Root Locus

Root Locus
Motivation
To satisfy transient performance requirements, it may be necessary to know how
to choose certain controller parameters so that the resulting closed-loop poles are
in the performance regions, which can be solved with Root Locus technique.

Definition
A graph displaying the roots of a polynomial equation when one of the parameters
in the coefficients of the equation changes from 0 to .

Rules for Sketching Root Locus

Examples
Controller Design Using Root Locus
Letting the CL characteristic equation (CLCE) be the polynomial equation, one can
use the Root Locus technique to find how a positive controller design parameter
affects the resulting CL poles, from which one can choose a right value for the
controller parameter.

The Root Locus Method

No matter what we pick K to be, the closed-loop system must always have n poles, where
n is the number of poles of G(s).
The root locus must have n branches, each branch starts at a pole of G(s) and goes to a
zero of G(s).
If G(s) has more poles than zeros (as is often the case), m < n and we say that G(s) has
zeros at infinity. In this case, the limit of G(s) as s -> infinity is zero.
The number of zeros at infinity is n-m, the number of poles minus the number of zeros,
and is the number of branches of the root locus that go to infinity (asymptotes).
Since the root locus is actually the locations of all possible closed loop poles, from the
root locus we can select a gain such that our closed-loop system will perform the way we
want. If any of the selected poles are on the right half plane, the closed-loop system will
be unstable. The poles that are closest to the imaginary axis have the greatest influence on
the closed-loop response, so even though the system has three or four poles, it may still
act like a second or even first order system depending on the location(s) of the dominant
pole(s).

Example

Closed-Loop Characteristic Equation

(CLCE)
Disturbance
Reference
Input

R(s)

Gf (s)

Error

E(s)

GC (s)

Control
Input

D(s)
++

U(s)

G(s)

Output
Y(s)

Plant

H(s)
The closed-loop transfer function GYR(s) is:
GYR ( s )

G ( s )Gc ( s )G f ( s )
1 G ( s )Gc ( s ) H ( s )

Img
.

The closed-loop characteristic equation (CLCE) is:

1 G ( s )Gc ( s ) H ( s ) 0

For simplicity, assume a simple proportional feedback

controller:
Gc ( s ) K p

1 K p GH 0

The transient performance specifications define a region on the

complex plane where the closed-loop poles should be located.

Q:

How should we choose KP such that the CL poles are within

the desired performance boundary?

Transient
Performance
Region

Real

Motivation
Ex: The closed-loop characteristic equation for the DC motor positioning system
under proportional control is:

1 K P K S G (s) 0

16
1 K P 0.03
0
s (0.0174 s 1)

Q: How to choose KP such that the resulting closed-loop poles are in the
desired performance region?
How do we find the roots of the equation:
1 K P 0.03

16
0
s(0.0174 s 1)

as a function of the design parameter K P ?

Graphically display the locations of the closed-loop poles for all
KP>0 on the complex plane, from which we know the range of values
for KP that CL poles are in the performance region.

Root Locus Definition

Root Locus is the method of graphically displaying the roots of a polynomial
equation having the following form on the complex plane when the parameter
K varies from 0 to :
N (s)
1 K G( s ) 0 or
1 K
0
D(s )
where N(s) and D(s) are known polynomials in factorized form:
N ( s ) ( s z1 )( s z2 ) L ( s z N Z )

D( s ) ( s p1 )( s p2 ) L ( s p N P )

Conventionally, the NZ roots of the polynomial N(s) , z1 , z2 , , zNz , are called

the finite open-loop zeros. The NP roots of the polynomial D(s) , p1 , p2 , ,
pNp , are called the finite open-loop poles.
Note: By transforming the closed-loop characteristic equation of a feedback
controlled system with a single positive design parameter K into the above
standard form, one can use the Root Locus technique to
determine the
range of K that have CL poles in the performance region.

Methods of Obtaining Root Locus

Given a value of K, numerically solve the 1 + K G(s) = 0 equation to obtain all
roots. Repeat this procedure for a set of K values that span from 0 to and plot
the corresponding roots on the complex plane.
In MATLAB, use the commands rlocus and rlocfind. A very efficient root locus
design tool is the command rltool. You can use on-line help to find the usage for
these commands.

1 K P 0.03

16
0
s(0.0174 s 1)

>> op_num=[0.48];
>> op_den=[0.0174 1 0];

1 KP

0.48
0
0.0174 s 2 s

No open-loop zeros
Two open-loop poles

>> rlocus(op_num,op_den);
poles]=rlocfind(op_num,op_den);
Apply>>the[K,
following
root locus sketching rules to obtain an approximated root
locus plot.

