Control Systems

Control Systems (Root Locus Diagram)
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Root Locus Diagram
Objective
Upon completion of this chapter you will be able to:
Plot the Root Locus for a given Transfer Function by varying gain of the system,
Analyse the stability of the system from the root locus plot.
Determine all parameters related to Root Locus Plot.
Plot Complimentary Root Locus for negative values of Gain
Plot Root Contours by varying multiple parameters.
Introduction
The transient response of a closed loop system is dependent upon the location of closed
loop poles. If the system has a variable gain then location of closed loop poles is dependent
on the value of gain. It is therefore necessary that we must know the how the location of
closed loop varies with change in the value of loop gain is varied. In control system design it
may help to adjust the gain to move the closed loop poles at desired location. So, root locus
plot gives the location of closed loop poles as system gain K is varied.
Root loci: The portion of root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of
k
GsHs
s14
Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800
k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800
=Odd multiple of
1800 .
Advantages of Root Locus
The root locus is a powerful technique as it brings into focus the complete dynamic
response of the system and further, being a graphical technique, an approximate root locus
can be made quickly and designer can be easily visualize the effect of varies system
parameters an root location.
The root locus also provides a measure of sensitively of roots to the vacations in
parameters being considered.
It may further be pointed out here that root locus technique is applicable to single as well
as multiple loop system.
Construction Rules Of Root Locus
Rule 1: The root locus is symmetrical about real axis (G(s)H(s) = -1)
Rule 2: Each branch of Root Locus originates at an open loop pole and terminates at an
open loop zero or infinity.
Let P = number of open loop poles
Z = number of open loop zeroes
And if P > Z
Then,
No. of branches of root locus = P
No. of branches terminating at zeroes = Z
No. of branches terminating at infinity = (P Z)
Rule 3: A point on real axis is said to be on root locus if to the right side of their point the
sum of number of open loop poles & zeroes is odd.
Ex:
ks2s6
Gs
ss4s8
P 3 ; Z 2 ; P Z 1
NRL Not Root Locus; RL Root Locus
Rule 4: Angle of asymptotes
The P Z branches will terminate at infinity along certain straight lines known as asymptotes
of root locus.
Therefore, number of asymptotes = (P - Z)
Angle of asymptotes is given by:
2q 1 1800
; q 0,1,2,3.......
PZ
Suppose if P Z = 2, then angle of asymptotes would be:

201 1800 0 90
12
and
211
1800 2700
22
Solved Examples
Problem: Find the angle of asymptotes of a system whose characteristic equation is

ss 4 s2 2s 1 k s 10
Solution: The characteristic equation can be written in standard form as shown below:

Ks1
10
s s 4 s2 2s 1
Ks1
GsHs
s s 4 s2 2s 1
P 4 ; Z 1 ; P Z 3
201
1800 600
13
211
1800 1800
23
221
1800 3000
33

Rule 5: Centroid
It is the intersection point of asymptotes on the real axis, it may or may not be a part of root
locus.
Realpart of openloop poles Realpart of openloop zeroes

centroid
PZ
Solved Examples
Problem: Find centroid of the system whose characteristic equation is given as:
s3 5s2 K 6s k 0
Solution:
s3 5s2 sk k 6s 0 => s3 5s2 6s k s 10
ks1ks1
1
s3 5s2 6s s s 2 s 3
P = 3, Z = 2
Poles = 0, -2, -3 ; zeroes = -1
0231
centroid 2,0
31
Rule 6: Break Points

They are those points where multiple roots of the characteristics equation occur.
Procedure to find Break Points:
1. Construct 1 + G(s)H(s) = 0
2. Write k in terms of s
3. Find
dk
0
ds
4. The roots of
dk
0
ds
give the locations of break-away points.
5. To test the validity of breakaway points substitute in step 2.
If k > 0, it means a valid breakaway point.
Breakaway Points
If the break point lies between two successive poles then it is termed as a Breakaway Point.
Predictions
1) The branches of root locus either approach or leave the breakaway points at an angle of
1800
n
Where n = no. of branches approaching or leaving breakaway point.

2) The complex conjugate path for the branches of root locus approaching or leaving or
breakaway points is a circle.
3) Whenever there are 2 adjacently placed poles on the real axis with the section of real axis
between there as part of RL, then there exists a breakaway point between the adjacently
placed poles.
Solved Examples
Problem: Plot Root Locus for the system shown below:
Solution: Applying Construction Rules of the Root Loci

