Control Systems

Lect.8 Root Locus Techniques

Basil Hamed
Chapter Learning Outcomes
After completing this chapter the student will be able to:
• Define a root locus (Sections 8.1-8.2)
• State the properties of a root locus (Section 8.3)
• Sketch a root locus (Section 8.4)
• Find the coordinates of points on the root locus and
their associated gains (Sections 8.5-8.6)
• Use the root locus to design a parameter value to
meet a transient response specification for systems
of order 2 and higher (Sections 8.7-8.8)

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Root Locus – What is it?
• W. R. Evans developed in 1948.
• Pole location characterizes the feedback system stability
and transient properties.
• Consider a feedback system that has one parameter
(gain) K > 0 to be designed.

L(s): open-loop TF

• Root locus graphically shows how poles of CL system

varies as K varies from 0 to infinity.

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Root Locus – A Simple Example

Characteristic eq.

K = 0: s = 0,-2
K = 1: s = -1, -1
K > 1: complex numbers

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Root Locus – A Complicated Example

Characteristic eq.

• It is hard to solve this analytically for each K.

• Is there some way to sketch a rough root locus by
hand?

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 8. 1 Introduction
• Root locus, a graphical presentation of the closed-loop poles as a
system parameter is varied, is a powerful method of analysis and
design for stability and transient response(Evans, 1948; 1950).

• Feedback control systems are difficult to comprehend from a

qualitative point of view, and hence they rely heavily upon
mathematics.

• The root locus covered in this chapter is a graphical technique that

gives us the qualitative description of a control system's
performance that we are looking for and also serves as a powerful
quantitative tool that yields more information than the methods
already discussed.
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8.2 Defining the Root Locus
The root locus technique can be used to analyze and design the effect
of loop gain upon the system's transient response and stability.

Assume the block diagram representation of a tracking system as

shown, where the closed-loop poles of the system change location as
the gain, K, is varied.

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 8.2 Defining the Root Locus
The  T.F shows the variation of pole location for different values
of gain k.

Pole location as a function of gain for the

system

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8.4 Sketching the Root Locus

 1. Obtain the open-loop function kG(s)H(s)

Characteristic Eq.: 1+kG(s)H(s)=0

2. Mark Poles with X and Zeros with O

3. Draw the locus on the real axis to the left of an odd number of real
poles plus zeros.
4. The R-L is Symmetrical with respect to the real axis.

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8.4 Sketching the Root Locus
5.  The R-L originates on the poles of G(s)H(s) and terminates on the
zeros of G(s)H(s)
6. Draw the asymptotes α = n – m
α :numb of asymptotes, n: numb of zeros, m: numb of poles

1+kG(s)H(s) = 0, k=

7. The break away points will appear among the roots of polynomial
obtained from: = 0 OR -D(s)

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Example
Find R-L

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Example
Sketch R-L

Solution:

Indicate the direction

with an arrowhead
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Example
 
Intersections of asymptotes =
Asymptotes
(Not root locus)

Breakaway points are among roots of

s = -2.4656, -0.7672 ± 0.7925 j

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Example

Breakaway point
-2.46
K=.4816

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Root Locus – Matlab Command “rlocus.m”

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Example

There are three

finite poles, at s
= 0, — 1, and -
2, and no finite
zeros

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Example

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 Example 8.2 P. 400
PROBLEM: Sketch the root locus for the system shown in Figure

SOLUTION: Let us begin by calculating the asymptotes α = n – m =4-1=3

  =±60,+ 180
Breakaway point= -D(s)==-.44

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Example 8.2 P. 400

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Root-locus diagrams that show the effects of
adding poles to G(s) H(s)

  a>0

  b>a>0

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Root-locus diagrams that show the effects of
adding poles to G(s) H(s)

 another pole is added to G(s)H(s) at s = -c

 addition of a pair of complex conjugate

poles to the transfer function

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Root-locus diagrams that show the effects of
adding a zero to G(s)H(s)

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Example
  : find R-L when b=1,i) a=10, ii)a=9, iii)a=8 , iv) a=3, v)
Given
a=1
Solution: i)a = 10. Breakaway points: s = -2.5 and -4.0.