Rule 6: Breakaway and Break-in Points on the Real Axis

Breakaway point

Break-in point

Use the following necessary condition

dK g

d G s H s
d
1
0 or
0 or
0

ds
ds G s H s
ds
1
1

P s Z s P s Z s 0
s zi
s pj
9

Insert a zero
Gk ( s )

Kg

s 1 ( s 1)(s 4)

Gk ( s )

K g ( s a)

s 1 ( s 1)(s 4)

10

Add a pole to the open-loop transfer function

K1 ( s 3)
K1 ( s 3)
GH1 ( s )
GH 2 ( s )
s ( s 2)
s ( s 2)( s a )
Im

Im

Re
3

Re

Im

Im

Re

Re
3

11

The effects of Zeros and Poles

Attracting effect

Generally, adding an open zero in the left s-plane will lead the root
loci to be bended to the left.
The more closer to the imaginary axis the open zero is, the more
prominent the effect on the systems performance is.

Repelling effect

Generally, adding an open pole in the left s-plane will lead the
root loci to be bended to the right.
The more closer to the imaginary axis the open pole is, the more
prominent the effect on the systems performance is.

12

Root Locus Sketching Rules

(8 Rules)
1 K

N (s)
0
D( s)

1 K

( s z1 )( s z2 ) ( s z N Z )
( s p1 )( s p2 ) ( s pN P )

Rule 1: The number of branches of the root locus is equal to the number
of closed-loop poles (or roots of the characteristic equation). In
other words, the number of branches is equal to the number of
open-loop poles or open-loop zeros, whichever is greater. D s KN s 0
Rule 2: Root locus starts at open-loop poles (when K= 0) and ends at
open-loop zeros (when K=). If the number of open-loop poles is
greater than the number of open-loop zeros, some branches
starting from finite open-loop poles will terminate at zeros at
infinity (i.e., go to infinity). If the reverse is true, some branches
will start at poles at infinity and terminate at the finite open-loop
D s KN s 0
zeros.
K 0? K ?
Rule 3: Root locus is symmetric about the real axis, which reflects the
fact that closed-loop poles appear in complex conjugate pairs.
Rule 4: Along the real axis, the root locus includes all segments that are
to the left of an odd number of finite real open-loop poles and
N s
zeros.
Check the phases
K
1 rad 180o
D s

Root Locus Sketching Rules

Rule 5: If number of poles NP exceeds the number of zeros NZ , then as K,
(NP - NZ) branches will become asymptotic to straight lines. These
straight lines intersect the real axis with angles k at 0 .
p z Sum of open-loop poles Sum of open-loop zeros
0 i i
NP NZ
# of open-loop poles # of open-loop zeros

80
k (2k 1)
[rad] (2k 1)
[deg] , k 0, 1, 2, L
NP NZ
NP NZ
If NZ exceeds NP , then as K0, (NZ - NP) branches behave as above.

Rule 6: Breakaway and/or break-in (arrival) points should be the solutions to

the following equations:

d N (s)
d D( s )

0 or

0
ds D ( s )
ds N ( s )

Root Locus Sketching Rules

Rule 7: The departure angle for a pole pi ( the arrival angle for a zero zi) can be
calculated by slightly modifying the following equation:
(s z1 ) (s z2 ) (s z NZ ) (s p1 ) (s p2 ) (s pN p ) 180
angle
criterio
nThe departure angle qj from the pole pj can be calculated by replacing the term
with
( s qpj j )and replacing all the ss with pj in the other terms.

Rule 8: If the root locus passes through the imaginary axis (the stability boundary),

the crossing point j and the corresponding gain K can be found as

follows:

Replace s in the left side of the closed-loop characteristic equation

with j to obtain the real and imaginary parts of the resulting
complex number
Set the real and imaginary parts to zero, and solve for and K. This
will tell you at what values of K and at what points on the j axis the
roots will cross.
s p s p L s p
magnitude criterion

s z1 s z2 L

NP

s zNz

Steps to Sketch Root Locus (8 Steps)

Step 1: Transform the closed-loop characteristic equation into the standard form for
sketching root locus:
1 K

N (s)
0
D( s)

or 1 K

( s z1 )( s z2 ) ( s z N Z )

( s p1 )( s p2 ) ( s pN P )

Step 2: Find the open-loop zeros, zi, and the open-loop poles, pi. Mark the open-loop
poles and zeros on the complex plane. Use to represent open-loop poles and
to represent the open-loop zeros.
Step 3: Determine the real axis segments that are on the root locus by applying Rule 4.
Step 4: Determine the number of asymptotes and the corresponding intersection
and angles kby applying Rules 2 and 5.
Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.
Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.