Csk
R s s2 2s k
k
Gs
ss2
Rule 2: P = 2, Z = 0, P Z = 2
Rule 3: Section of real axis lying on Root Locus
Rule 4:
2010 210 0 180 90 ; 180 270
1222
Rule 5:
0 20
centroid 1
2
Rule 6: Breakaway points
2s 2s k 0 => 2 k s 2s
dk
2s 2 0 s 1
ds
From the third prediction about Breakaway points we know that there must be a breakaway
point between s=0 and s=-2. Hence s= -1 is a valid breakaway point.
Since centroid and breakaway point coincide the branches of root locus will leave breakaway
point along the asymptotes.
Break in points
The points where two branches of roots locus converge are called as break in points. A
Break-in Point lies between two successive zeroes.
To differentiate between break in & break away points.
d2k
0
ds2
For break in points
d2k
0
ds2
For break-away points
Otherwise by observation a breakaway point lies between two poles and a break-in point lies
between two zeroes.
Predictions about Break-in Points:
1. Whenever there are 2 zeroes on real axis & the portion of real axis between 2 zeroes lies
on root locus then there is a break in points between 2 zeroes.
2. Whenever there exists a zero on real axis & real axis on left is on root locus & P > Z, then
there will be a break in to left of zero.
Effect of adding poles to a transfer function
Suppose we add a pole at s=-4 to our previous Transfer Function
K
Gs
ss2
The new transfer function will be:
K
Gs
ss2s4
Rule 2: P = 3, Z = 0, P Z = 3
Rule 3: The sections of real axis lying on Root Locus is shown on right
Rule 4: 600, 1800, 3000
123
Rule 5: Centroid
0 240
2
30
Rule 6: Break away points

Characteristic Equation:
s3 6s2 8s K 0 =>
K s3 6s2 8s
dK 2 3s 12s 8 0
ds
3s2 12s 8 0 s 0.845, 3.15

Since Breakaway point must lie between two successive poles that is it must lie between 0
and -2 so s=-0.845 is a valid breakaway point whereas s=-3.15 is invalid.
The root locus for this system is shown below,
Here, the root locus shifts towards right & hence stability decreases.
Effect of adding zeroes to a transfer function
Suppose we add a zero to the transfer function in the previous case at s= -1, then the
Transfer Function becomes:
Ks1
Gs
ss2s4
Rule 2: P 3, Z 1, P Z 2
Rule 3: The sections of real axis lying on Root Locus are shown below:
Rule 4: 900 , 2700
12
Rule 5:
0 241
centroid 2.5
2

Rule 6: Breakaway point
Characteristic Equation of Closed Loop System is:
s3 6s2 8s Ks K 0 =>
s3 6s2 8s
K
s1
2
s 1 3s2 12s 8 s3 6s2 8s
dk
0 s 2.9
ds s 1

The branches originate at Breakaway Point and tend to infinity along the asymptotes.
Here, the root locus shifts towards left and hence stability increase.
Solved Examples
Problem: Draw Root Locus for the system whose open loop transfer function is
Ks2
Gs
ss1
Solution: Applying Construction rules of the Root Loci

Rule 2: P 2, Z 1, P Z 1
Rule 4: Angle of Aymptotes 1800
Rule 5:
0 12
centroid 1
1

ss 1Ks 20 =>
s2 s
K
s2
s 2 2s 1 s2 s 1
dk
00
ds 2
s2
s2 4s 2 0 => s 2 20.6, 3.4

Since, s = -0. Lie between two consecutive poles it is a Break away point and since s = -3.4
lies between a zero and infinity it is a break-in point.
So, the root locus looks like as shown below:
Proof of path being a circle
ksb
ssa
Let s x jy

K x jy b K x bjy
x jy x jy a x2 2jxy ax jay y2
K x b jy
x2 ax y2 j 2xy ay

For s x jy lies on the root locus, angle should be odd multiple of 1800
1 y 1 2xy ay 0 tan tan 180
x b x2 ax y2
Taking tan on both sides

y 2xy ay
0
x b x2 ax y2
x2 ax y2 2x ax b0 =>
x2 2bx y2 ab 0
x b 2 y2 b b a
centre b,0
radius b b a
So, in such a case the centre of circular trajectory of Root Locus lies at the zero of Open Loop
System.
Rule 7: Intersection of Root Locus with imaginary axis
Roots of auxiliary equation A(s) at kk
max
(i.e. Maximum value of Gain K for which the
closed loop system is Stable) from Routh Array gives the intersection of Root locus with
imaginary axis.
The value of kk
max
is obtained by equating the coefficient of s
1
in the Routh Array to
zero.
Solved Examples
Problem: Find the intersection of root locus with the imaginary axis and also the intersection
of asymptotes with imaginary axis for the system whose open loop Transfer Function is given
by
k
Gs
ss2s4
.
Solution: Characteristic Equation of the system is given as
s3 6s2 8s k 0
Routh Array:
s3 1 8
s2 6 K
1 48 k s
6
s0 K
For stability
48 k
0 k 48
6
& k0
range 0 k 48
At k k 48
max
As__________6s2 k 0 6s2 48 0
s j 8 j2.82
Shortcut method
If the Transfer Function is of the type
K
Gs
ssasb
Intersection of RL with j axis is given by s j ab

