏𝟖𝟎𝒐
𝜶 𝟑 𝟑

𝟎−𝟑+𝒋𝟒−𝟑−𝒋𝟒 − 𝟎 𝟔
5) The asymptote locations are: 𝝈𝒂 = = − 𝟑 = −𝟐
𝟑

6) The break-away points are:

𝑁(𝑠) 1
𝐺 𝑠 𝐻 𝑠 = = 3
𝐷(𝑠) 𝑠 + 6 𝑠 2 + 25𝑠

𝑑 𝑑
𝑁 𝑠 𝐷 𝑠 −𝐷 𝑠 𝑁 𝑠 =0
𝑑𝑠 𝑑𝑠
1 3𝑠 2 + 12 𝑠 + 25 − 𝑠 3 + 6 𝑠 2 + 25𝑠 0 = 0
3𝑠 2 + 12 𝑠 + 25 = 0
𝒔𝟏, 𝟐 = −𝟐 ± 𝒋𝟐 Not valid (complex)
No break-away points
Dr. M. Alkrunz
April 26, 2024 14
EEE376: Control Systems
 Plotting the Root Locus,,,
𝑰𝒎(𝒔)

Solution (Cont.):

× 𝒋𝟒

𝟔𝟎𝒐
×
−𝟑 −𝟐 𝑹𝒆(𝒔)
−𝟔𝟎𝒐

× −𝒋𝟒

Dr. M. Alkrunz
April 26, 2024 15
EEE376: Control Systems
 Plotting the Root Locus,,,

Example:

Plot the root locus for the given system:

𝑹(𝒔) + 1 𝒀(𝒔)
𝑘
− 𝑠 𝑠 2 + 4𝑠 + 5

Solution:
𝒌
1) The open-loop function is:𝒌 𝑮 𝒔 𝑯 𝒔 =
𝒔 𝒔𝟐 + 𝟒𝒔 + 𝟓

2) Poles of 𝐺 𝑠 𝐻(𝑠) are: 𝑠1 = 0, and 𝑠2, 3 = −2 ± 𝑗 (𝒏 = 𝟑)

Zeros of 𝐺 𝑠 𝐻(𝑠) are: (No Zeros) (𝒎 = 𝟎)

3) Number of asymptotes are: 𝜶 = 𝒏 − 𝒎 = 𝟑 − 𝟎 = 𝟑

Dr. M. Alkrunz
April 26, 2024 16
EEE376: Control Systems
 Plotting the Root Locus,,,

Solution (Cont.):

𝟏𝟖𝟎 𝟏𝟖𝟎 𝟏𝟖𝟎

4) The angles of asymptotes are: 𝜽 = ±𝒓 = ±𝟏 , ±𝟑 = ± 𝟔𝟎𝒐 , +𝟏𝟖𝟎𝒐
𝜶 𝟑 𝟑

𝟎−𝟐+𝒋−𝟐−𝒋 − 𝟎 𝟒
5) The asymptote locations are: 𝝈𝒂 = = − 𝟑 = −𝟏. 𝟑𝟑
𝟑

6) The break-away points are:

𝑁(𝑠) 1
𝐺 𝑠 𝐻 𝑠 = = 3
𝐷(𝑠) 𝑠 + 4 𝑠 2 + 5𝑠

𝑑 𝑑
𝑁 𝑠 𝐷 𝑠 −𝐷 𝑠 𝑁 𝑠 =0
𝑑𝑠 𝑑𝑠
1 3𝑠 2 + 8 𝑠 + 5 − 𝑠 3 + 4 𝑠 2 + 5𝑠 0 = 0
3𝑠 2 + 8 𝑠 + 5 = 0 𝒔𝟏 = −𝟏
𝒔𝟐 = −𝟏. 𝟔𝟔
Dr. M. Alkrunz
April 26, 2024 17
EEE376: Control Systems
 Plotting the Root Locus,,,
𝑰𝒎(𝒔)

Solution (Cont.):

× 𝒋

−𝟏.66
𝟔𝟎𝒐
−𝟔𝟎𝒐
×
−𝟐 −𝟏. 𝟑𝟑 −𝟏 𝑹𝒆(𝒔)

× −𝒋

Dr. M. Alkrunz
April 26, 2024 18
EEE376: Control Systems
 *Questions

Dr. M. Alkrunz
April 26, 2024 19
EEE376: Control Systems
 *Thanks
Dr. M. Alkrunz
April 26, 2024 20
EEE376: Control Systems