Example 1
DC Motor Position Control
In the previous example on the printer paper advance position control, the proportional control block
diagram is:

0.03

DV

KP
Controller
V

Ei

16
s( 0.0174 s 1)

Plant G(s)
0.03

Sketch the root locus of the closed-loop poles as the proportional gain KP varies from 0 to .

Find closed-loop characteristic equation:

1 K pG s H s 0
0.48
{
1 Kp

N s

s 0.0174 s 1
1 44 2 4 43
D s

Example 1
Step 1: Transform the closed-loop characteristic equation into the standard form for
sketching root locus:

1
{

1 27.58 K p

N s

s s 57.47
1 4 2 4 3

D s

Step 2: Find the open-loop zeros, zi , and the open-loop poles, pi :

No open-loop zeros
open-loop poles

p1 0, p2 57.47

Step 3: Determine the real axis segments that are to be included in the root locus by
applying Rule 4.

p2 57.47

p1 0

Example 1
Step 4:Determine the number of asymptotes and the corresponding intersection
and angles kby applying Rules 2 and 5.
0

zi

NP NZ

57.47
28.74
2

k (2k 1)

NP

[rad]
NZ

Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.
d N ( s )
d
0 or

ds D ( s )
ds

D ( s )
0,
N ( s
)

d s 0.0174 s 1

0, 0.0348s 1 0, s 28.74
ds
0.48

Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
( p2 p1 ) p2 180o, p2 0o

p1 ( p1 p2 ) 180o, p1 180o

Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.
Could s be pure imaginary in this example?

Example 1
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.
Img. Axis
30
20
10
-57.47
Real Axis

-60

-28.74
-50

-40

-30

-20

-10

0
-10
-20
-30

Example 2
A positioning feedback control system is proposed. The corresponding block diagram
is:
R(s) +

K(s + 80)

U(s)

Controller

16
s(0.0174s 1)

Y(s)

Plant G(s)

Sketch the root locus of the closed-loop poles as the controller gain K varies from 0 to
.
Find closed-loop characteristic equation:

1 Gc s G s H s 0
1 K s 80

16
0
s 0.0174 s 1

Example 2
Step 1: Formulate the (closed-loop) characteristic equation into the standard form
for sketching root locus:

16 s 80
1 4 2 43
1 K

N s

s 0.0174 s 1
1 44 2 4 43

1 920 K

D s

14s 2 80

43
N s

s s 57.47
14243

D s

Step 2: Find the open-loop zeros, zi , and the open-loop poles, pi :

open-loop zeros

z1 80

open-loop poles

p1 0, p2 57.47

Step 3: Determine the real axis segments that are to be included in the root locus
by applying Rule 4.

z1 80 p2 57.47

p1 0

Example 2
Step 4: Determine the number of asymptotes and the corresponding intersection and
angles kby applying Rules 2 and 5.

Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.
d N ( s )
d D ( s )
0 or

0,
ds D ( s )
ds

N ( s )

d s 80

ds s s 57.47

s s 57.47 s 80 2 s 57.47

s 2 160s 4600 0
s1 122, s2 37.6

s s 57.47

0,

Example 2
Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.
Imag Axis
40
30
20
10
Real Axis

z1 80 p2 57.47 37.6

122

p1 0

0
-10
-20
-30
-40

-140

-120

-100

-80

-60

-40

-20

Example 3
A feedback control system is proposed. The corresponding block diagram is:
R(s) +

K
(s 4)

Controller

U(s)

1
s(s 2 4s 20)

Y(s)

Plant G(s)

Sketch the root locus of the closed-loop poles as the controller gain K varies from
0 to .
Find closed-loop characteristic equation:

1 Gc s G s H s 0
1

K
1
0
s 4 s s 2 4 s 20

Example 3
Step 1: Transform the closed-loop characteristic equation into the
standard form for sketching root locus:
1{