Intersection of asymptotes with j axis
Since we are aware about the angle of asymptote from Rule-4 and also the x-axis intercept
of the asymptote which is centroid so we can find y-intercept as shown below:
y tan
x
tan60 y
2
y 2 3 3.4
To find Gain, k at any point on root locus geometrically
Product of vector length of poles
k
Product of vector length of zeroes
Suppose, we need to find Gain k of the root locus plot for 0.5 , then we need to find the
roots of characteristic equation corresponding to 0.5 ,which can be done by finding
intersection of root locus with a straight line oriented fromve x axis in clockwise direction
and passing through origin.
cos1 600
Gain, Product of vector length of poles
k
lll
p1 p2 p3
1

This is shown in the figure below.
Rule 8: Angle of Departure and Arrival
The angle made by root locus with real axis when it departs from a complex open loop poles
is called as angle of departure.
The angle made by root locus with real axis when it arrives at complex open loop zero is
called as angle of arrival.
angle of departure180 GH'
D
angle of arrival180 GH'

A
GH' = angle of the function excluding the concerned poles at the poles itself.
Solved Examples
Problem: Plot Root Locus for the system whose open loop transfer function is given by:
k
GsHs
s s 4 s2 4s 20
Solution: Rule 2: P = 4, Z = 0, P Z = 4
Rule 3: The section of real axis lying on root locus is shown
In adjoining figure
Rule 4: 450, 1350, 2250, 3150
1234
Rule 5:
0 2240
centroid 2
4

s4 8s3 36s2 80s K 0
K s4 8s3 36s2 80s
dk
0
ds
=
4s3 24s2 72s 80 0 => s=2, 2 j2.45
Note: To check validity of complex break point use angle criterion.
Rule 7: Routh Array
s4 1 36 K
s3 8 80 0
s2 26 K
1 2080 8k s
26
s0 K
For stability
2080 8k
0 k 260
26
& K > 0
range 0 k 260
For k=260 A.E.=As26s2 k 0
26s2 260 0 => s j3.16
y tan452 j2
Rule 8: Angle of departure
1 4 0 180 tan
p1 0 2
1 180 tan 2 0 116.56

090
p2
1 4 0 tan 63.4
p3 2 4
0
zp
Sum of Angles from zeroes - Sum of Angles from Poles
180 180 116.6 90 63.4

D

180 270 900
Else
K
GsHs
s24jss4s24js24j
K
24j24j8j
GH' 4 4 1 1 0 tan tan 90

22
180 tan 1 4 tan 1 4 900

22
= 270
180 270 900
D
So, the root locus of the system looks like as shown below:
Problem: Plot Root Locus for the system whose Open Loop Transfer Function is given by
k s2 2s 5
Gs
s 2 s 0.5
Rule 3: The section of real axis lying on Root Locus is shown below:
Since P-Z = 0, Rule 4 and Rule 5 are of no use as there are no asymptotes.
Characteristic Equation of the system is:
s 2s 0.5k s2 2s 50 =>
s2 1.5s 1
k
s2 2s 5
dk
0
ds
=> s 0.4,3.6
Here, since Breakaway point must lie between two consecutive poles so s = -0.4 is a valid
Breakaway Pont whereas s = 3.6 is an invalid point.
Rule 7: s2 1 ks 1.5 2k5k 10
Routh Array:
s2 1 k 5k 1
s1 1.5 2k 0
s0 5k 1 0
For stability 1 k 0 k 1 & 1.5 2k 0 k 0.75 & 5k 1 0 k 0.2

range 0.2 k 0.75
k k 0.75
max
A.E. =As1 ks2 5k 11.75s2 50.75 10

s j1.25
Rule 8: Angle of arrival
k s 1 2j s 1 2j
Gs
s 2 s 0.5
at s 1 2j
A
1 2j 1 2j 1 1 1 GH' tan 4j tan 2 tan 2

3 2j 0.5 2j 3 0.5
GH' 0 1 2 1 90 tan tan 4

3
900 760 340 200
1800 200 2000

The Root Locus for the system looks like as shown below:

Analysis of system having dead time or transportation lag
Dead Time: It is one of the form of non linearity and is defined as the time in which a
system does not respond to change in input. It is approximated as a zero in RHS s plane.
Transfer function having poles or zeroes in RHS s plane are called as non minimum phase
functions.
For curve 1
Output y(t) = input x(t)
For curve 2
y txt T
Applying Laplace Transform both sides
Y sesT s
Y s sT e
Xs
Time domain approximation
T2
y t x t T x t Tx t x t ...................
2!
y tx tTx t
YsXssTXsX s1 sTX sesT

esT 1 sT
Ex:
ke s k 1 s
Gs
ss3ss3

Complimentary Root Locus (CRL)
Angle Condition:
GsHs00 2q1800
Magnitude Condition:
G s H s 1
Construction Rules
Rule 1: The CRL is symmetrical about real axis G s H s 1
Rule 2: Number of branches terminating at infinity is (P Z).
Rule 3: A point on real axis is said to be on CRL if to the right side of the point the sum of
open loop poles & zeroes is even.
2q 1800
PZ
, q 1,2,3................
Rule 5: Centroid: same as Root locus
Rule 6: Break point: Same as RL
Rule 7: Intersection of CRL with j axis same as root locus.
Rule 8: Angle of departure & arrival.
0
D
0
A
Where GH'
ZP
Solved Examples
Problem: Plot Root Locus for the system whose Open Loop Transfer Function is
Ke s
Gs
ss3

