Chapter-6

Root Locus Techniques

Stability criterion
6. Root Locus Stability criterion of liner FB Control system

6.1 Introduction

6.2 Properties of Root-Loci

6.3 constriction Rules of root-locus of a system

 5.1 Introduction
q In the preceding chapter it was discussed the how the performance of

FB system can be described in terms of the location of the roots of

characteristics equations in s-plane.

q It is known that the response of closed loop FB system can adjusted to

achieve the desired performance by careful selection of one or more

system parameter.

q It is frequently necessary to adjust one or more system parameter in

order to obtain suitable roots locations.

1
Cont.

q Therefore, it is worthies to determine how the roots of the

characteristics equation of a given system migrate about the s-
plane as the parameter are varied.

q i.e. it is useful to determine the locus of roots of in the s-plane

as parameter is varied.

q The root locus technique (introduced by Evan in 1948) is a

graphical method for sketching the locus of roots in the s-plane
as parameter varied.

2
Cont.…

q Root locus also provides a measure of sensitivity of roots to the variation

in the parameter being varied.

considered,

q This Techniques provides a graphical of plotting the locus of the roots in

s-plane as given system parameter is varied over the complete range of
values (may be zero to infinity).

q The root corresponding to a particular value of the system parameter

can then be located on the locus or the value of the parameter for a
described root location can be determined from the locus.

3
 6.2 The root locus Concept
q To understand the concepts underlaying the root locus technique, considered
the simple second-order system below.
R(s) � C(s)

�(� + �)

1. The closed loop TF function

� �
�(�) = = �
� + �� � + �� + �
2. Characteristics equation 1+G=0; is given by:
�� + �� + � = �
4
Cont.
q The second order system under consideration is always stable for

positive values of a and k but, its dynamic behavior is controlled by

the roots of the characteristics equations.

qThe roots are given by;

−� � �
�� , �� = ± ( ) −�
� �

5
Cont.
3. Taking “a” fixed, as “k” is varied from zero to infinity, the two root
(�� , �� ) described loci in the s-plane.
Root location for various k.

��
i. �≤�< , the roots are �� = �, �� =− � i.e. they coincide
�

with the open loop poles of the system (for k=0).

�� �
ii. � = , the roots are equal values and real �� = �� =−
� �

��
iii. ≤ � < ∞, the roots are complex conjugate with real
�
�
6 part =− I.e. unvarying real part
�
 6.3 Basic properties of The root locus Concept
q Consider a general closed loop TF
R(s) C(s)
�

1. The closed loop TF function

�
�(�) =
� + ��

2. Characteristics equation 1+GH=0; is given by:

� + �� = �
�� =− �;
7
Cont.
qIt is seen that the roots of the characteristic equation (i.e. the poles of
the system ) occurs only for those value of ‘s’ where;
�(�)�(�) =− �;
qSince, “s” is a complex variable, the root-loci satisfied the following two
Evan conditions.
i. Magnitude condtion
�� = �;
ii. Angle condition

∠�� =± ��� ± ����

7 =± ���(� ± ��), � = �, �, �….
Cont.
q GH can be written as:

q Where the magnitude and angle condition can be written

8
 Cont.
q The angle of GH

q Once the complete root-loci are constricted the value of k along the loci
can be determined, the value of k for a particular root locations so can be
found from the magnitude criterion.

9
 6.4 considerations rules of root locus
Rule 1: The root-locus statutes at the poles of GH, where � = �

Proof: From the magnitude condition:

q As k approaches, to zero, �� approaches to infinity, so s must approaches the

poles of GH ( s to -�� )
q The characteristic equation can be written

10
Cont.
q As � ���� �� ����, the characteristics equation becomes

�
�=�
� + �� , then the equation has roots at - �� (j=1,2,3,…n)

q Which are the open-loop poles. The root locus branches therefore start at the
open-loop poles.

11
Cont.
Rule 2: The root-locus ends (completes) at the zeros of GH, where � =± ∞

Proof: From the magnitude condition:

q As k approaches, to ±∞, �� approaches to Zero, this corresponds to so s must

approaches to zeros of GH, s to -��
q The characteristic equation can be written

12
Cont.
q As � ���� �� ∞, the first term vanishes and the roots are located at

−�� (� = �, �, �, …�), which are the open-loop zeros of the system.

q Therefore, m branches of the root locus terminate on the open loop zeros.

q In case � < �, the �� has (� − �) zeros at infinity, therefor (� − �) branch's

of root locus terminates on infinity.

13
Cont.
Rule 3: The number separate loci number of branches is equal to the number of
poles (since � ≤ �) or the order of the characteristics equations polynomial.

