Control Systems

by

Dr. Kollu Ravindra

Associate Professor
EEE Department
University College of Engineering Kakinada (A)
JNTU Kakinada
Topics covered:
• Need of Root locus method
• Rules for constructing root loci

Topics to be covered in this lecture:

• Solve numerical problems related to root locus method
• Effect of addition of poles and zeros on Root locus

References: 1.Modern control engineering- K Ogata

2. Control systems Engineering-Norman S. Nise
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Problems
𝐾
• Example 3: A unity feedback system has 𝐺 𝑠 𝐻 𝑠 = . Sketch the
𝑠(𝑠+1)(𝑠 2 +4𝑠+13)
root locus.

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Note: The branches of root locus either approach or leave the breakaway points at an
𝟏𝟖𝟎𝟎
angle of ± 𝐰𝐡ere n is the number of branches approaching or leaving breakaway
𝒏
point 5
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4. The open-loop transfer function of a feedback system is 𝐺 𝑠 𝐻 𝑠 =
𝐾(𝑠+1)(𝑠+2)
. The real axis segments of the root locus originates at
𝑠(𝑠+3)(𝑠+4)
a) 0 and -1; -2 and -3; -4 and ∞
b) -1 and -2; -3 and -4;
c) -1 and -1.5; -3.5 and -4
d) 0 and -1; -3 and -4

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5. A unity feedback system has an
open loop transfer function of the
𝐾(𝑠+𝑎)
form 𝐾𝐺 𝑠 = 2 ;𝑏 > 𝑎
𝑠 (𝑠+𝑏)
Which of the loci system in Figure
can be a valid root-loci for the
system?
Ans: a)

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6. The asymptotes and the break point coincide at s=-2. The transfer function can be
𝐾 𝐾(𝑠+2) 𝐾 𝐾
A) b) c) d)
(𝑠+1)(𝑠+2) (𝑠+1)(𝑠+3) (𝑠+1)(𝑠+2)(𝑠+3) (𝑠+2)3

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 𝐾
7. The transfer function is . The break point will lie between
(𝑠+1)(𝑠+2)(𝑠+3)
a) 0 and -1 b) -1 and -2 c) -2 and -3 d) beyond -3

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8.

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10. Figure shows the root locus plot (location of poles not given) of a third order
system whose open loop transfer function is

𝐾 𝐾
a) b) 2
𝑠3 𝑠 (𝑠+1)

𝐾 𝐾
c) 2 d) 2
(𝑠 +1)(𝑠) (𝑠 −1)𝑠

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11. The gain at the breakaway point of the root locus of a unity feedback system
𝐾𝑠
with open loop transfer function 𝐺 𝑠 = is
(𝑠−1)(𝑠−4)
a) 1 b) 2 c) 5 d) 9

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 𝐾(𝑠+2)
12. O.L.T.F is . If root locus is a circle then the radius of that circle is____
𝑠(𝑠+1)

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Note: If open loop transfer function of a negative feedback system is of
𝐾(𝑠+𝑏)
the form and if the root locus is circular in shape then radius is
𝑠(𝑠+𝑎)
given by 𝑏2 − 𝑎𝑏

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 𝐾(𝑠 2 +1)
13. If G s = , the root locus of the system is
𝑠2

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 𝐾(1+𝑠)
14. The O.L.T.F of a system is 𝐺 𝑠 = .
Find the angle of departure and
𝑠 2 +2𝑠+2
stability.
a) 1800 , stable b) 1800 , unstable
c) 900 , stable d) 2400 , unstable

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Effect of addition of poles:
• Addition of a pole to the open-loop transfer function has the effect of pulling the
root locus to the right, tending to lower the system’s relative stability and to slow
down the settling of the response

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Effect of addition of zeros: The addition of a zero to the open-loop transfer function
has the effect of pulling the root locus to the left, tending to make the system more
stable and to speed up the settling of the response.

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