Solution:
k1sks1
Gs
ss3ss3
So, here the gain becomes negative and we thus plot the Complimentary Root Locus.
Rule 2: P = 2, Z = 1, P Z = 1
Rule 3: The section of real axis lying on Root Locus is shown in the figure below:
K1s
10
ss3
ss 3k 1s0=>
s2 3s
k
1s
dk
0
ds
=
1 s 2s 3 s2 3s 1
0
1s2
s2 2s 3 0 => s=3,-1
Since Breakaway point must lie between two consecutive poles, so it must lie between 0 and
-3 and hence s=-1 is a valid breakaway point.
Rule 7: Intersection of Root Locus with Imaginary Axis
Characteristic Equation: s2 s3 kk 0

Routh Array:
2s 1 k
1s 3 k 0
0sk
For stability 3-k>0 => k<3 & k>0

Range 0<k<3
kk3
max
A.E.=Ass2 k 0
s j1.732
Root Contours
Root contours are multiple root locus diagrams obtained by varying multiple parameters in a
transfer function diagram in same s plane.
ks
GsHs
ss1s8
Case 1: let 0 , and gain K is varied
k
Gs
s1s8

Case 2: In this case, gain K=1 and is varied
For plotting Root Locus with respect to , we must first manipulate Characteristic Equation
in such a way that acts as gain of the system.
ks
10
ss1s8
=> ss 1s 8k s 0
k
10
s s 1 s 8 ks
1GsHs0
k
GsHs
s s 1 s 8 ks
Put k = 1
GsHs
s s2 9s 9
__Control Systems (Root Locus Diagram)

Root Locus Diagram
Objective
Introduction
k 0
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
0180
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
12
k
GsHs
s14
Solution: KK
GsHs
ss44
134j124j

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800
=Odd multiple of
1800 .
And if P > Z
Then,
Ex:
ks2s6
Gs
ss4s8
P 3 ; Z 2 ; P Z 1
of root locus.
2q 1 1800
; q 0,1,2,3.......
PZ

201 1800 0 90
12
and
211
1800 2700
22
Solved Examples

ss 4 s2 2s 1 k s 10
Ks1
10
s s 4 s2 2s 1
Ks1
GsHs
s s 4 s2 2s 1
P 4 ; Z 1 ; P Z 3
201
1800 600
13
211
1800 1800
23
221
1800 3000
33

Rule 5: Centroid
locus.

centroid
PZ
Solved Examples
s3 5s2 K 6s k 0
Solution:
s3 5s2 sk k 6s 0 => s3 5s2 6s k s 10
ks1ks1
1
s3 5s2 6s s s 2 s 3
P = 3, Z = 2
Poles = 0, -2, -3 ; zeroes = -1
0231
centroid 2,0
31

3. Find
dk
0
ds
4. The roots of
dk
0
ds
Breakaway Points
Predictions
1800
n

placed poles.
Solved Examples
Csk
R s s2 2s k
k
Gs
ss2
Rule 2: P = 2, Z = 0, P Z = 2
Rule 4:
2010 210 0 180 90 ; 180 270
1222

Rule 5:
0 20
centroid 1
2
2s 2s k 0 => 2 k s 2s
dk
2s 2 0 s 1
ds
Break in points
d2k
0
ds2
For break in points
d2k
0
ds2
between two zeroes.
K
Gs
ss2
K
Gs
ss2s4
Rule 2: P = 3, Z = 0, P Z = 3
Rule 4: 600, 1800, 3000
123
Rule 5: Centroid
0 240
2
30

s3 6s2 8s K 0 =>
K s3 6s2 8s
dK 2 3s 12s 8 0
ds
3s2 12s 8 0 s 0.845, 3.15


Ks1
Gs
ss2s4
Rule 2: P 3, Z 1, P Z 2
Rule 4: 900 , 2700
12
Rule 5:
0 241
centroid 2.5
2

s3 6s2 8s Ks K 0 =>
s3 6s2 8s
K
s1
2
s 1 3s2 12s 8 s3 6s2 8s
dk
0 s 2.9
ds s 1

Solved Examples
Ks2
Gs
ss1

Rule 2: P 2, Z 1, P Z 1
Rule 5:
0 12
centroid 1
1

ss 1Ks 20 =>
s2 s
K
s2
s 2 2s 1 s2 s 1
dk
00
ds 2
s2
s2 4s 2 0 => s 2 20.6, 3.4

ksb
ssa
Let s x jy
K x jy b K x bjy
K x b jy
x2 ax y2 j 2xy ay

x b x2 ax y2

y 2xy ay
0
x b x2 ax y2

x2 2bx y2 ab 0
x b 2 y2 b b a
centre b,0
radius b b a
System.
max
imaginary axis.
The value of kk
max
1
zero.
Solved Examples
by
k
Gs
ss2s4
.
s3 6s2 8s k 0
Routh Array:
s3 1 8
s2 6 K
1 48 k s
6
s0 K
For stability
48 k
0 k 48
6
& k0
range 0 k 48
At k k 48
max
As__________6s2 k 0 6s2 48 0
s j 8 j2.82
Shortcut method
K
Gs
ssasb