Rule 4: The root locus is symmetrical about the real axis (� − ����) the
characteristic equation are either real or complex roots appear as pair of
complex conjugate roots.

Rule 5: The loci proceed to the zeros at infinity along asymptotes centered at
and with angle , when the number of finite zeros of GH, m is less than the
numbers of poles n, by the number N=n-m, then N section of loci must end at
zeros at infinity.
14
Cont.
q This section of loci proceed to the zeros at infinity along asymptotes as k
approaches infinity, these liner asymptotes are centered at a point on the real axis
give by:

15
Cont.
Rule 6: The (n-m) branches of the root locus which tend to infinity, as along as
straight line asymptotes whose angles are given by

The asymptotes cross the real axis at a point knows as centroid, determined by
the relationship.

16
Cont.
Rule 6: A point on the real axis lies on the locus if the number of open-loop
(��) poles plus zeros on the real axis to the right of this point is odd.

Example: Consider a feedback system with the characteristics

equation
�(� + �)
�+ �
= � + �� = �
�(� + �)(� + �� + �)

�(� + �)
�+ =�
�(� + �)(� + (� + �))(� + (� − �))

�(� + �)
�� =
�(� + �)(� + (� + �))(� + (� − �))
17
Cont.
Solution:
1: The root-loci started at the poles of GH, where � = �, (Rule 1)
The poles are � = �, − �, − � − �, − � + �
2: The root-loci ends at the zeros of GH, where � =± ∞, (Rule 2)
the zeros of GH are
One finite zero at � =− � and at infinity (no poles and zeros are equal if
zeros at infinity include)
3. The number of separate loci are equal to the number of poles (order of
the characteristics equation)= 4 separate loci
4. The root loci are symmetrical w.r.t the real axis.

18
Cont.
Solution:

5. No. of poles > No. of Zeros ; n-m branches of root locus tends to
infinity with angle of:

19
Cont.
Solution:

20
Cont.

21
Cont.
q Brak away point the point where the root left the real axis, the locus leaves the
real axis where there are a multiplicity of roots, typical two.
q Breakaway direction of root locus branches the root locus branches must
approaches or leaves the break away on the real axis at an angle of ±���, where r
is the number of roots locus branches approaching or leaving the point.
7. Break away point (saddle point)
Breakaway point (point at which multiple roots of the characteristics equations occur) the root
�[�(�)�(�)]
locus are the solution of = �;
��

q The point where two branches of the root loci meet at the breakaway point in the real
axis and then depart from the axis in the opposite direction.
22
 Cont.

q The breakaway point on the compute root loci of 1+GH=0 must satisfy
q The break away point given by roots of
q The actual breakaway points
�(�)�′ (�) − �′ (�)�(�) = �
are thus roots of the equation
�[�(�)�(�)]
=� at which the root locus angle
��

�(�) criterion.
� + �� = � = � + � =�
�(�)

�[�(�)�(�)] �(�)�′ (�) − �′(�)�(�)

=�
23 �� [�(�)]�
 Cont.
q The actual breakaway given by roots of

�(�)�′ (�) − �′ (�)�(�) = �

�(�) −�(�)
We can write � + � =�; �=
�(�) �(�)

Differentiating k w,r,t s we get

�� �(�)�′ (�) − �′(�)�(�)

=�
�� [�(�)]�
Therefore; the break away point of the original equation are
determined by

��
= �;
��
24
Example 2
q The characteristic equation of the feedback loop system is given,
�
�+ =�
�(� + �)(� + �)
q Find the breakaway point;
q There is a break away point on the real axis between 0 and 1 as the two
real-root branches are oppositely directly directed on thin segment.

�
=− � GH=k/(s(s+1)(s+2) ) poles at � = �, − �, − �….
�(�+�)(�+�)

� =− �(� + �)(� + �)

25
 Cont.

�� �[−(�� + ��� + ��)]

= =�
�� ��
− ��� + �� + � = �
�� , �� =− �. ���, − �. ���

q Since, the break away point must lie between 0 and -1, it is clear that

� =− �. ��� corresponds to the actual breakaway point.

26
Example 2
q The characteristic equation of the feedback loop system is given,
�
�(�)�(�) = �
=�
�(� + �)(� + �� + ��)
1. The poles of �� � = �, − �, − � + ��, − � − ��

2. 4 poles 4 branches originates at the poles of GH, � = �, − �, − � ± ��

3. Since, there are no open-loop (GH) zeros in the finite region, all the four (n-
m, i.e. 4-0) branches terminate on infinity along whose angels with the real
axis are:

27
 Cont.
4. The centroid;

5. The point between 0 and -4 the real axis lies on the root locus

6. The characteristics equation

�
�+ �
= �; �� =− �
�(� + �)(� + �� + ��)
��
� =− �(� + �) �� + �� + �� =− ��� + ���� + ��� + �� = �
��

Therefore roots; � =− � and � =− � ± ��. ��

28
 Cont.
q Therefore, there is one breakaway point on the real axis at � =− � and two
complex conjugate breakaway point on the real axis at � =− � ± ��. ��.