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Example
ii) a = 9. The breakaway point at s = -3.

iii) a = 8. No breakaway point on RL

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Example
iv) a = 3.

v) a = b = 1. The pole at s = -a and

the zero at -b cancel each other out,
and the RL degenerate into a
second-order case and lie entirely
on the jw-axis.

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2 Real Poles
2 Real Poles + 1 Real Zero
2 Complex Poles and 1 Real Zero
Example
Consider
  the closed loop system with open loo function
K a) sketch R-L
b)What range of k that ensures stability?
Solution:

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Example

Not valid

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Example
  b) Charct Eq, 1+kGH=0
Part 1+=0
Using R-H array

For stability need

b= (-1/4)(k-10)>0 k<10

C= k-6 k> 6 6<k<10

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Example
Find R-L and find k for
critical stability

Solution

Breakaway points are

among roots of

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Example

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Example
Characteristic equation

Routh array

When K = 30

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Example

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 Example
Find
  R-L, check if the R-
L cross the Imj. axes
, H(s)=1

Root Locus

Solution 10

>> n=[1 1]; 6

>> d=[1 4 0 0]; 4

>> rlocus(n,d) 2
Imaginary Axis

-2

-4

There is no Imj axes crossing -6

-8

-10
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis

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Example
 FindR-L, check if the
R-L cross the Imj. axes
, H(s)=1
Root Locus
10

Solution 6

>> n=[1]; Imaginary Axis 2

>> d=[1 4 1 -6]; 0

>> rlocus(n,d) -2

-4

-6

-8

-10
-14 -12 -10 -8 -6 -4 -2 0 2 4 6
Real Axis
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 Example
Given check if the
following poles are on R-L, if so,
find the value of k;
i) s=-1+j, ii) s=-2+j
Solution: R-L is
i) Select a point s=-1+j, we can see
that s is on R-L , find value of k

ii) Select a point s=-2+j, we can see that s is not on R-L there is no k value.

s is NOT on root locus..

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Example
 Given:, H(s)=1
Find R-L, and the value of k
that satisfy the design
criteria : % O.S 20 %
Root Locus
10

2
 Solution:
α = n – m= 2 Imaginary Axis 0

Asymptote -2

= 90, -4

-6

-8

-10
-2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
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Example
From
  % O.S we find ζ=0.45. We have
= 2.7 = 3.29, the pole location will be
= -1.5 j 2.93. as we can see that the pole will be on the R-L.

The value of k will be =0.382

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Example

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Root Locus – Control Example
a) Set Kt = 0. Draw R-L for K > 0.
b) Set K = 10. Draw R-L for Kt > 0.
c) Set K = 5. Draw R-L for Kt > 0.

Solution:Root Locus – (a) Kt = 0

There is no
stabilizing gain K!

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Root Locus – Control Example
Root Locus – (b) K = 10

Characteristic eq.

By increasing Kt,
we can stabilize
the CL system..
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Root Locus – Control Example
Characteristic equation

R-H array

When Kt = 2

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Root Locus – Control Example
Root Locus – (c) K = 5
Characteristic eq.

Root Locus
10

>> n=[1 0]; 4

>> d=[1 5 0 5];

2
Imaginary Axis

>> rlocus(n,d)
0

-2

-4

-6

-8

-10
-6 -5 -4 -3 -2 -1 0 1

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Root Locus – Effect of Adding Poles
Pulling root locus to the RIGHT
– Less stable
– Slow down the settling

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Root Locus – Effect of Adding Zeros

Pulling root locus to the LEFT

– More stable
– Speed up the settling
Add a zero

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Example

The Plant

Feedback Control System

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 Example
P controller set Gc(s)=k, open loop TF is:
 
Breakaway point=0
Root Locus
1.5

>> n=[1]; 1
>> d=[1 0 0];
>> rlocus(n,d) 0.5

Imaginary Axis
0

Marginal stable for all value of k -0.5

P control is unacceptable
-1

-1.5
-0.2 -0.15 -0.1 -0.05 0 0.05 0.1 0.15
Real Axis

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