y tan
x
tan60 y
2
y 2 3 3.4
k

cos1 600
k
lll
p1 p2 p3
1

D

A
Solved Examples
k
GsHs
s s 4 s2 4s 20
In adjoining figure
Rule 4: 450, 1350, 2250, 3150
1234
Rule 5:
0 2240
centroid 2
4

s4 8s3 36s2 80s K 0
K s4 8s3 36s2 80s
dk
0
ds
=
4s3 24s2 72s 80 0 => s=2, 2 j2.45
Rule 7: Routh Array
s4 1 36 K
s3 8 80 0
s2 26 K
1 2080 8k s
26
s0 K
For stability
2080 8k
0 k 260
26
& K > 0
range 0 k 260
26s2 260 0 => s j3.16
y tan452 j2
1 4 0 180 tan
p1 0 2
1 180 tan 2 0 116.56

090
p2
1 4 0 tan 63.4
p3 2 4
0
zp
180 180 116.6 90 63.4

D
180 270 900

Else
K
GsHs
s24jss4s24js24j
K
24j24j8j
GH' 4 4 1 1 0 tan tan 90

22
180 tan 1 4 tan 1 4 900

22
= 270
180 270 900
D

k s2 2s 5
Gs
s 2 s 0.5
s 2s 0.5k s2 2s 50 =>
s2 1.5s 1
k
s2 2s 5
dk
0
ds
=> s 0.4,3.6
Rule 7: s2 1 ks 1.5 2k5k 10
Routh Array:
s2 1 k 5k 1
s1 1.5 2k 0
s0 5k 1 0

range 0.2 k 0.75
k k 0.75
max
A.E. =As1 ks2 5k 11.75s2 50.75 10

s j1.25
k s 1 2j s 1 2j
Gs
s 2 s 0.5
at s 1 2j
A
1 2j 1 2j 1 1 1 GH' tan 4j tan 2 tan 2

3 2j 0.5 2j 3 0.5
GH' 0 1 2 1 90 tan tan 4

3
900 760 340 200
1800 200 2000


functions.
For curve 1
For curve 2
y txt T
Y sesT s
Y s sT e
Xs
T2
y t x t T x t Tx t x t ...................
2!
y tx tTx t

esT 1 sT
Ex:
ke s k 1 s
Gs
ss3ss3

Angle Condition:
GsHs00 2q1800
G s H s 1
Construction Rules
2q 1800
PZ
, q 1,2,3................
0
D
0
A
Where GH'
ZP
Solved Examples
Ke s
Gs
ss3

Solution:
k1sks1
Gs
ss3ss3
Rule 2: P = 2, Z = 1, P Z = 1
K1s
10
ss3
ss 3k 1s0=>
s2 3s
k
1s
dk
0
ds
=
1 s 2s 3 s2 3s 1
0
1s2
s2 2s 3 0 => s=3,-1

Routh Array:
2s 1 k
1s 3 k 0
0sk

Range 0<k<3
kk3
max
A.E.=Ass2 k 0
s j1.732
Root Contours
ks
GsHs
ss1s8
k
Gs
s1s8

ks
10
ss1s8
=> ss 1s 8k s 0
k
10
s s 1 s 8 ks
1GsHs0
k
GsHs
s s 1 s 8 ks
Put k = 1
GsHs
s s2 9s 9

Root Locus Diagram
Objective
Introduction
k 0
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
0180
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
12
k
GsHs
s14
Solution: KK
GsHs
ss44
134j124j

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800
=Odd multiple of
1800 .
And if P > Z
Then,
Ex:
ks2s6
Gs
ss4s8
P 3 ; Z 2 ; P Z 1
of root locus.
2q 1 1800
; q 0,1,2,3.......
PZ

201 1800 0 90
12
and
211
1800 2700
22

Solved Examples

ss 4 s2 2s 1 k s 10

Ks1
10
s s 4 s2 2s 1
Ks1
GsHs
s s 4 s2 2s 1
P 4 ; Z 1 ; P Z 3
201
1800 600
13
211
1800 1800
23
221
1800 3000
33

Rule 5: Centroid
locus.

centroid
PZ
Solved Examples
s3 5s2 K 6s k 0
Solution:
s3 5s2 sk k 6s 0 => s3 5s2 6s k s 10
ks1ks1
1
s3 5s2 6s s s 2 s 3
P = 3, Z = 2
Poles = 0, -2, -3 ; zeroes = -1
0231
centroid 2,0
31