29
 Cont.

Note: A breakaway on the real axis ma occur in two ways

q First: a breakaway point may result from two real-root branches

moving towards each other as k increased. After a breakaway point
these branches become complex-root branch.

q Secondly: a real axis breakaway point may occur with complex-root

branches moving towards the real axis and meeting at the breaking
away point. There branches then become real-root branches and
moves in the opposite direction.

30
 Cont.
Breakaway direction of root locus branches

q The root locus branches must approach or leave the breakaway point on
���
the real axis at an angle of ± , where, r is the number of root locus
�

branches approaching.

Rule 8: Angle of departure and angle of Arrival of the root loci.

q The angle of departure or arrival of a root locus at a pole or zero GH

denotes the angle of the tangent to the locus near the point.

31
 Cont.
qConsider the given pole-zero configuration
qThe locus leaving a pole or entering a zero will have to pass through a test
point placed closed close to the pole or zero, at which the total angle
contributions of the poles and zeros, of GH will have to satisfy the angle
criterion.

32
 Cont.
qDetermining the angle of departure �� using angle criterion

qAngle of departure becomes (departure angle from the pole)

33
 Cont.
qIn general:

Example
Find the angle of departure at the complex poles.

�
�(�)�(�) = =�
�(� + �)(� + �)

33
 Solution:
1. The poles of ��, � = �, � =− �, � =− �;

2. The function GH has three zeros at ∞,

3. There are 3-poles indicating, that there are three separate loci.

4. The pole-zero configuration of GH is symmetrical w.r.t the real axis

34
 Cont.
5. The breaking away point in the complete root loci

35
 Cont.
6. The root loci

7. The intersection of root locus branches with imaginary axis can be

determined by use of Routh criterion.
36
Example 2
q The characteristic equation of the feedback loop system is given,
�
�(�)�(�) =
�(� + �)(�� + �� + ��)

Find the root locus when k various from � �� ∞

1. The open loop ��, � = �, � =− �, − � + �, − � − �

2. There is no finite open loop zero.

3. Have four branches, originates at K=0 (and ends at the zeros at ∞, as k

goes ∞)

4. The root locus exists on the real axis for −� ≤ � ≤ �

37
 Cont.
5. The four branches tends to infinity along asymptotes whose angles with
the real axis are:

38
 Cont.
6. The break away point.
� =− �(� + �) �� + �� + � = −�� +��� + ��� + ��
��
=− � �� + �. ���� + �� + �. � = �
��
The possible breakaway point;
� =− �. �, − �, ��� ± ��. ���,

q The break away point must occur at � =− �. � as this part of the real axis is
on the root locus and the two root locus branches starting from � =
� ��� � =− � are approach each other.

37
 Cont.
qIt can be checked that � =− �, ��� ± ��. ��� are note the break away point
as the angle of criterion is not the breaking near at this point of the two
branches break at angle of ±��.
��� ���
i.e. ± =± , r no. branches apposing each other
� �

8. The value of k at break away point evaluated at

38
 Cont.
9. The root locus branches leaves the pole at � = (−� + �) at an angle ∅�
given by:

39
Cont.
10. The value of k at break away point evaluated at
�(� + �) �� + �� + � + � = �;

�� + ��� + ��� + � + � = �;
The possible breakaway point;
� =− �. �, − �, ��� ± ��. ���,
 Cont.
10. Examination of the first element in the first column, the Routh array
reveals that the above mentioned root locus branches will intersect the
imaginary axis at a value of k given by:

���
− �� = �
�
� = �. ��; marginally stable
The auxiliary equation
��/��� + �. �� = �
� =± ��. �

41
 Cont.

42
 Summary on Root Locus sketching rule
Rule 1: # branches = # poles

Rule 2: symmetrical about the real axis

Rule 3: real-axis segments are to the left of an odd number of real

axis finite poles/zeros

Rule 4: RL begins at poles, ends at zeros

Rule 5: Asymptotes: angles, real-axis intercept

Rule 6: Real-axis break-in and breakaway points

Rule 7: Imaginary axis crossings (transition to instability)

 End of Chapter 6
Any questions are Granted

Thank YOU….!!!