1 K

N s

s s 4 s 20 s 4
1 4 4 44 2 4 4 4 43
2

D s

Step 2: Find the open-loop zeros, zi , and the open-loop poles, pi :

open-loop zeros
open-loop poles

No open-loop zeros

p1 0, p2 4, p3,4 2 4 j

Step 3: Determine the real axis segments that are to be included in

the root locus by applying Rule 4.
p2 4

p1 0

Example 3

Step 4: Determine the number of asymptotes and the corresponding intersection and
angles kby applying Rules 2 and 5.
0

zi

NP NZ

0 4 2 4 j 2 4 j
2
40

k (2k 1)

NP

[rad]
NZ

4
3
4
5
4
7
4

Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.
d N ( s )
d D ( s )
0 or

0,
ds D ( s )
ds

N ( s )

2
d D s
d s s 4 s 20 s 4
d
s 4 8s 3 36 s 2 80 s

ds
ds N s
ds
1

4 s 3 24 s 2 72 s 80 0

s1 2, s2,3 2 2.45 j

Example 3
Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
Np

Nz

( s z ) ( s p ) 180
i

i 1

i 1

p1 0 :

p1 180

p2 4 :

p2 0

p3 2 4 j :
p4 2 4 j :

p3 90o
p4 90o

Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.

1 K

1
0
2
s s 4 s 20 s 4

s j

s s 2 4 s 20 s 4 K 0
s 4 8s 3 36 s 2 80s K 0

36 2 K 8 3 80 j 0
4 36 2 K 0 K1 0 K 2 260

,
3

80

0
2 10 3.16
1

CLCE

Example 3
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.
Imag Axis
4
3
2
1
Real Axis

0
-1
-2
-3
-4
-6

-5

-4

-3

-2

-1

Example 4
A feedback control system is proposed. The corresponding block diagram is:
R(s) +

U(s)

K
Controller

s 2 2 s 101
(s 2)( s 2 2 s 26)

Y(s)

Plant G(s)

Sketch the root locus of the closed-loop poles as the controller gain K varies from 0 to .
Find closed-loop characteristic equation:

s 2 s 101
1 K
0
2
s 2 s 2s 26
2

Example 4
Step 1:Formulate the (closed-loop) characteristic equation into the standard
form for sketching root locus:
s 2 2s
101

1 K

N s
2

s 2 s 2s 26

D s

Step 2:Find the open-loop zeros, zi , and the open-loop poles, pi :

open-loop zeros
open-loop poles

s 2 2 s 101 s 1 100 0, z1, 2 1 10 j

2

s 2 s 1 2 25 0, p1 2, p2,3 1 5 j

Step 3:Determine the real axis segments that are to be included in the root
locus by applying Rule 4.

p1 2

Example 4
Step 4: Determine the number of asymptotes and the corresponding intersection and angles
kby applying Rules 2 and 5.

N p Nz 1

One asymptote

k 2k 1 180o 180o

Step 5: (If necessary) Determine the break-away and break-in points using Rule 6.
Step 6: (If necessary) Determine the departure and arrival angles using Rule 7.
o
1
o
o
o
z1 1 10 j z1 90 tan 10 90 90 180

z1 354 6
o

p1 2

p1 180o

p2 1 5 j

p2 11o

p3 1 5 j

z 2 1 10 j 6o
z2

p2 11o

Step 7: (If necessary) Determine the imaginary axis crossings using Rule 8.

s 2 s 2 2s 26 K s 2 2s 101 0
s 3 4 K s 2 30 2 K s 52 101K 0
s j

52 101K 4 K 2 30 2 K 2 j 0

52 101K 4 K 2 0 1 0
2 9.5 3 5.7

,
52

,
2
30 2 K 0
K1 101 K 2 30.4 K 3 1.1

Example 4
Step 8: Use the information from Steps 1-7 and Rules 1-3 to sketch the root locus.
10

Stability condition

9.5273j

6o

5.6658j

0 K 1.1
or
K 30.4

0 K 1.1z1
or
K 30.4

p2 11o
2
0
-2
-4

-5.6658j

-6
-8
-10
-18

p2 11o

-9.5273j
-16

-14

-12

-10

-8

-6

-4

-2

z2 6o

Root Locus as an Analysis/Design Tool

Mechanical system response depends on the location of the system characteristic values,
i.e., poles of the system transfer function. Since root locus tells us how the system poles
vary w.r.t. a parameter K, we can use root locus to analyze the effect of parameter
variation on system performance.
A

Ex: ( Motion Control of Hydraulic Cylinders )

Recall the example of the flow control of a hydraulic
cylinder that takes into account the capacitance effect of
the pressure chamber. The plant transfer function is:
V (s)
A
G( s )

QIN ( s) MCs 2 BCs A2

where M is the mass of the load; C is the flow capacitance
of the pressure chamber; A is the effective area of the
piston and B is the viscous friction coefficient.
Q: How would the plant parameters affect the system
response ?