3. Find
dk
0
ds
4. The roots of
dk
0
ds
Breakaway Points
Predictions
1800
n

placed poles.
Solved Examples
Csk
R s s2 2s k
k
Gs
ss2
Rule 2: P = 2, Z = 0, P Z = 2
Rule 4:
2010 210 0 180 90 ; 180 270
1222
Rule 5:
0 20
centroid 1
2
2s 2s k 0 => 2 k s 2s
dk
2s 2 0 s 1
ds
Break in points
d2k
0
ds2
For break in points
d2k
0
ds2
between two zeroes.
K
Gs
ss2
K
Gs
ss2s4
Rule 2: P = 3, Z = 0, P Z = 3
Rule 4: 600, 1800, 3000
123
Rule 5: Centroid
0 240
2
30

s3 6s2 8s K 0 =>
K s3 6s2 8s
dK 2 3s 12s 8 0
ds
3s2 12s 8 0 s 0.845, 3.15

Ks1
Gs
ss2s4
Rule 2: P 3, Z 1, P Z 2
Rule 4: 900 , 2700
12
Rule 5:
0 241
centroid 2.5
2

s3 6s2 8s Ks K 0 =>
s3 6s2 8s
K
s1
2
s 1 3s2 12s 8 s3 6s2 8s
dk
0 s 2.9
ds s 1

Solved Examples
Ks2
Gs
ss1

Rule 2: P 2, Z 1, P Z 1
Rule 5:
0 12
centroid 1
1

ss 1Ks 20 =>
s2 s
K
s2
s 2 2s 1 s2 s 1
dk
00
ds 2
s2
s2 4s 2 0 => s 2 20.6, 3.4

ksb
ssa
Let s x jy
K x jy b K x bjy
K x b jy
x2 ax y2 j 2xy ay

x b x2 ax y2

y 2xy ay
0
x b x2 ax y2
x2 2bx y2 ab 0
x b 2 y2 b b a
centre b,0
radius b b a
System.
max
imaginary axis.
The value of kk
max
1
zero.
Solved Examples
by
k
Gs
ss2s4
.
s3 6s2 8s k 0
Routh Array:
s3 1 8
s2 6 K
1 48 k s
6
s0 K
For stability
48 k
0 k 48
6
& k0
range 0 k 48
At k k 48
max
As__________6s2 k 0 6s2 48 0
s j 8 j2.82
Shortcut method
K
Gs
ssasb

y tan
x
tan60 y
2
y 2 3 3.4
k
cos1 600
k
lll
p1 p2 p3
1

D

A
Solved Examples
k
GsHs
s s 4 s2 4s 20
In adjoining figure
Rule 4: 450, 1350, 2250, 3150
1234
Rule 5:
0 2240
centroid 2
4

s4 8s3 36s2 80s K 0
K s4 8s3 36s2 80s
dk
0
ds
=
4s3 24s2 72s 80 0 => s=2, 2 j2.45
Rule 7: Routh Array
s4 1 36 K
s3 8 80 0
s2 26 K
1 2080 8k s
26
s0 K
For stability
2080 8k
0 k 260
26
& K > 0
range 0 k 260
26s2 260 0 => s j3.16
y tan452 j2
1 4 0 180 tan
p1 0 2
1 180 tan 2 0 116.56

090
p2
1 4 0 tan 63.4
p3 2 4
0
zp
180 180 116.6 90 63.4

D
180 270 900

Else
K
GsHs
s24jss4s24js24j
K
24j24j8j
GH' 4 4 1 1 0 tan tan 90

22
180 tan 1 4 tan 1 4 900

22
= 270
180 270 900
D
k s2 2s 5
Gs
s 2 s 0.5
s 2s 0.5k s2 2s 50 =>

s2 1.5s 1
k
s2 2s 5
dk
0
ds
=> s 0.4,3.6
Rule 7: s2 1 ks 1.5 2k5k 10
Routh Array:
s2 1 k 5k 1
s1 1.5 2k 0
s0 5k 1 0

range 0.2 k 0.75
k k 0.75
max
A.E. =As1 ks2 5k 11.75s2 50.75 10

s j1.25
k s 1 2j s 1 2j
Gs
s 2 s 0.5
at s 1 2j
A

1 2j 1 2j 1 1 1 GH' tan 4j tan 2 tan 2

3 2j 0.5 2j 3 0.5
GH' 0 1 2 1 90 tan tan 4

3
900 760 340 200
1800 200 2000


functions.
For curve 1
For curve 2
y txt T
Y sesT s
Y s sT e
Xs
T2
y t x t T x t Tx t x t ...................
2!
y tx tTx t
esT 1 sT
Ex:
ke s k 1 s
Gs
ss3ss3

Angle Condition:
GsHs00 2q1800
G s H s 1
Construction Rules
2q 1800
PZ
, q 1,2,3................
0
D
0
A
Where GH'
ZP
Solved Examples
Ke s
Gs
ss3

Solution:
k1sks1
Gs
ss3ss3
Rule 2: P = 2, Z = 1, P Z = 1
K1s
10
ss3
ss 3k 1s0=>
s2 3s
k
1s
dk
0
ds
=
1 s 2s 3 s2 3s 1
0
1s2
s2 2s 3 0 => s=3,-1

