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S - plane
j
G(s)=
Zero
S+1
S+2
Stable
Un stable
Closed-loop system
K
G(s)
C(s)
R(s)
C(s) = KG(s)
R(s) 1+KG(s)
Closed-loop system
Open loop system TF
1+KG(s)=0
1+KG(s)= 1+K
N(s)
D(s)
Characteristics equations
= D(s)+KN(s)
G(s)=
N(s)
D(s)
Root locus
Root locus is the technique to draw the roots
(poles) of a closed loop characteristics
polynomial while changing the design
parameter K
K
R(s)
G(s)
C(s)
Simple example
G(s)=
K=0, S=-2
K=, S=-1
S+2+K(S+1)=0
S(K+1)+2+K=0
S+1
S+2
In More General
1+KG(s)=0
KG(s)=-1
|KG(s)|=1 - Magnitude condition
KG(s)
= nx180 , n=(+,-)1,3,5,..
Angle condition
A locus of the points satisfies the angle
condition alone is the roots locus
In s - plane
P1
KG(S)=KZ1Z2 / P1P2
1
Z2
Z1
2
P2
KG(s)= 1+ 2- 1- 2
1+KG(s)= 1+K
N(s)
D(s)
= D(s)+KN(s)=0
G(s)=
1
S+2
The angle contribution of the poles and zeros to its left are (+/-)180 degrees.
Odd numbers of poles / zeros results in (+/-) 180 degree
This is the angle condition for root locus.
Terminology
The centroid =
+_ 180(2k+1)
n-m
poles zeros
n-m
k=0,1,2,..