M
B

qIN

Root Locus as an Analysis/Design Tool

Effect of load (M) on system performance:
System characteristic equation:

MCs 2 BCs A2 0
Transform characteristic equation into standard form for root locus analysis by identifying the parameter
that is to be varied. In this case, the load mass M is the varying parameter:

Standard form

N s
1 K
0
D s

1 M

C
BC

s{ 2

N s

A2
s
1 2BC
3

0
Img. Axis

D s

Varying parameter
open-loop zeros
open-loop poles

z1 z2 0
A2
p1
BC

d N ( s )
2 A2
0s
,s 0

ds D ( s )
BC

p1

z1 , z2

Real
Axis

Small M: less overshoot and high natural frequency

As M increases: larger overshoot and lower natural frequency
Think about the settling time

Root Locus as an Analysis/Design Tool

Effect of flow capacitance (C) on system performance:
System characteristic equation:

MCs 2 BCs A2 0

Transform characteristic equation into standard form for root locus analysis by identifying the parameter
that is to be varied. In this case, the flow capacitance C is the varying parameter:

Standard form

1 K

N s
0
D s

1 C

Varying parameter

M
A2

s s

1 4 2 43
N s

1
{

Img. Axis

D s

B
z

0,
z

2
open-loop zeros 1
M

open-loop poles NO open-loop poles

d N ( s )
B
0 s

ds D ( s )
2M

Smaller C (or less compressible fluid):

Larger oscillating frequency and overshoot
Larger C: smaller oscillating frequency and overshoot

z2

z1

Real
Axis

Root Locus as an Analysis/Design Tool

Effect of friction (B) on system performance:
System characteristic equation:

MCs 2 BCs A2 0

Transform characteristic equation into standard form for root locus analysis by identifying the parameter
that is to be varied. In this case, the viscous friction coefficient B is the varying parameter:

s
{

Standard form

C
N s
N s
1

B
1 K
0
A2
MC 2
D s
s

Varying parameter
open-loop zeros

z1 0

open-loop poles

p1,2

14 2MC
4
3
D s

0
Img. Axis

p1

A2
j
MC

d D ( s )
A2

ds N ( s )
MC

z1

Smaller B:
Larger oscillating frequency and overshoot
p2

Larger B: smaller oscillating frequency and overshoot

settling time?

Real
Axis

5.4.2 Performance Analysis Based on Root Locus

Example 5.4.2: Given the open-loop transfer function

K
Gk ( s )
s (0.5s 1)
please analyze the effect of open-loop gain K on the
system performance.
Calculate the dynamic performance criteria for K 5.

38

j
3 j

k 10

[s ]

k 3
k 2

k 1

k 0
0

k 2
k 3

k 0
2

39

It is observed from the root locus that the system is stable

for any K.
For 0 K 0.5(0 k 1), there are two different
negative real roots.
For K=0.5(k=1), there are two same negative real roots. For
K 0.5(k 1), there are a pair of conjugate complex
poles.
For K=5( k=10), the closed-loop poles are

s12 n j n 1 1 j 3
2

1
n 10 3.16,
0.316
3.16
40

The criteria for transient performance can be given by

Overshoot

p e

/ 1 2

Peak time

tp

100% e 1.05 100% 35%

n 1 2

1.05s

3
3s ( 5%)
Settling time t s
n

41

1. We can get the information of the systems stability by checking

whether or not the root loci are on the left half s-plane with the systems
parameter varying.
2. We can get some information of the systems steady-state error in
terms of the number of the open-loop poles at the origin of the s-plane.

3. We can get some information of the systems transient performance in

terms of the tendencies of the root loci with the systems parameter
varying.
4. If the root loci in the left half s-plane move to somewhere far away
from the imaginary axis with the systems parameter varying, the
systems response decays more rapidly and the system is more stable,
vice versa.
42

 Use Matlab to sketch root locus

m

Gk s

K g ( s zi )
i 1

(s p )
j 1

K g s +3 s +4

s +1 s +2

K g s 2 +7 s +12
s 2 +3s +2

In Matlab:
num=[1 7 12]

sys=tf[num,den]

den=[1 3 2]
rlocus(num,den)
43

44