Routh Array:
2s 1 k
1s 3 k 0
0sk

Range 0<k<3
kk3
max
A.E.=Ass2 k 0
s j1.732
Root Contours

ks
GsHs
ss1s8
k
Gs
s1s8

ks
10
ss1s8
=> ss 1s 8k s 0
k
10
s s 1 s 8 ks
1GsHs0
k
GsHs
s s 1 s 8 ks
Put k = 1
GsHs
s s2 9s 9

Root Locus Diagram
Objective
Introduction
k 0
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
0180
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
12
k
GsHs
s14
Solution: KK
GsHs
ss44
134j124j

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800
=Odd multiple of
1800 .
And if P > Z
Then,
Ex:
ks2s6
Gs
ss4s8
P 3 ; Z 2 ; P Z 1
of root locus.
2q 1 1800
; q 0,1,2,3.......
PZ

201 1800 0 90
12
and
211
1800 2700
22
Solved Examples

ss 4 s2 2s 1 k s 10
Ks1
10
s s 4 s2 2s 1
Ks1
GsHs
s s 4 s2 2s 1

P 4 ; Z 1 ; P Z 3
201
1800 600
13
211
1800 1800
23
221
1800 3000
33

Rule 5: Centroid
locus.

centroid
PZ
Solved Examples
s3 5s2 K 6s k 0
Solution:
s3 5s2 sk k 6s 0 => s3 5s2 6s k s 10
ks1ks1
1
s3 5s2 6s s s 2 s 3
P = 3, Z = 2
Poles = 0, -2, -3 ; zeroes = -1
0231
centroid 2,0
31

3. Find
dk
0
ds
4. The roots of
dk
0
ds
Breakaway Points
Predictions
1800
n

placed poles.
Solved Examples
Csk
R s s2 2s k
k
Gs
ss2
Rule 2: P = 2, Z = 0, P Z = 2
Rule 4:
2010 210 0 180 90 ; 180 270
1222
Rule 5:
0 20
centroid 1
2
2s 2s k 0 => 2 k s 2s
dk
2s 2 0 s 1
ds
Break in points
d2k
0
ds2
For break in points
d2k
0
ds2
between two zeroes.
K
Gs
ss2
K
Gs
ss2s4
Rule 2: P = 3, Z = 0, P Z = 3
Rule 4: 600, 1800, 3000
123
Rule 5: Centroid
0 240
2
30

s3 6s2 8s K 0 =>
K s3 6s2 8s
dK 2 3s 12s 8 0
ds
3s2 12s 8 0 s 0.845, 3.15

Ks1
Gs
ss2s4
Rule 2: P 3, Z 1, P Z 2
Rule 4: 900 , 2700
12
Rule 5:
0 241
centroid 2.5
2

s3 6s2 8s Ks K 0 =>
s3 6s2 8s
K
s1
2
s 1 3s2 12s 8 s3 6s2 8s
dk
0 s 2.9
ds s 1

Solved Examples

Ks2
Gs
ss1

Rule 2: P 2, Z 1, P Z 1
Rule 5:
0 12
centroid 1
1

ss 1Ks 20 =>
s2 s
K
s2
s 2 2s 1 s2 s 1
dk
00
ds 2
s2
s2 4s 2 0 => s 2 20.6, 3.4

ksb
ssa
Let s x jy
K x jy b K x bjy
K x b jy
x2 ax y2 j 2xy ay

x b x2 ax y2

y 2xy ay
0
x b x2 ax y2
x2 2bx y2 ab 0
x b 2 y2 b b a
centre b,0
radius b b a
System.
max
imaginary axis.
The value of kk
max
1
zero.
Solved Examples
by
k
Gs
ss2s4
.
s3 6s2 8s k 0
Routh Array:
s3 1 8
s2 6 K
1 48 k s
6
s0 K
For stability
48 k
0 k 48
6
& k0
range 0 k 48
At k k 48
max
As__________6s2 k 0 6s2 48 0
s j 8 j2.82
Shortcut method
K
Gs
ssasb

y tan
x
tan60 y
2
y 2 3 3.4
k
cos1 600
k
lll
p1 p2 p3
1

D

A
Solved Examples
k
GsHs
s s 4 s2 4s 20
In adjoining figure
Rule 4: 450, 1350, 2250, 3150
1234
Rule 5:
0 2240
centroid 2
4

s4 8s3 36s2 80s K 0
K s4 8s3 36s2 80s
dk
0
ds
=
4s3 24s2 72s 80 0 => s=2, 2 j2.45
Rule 7: Routh Array
s4 1 36 K
s3 8 80 0
s2 26 K
1 2080 8k s
26
s0 K
For stability
2080 8k
0 k 260
26
& K > 0
range 0 k 260
26s2 260 0 => s j3.16
y tan452 j2
1 4 0 180 tan
p1 0 2
1 180 tan 2 0 116.56

090
p2
1 4 0 tan 63.4
p3 2 4
0
zp
180 180 116.6 90 63.4

D
180 270 900

Else
K
GsHs
s24jss4s24js24j
K
24j24j8j
GH' 4 4 1 1 0 tan tan 90

22
180 tan 1 4 tan 1 4 900

22
= 270
180 270 900
D

k s2 2s 5
Gs
s 2 s 0.5
s 2s 0.5k s2 2s 50 =>
s2 1.5s 1
k
s2 2s 5
dk
0
ds
=> s 0.4,3.6
Rule 7: s2 1 ks 1.5 2k5k 10
Routh Array:
s2 1 k 5k 1
s1 1.5 2k 0
s0 5k 1 0

range 0.2 k 0.75
k k 0.75
max
A.E. =As1 ks2 5k 11.75s2 50.75 10

s j1.25
k s 1 2j s 1 2j
Gs
s 2 s 0.5
at s 1 2j
A
1 2j 1 2j 1 1 1 GH' tan 4j tan 2 tan 2

3 2j 0.5 2j 3 0.5
GH' 0 1 2 1 90 tan tan 4

3
900 760 340 200
1800 200 2000


functions.
For curve 1
For curve 2
y txt T
Y sesT s
Y s sT e
Xs
T2
y t x t T x t Tx t x t ...................
2!
y tx tTx t

esT 1 sT
Ex:
ke s k 1 s
Gs
ss3ss3

Angle Condition:
GsHs00 2q1800
G s H s 1
Construction Rules

2q 1800
PZ
, q 1,2,3................
0
D
0
A
Where GH'
ZP
Solved Examples
Ke s
Gs
ss3

Solution:
k1sks1
Gs
ss3ss3

Rule 2: P = 2, Z = 1, P Z = 1
K1s
10
ss3
ss 3k 1s0=>
s2 3s
k
1s
dk
0
ds
=
1 s 2s 3 s2 3s 1
0
1s2
s2 2s 3 0 => s=3,-1

Routh Array:
2s 1 k
1s 3 k 0
0sk

Range 0<k<3
kk3
max
A.E.=Ass2 k 0
s j1.732
Root Contours
ks
GsHs
ss1s8
k
Gs
s1s8

ks
10
ss1s8
=> ss 1s 8k s 0
k
10
s s 1 s 8 ks
1GsHs0
k
GsHs
s s 1 s 8 ks
Put k = 1
GsHs
s s2 9s 9
__

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Control Systems (Root Locus Diagram)

Kreatryx. All Rights Reserved. 1 www.kreatryx.com

Suppose if P Z = 2, then angle of asymptotes would be:

Control Systems (Root Locus Diagram)

Realpart of openloop poles Realpart of openloop zeroes

Rule 6: Break Points

Where n = no. of branches approaching or leaving breakaway point.

Rule 6: Breakaway points

The new transfer function will be:

Rule 6: Break away points

3s2 12s 8 0 s 0.845, 3.15

Control Systems (Root Locus Diagram)

Solution: Applying Construction rules of the Root Loci

Rule 6: Break away points

s2 4s 2 0 => s 2 20.6, 3.4

Taking tan on both sides

Intersection of RL with j axis is given by s j ab

Control Systems (Root Locus Diagram)

angle of arrival180 GH'

Rule 6: Breakaway points

1 180 tan 2 0 116.56

180 180 116.6 90 63.4

GH' 4 4 1 1 0 tan tan 90

180 tan 1 4 tan 1 4 900

For stability 1 k 0 k 1 & 1.5 2k 0 k 0.75 & 5k 1 0 k 0.2

A.E. =As1 ks2 5k 11.75s2 50.75 10

1 2j 1 2j 1 1 1 GH' tan 4j tan 2 tan 2

GH' 0 1 2 1 90 tan tan 4

900 760 340 200

1800 200 2000

Time domain approximation

YsXssTXsX s1 sTX sesT

For stability 3-k>0 => k<3 & k>0

Case 1: let 0 , and gain K is varied

__Control Systems (Root Locus Diagram)

Suppose if P Z = 2, then angle of asymptotes would be:

Control Systems (Root Locus Diagram)

Realpart of openloop poles Realpart of openloop zeroes

Rule 6: Break Points

Where n = no. of branches approaching or leaving breakaway point.

Rule 6: Breakaway points

The new transfer function will be:

Rule 6: Break away points

3s2 12s 8 0 s 0.845, 3.15

Rule 6: Breakaway point

Control Systems (Root Locus Diagram)

Solution: Applying Construction rules of the Root Loci

Rule 6: Break away points

s2 4s 2 0 => s 2 20.6, 3.4

Taking tan on both sides

Intersection of RL with j axis is given by s j ab

Control Systems (Root Locus Diagram)

angle of arrival180 GH'

Rule 6: Breakaway points

1 180 tan 2 0 116.56

180 180 116.6 90 63.4

180 270 900

GH' 4 4 1 1 0 tan tan 90

180 tan 1 4 tan 1 4 900