Learn a specific technique which shows

how
changes in one of a systems
parameter
(usually the controller gain, K)
will modify the location of the closedloop poles
in the s-domain.

The closed-loop poles of the negative feedback

control:
1 KG s H s 0

are the roots of the characteristic equation:

1 KG s H s 0

The root locus is the locus of the closed-loop poles

when a specific parameter (usually gain, K)
is varied from 0 to infinity.

 The

value of s in the s-plane that make

the loop gain KG(s)H(s) equal to -1 are
the closed-loop poles
(i.e.1 KG s H s 0 KG s H s 1
)

KG(s)H(s)

= -1 can be split into two

equations by equating the
magnitudes and angles of both sides
of the equation.

KG s H s 1
KG s H s 1
KG s H s 1800 2l 1

l 0 , 1, 2 ,

G s H s 1 K
G s H s 180 o 2l 1

l 0 , 1, 2 ,

Independent of K

 Relationship

between the openloop and closed-loop poles and

zeros
Root locus equation:
m
n

( s z ) ( s p ) (2k 1)

j 1

i 1

s p
i 1
m

sz
j 1

( k 0, 1, 2 )

 How

to determine the closed-loop

poles from the known open-loop
poles and zeros and gain by root
locus equation.
Angle
requirement
root
locus
Necessary
and sufficient conditionfor
for root
locus plot
Magnitude

requirement for root locus

Gain evaluation for specific point of root locus

 Step

1:Write the characteristic

equation as

1 F ( s) 0

Step

2: Rewrite preceding equation

into the form ofm poles and zeros as
follows:
(s z j )
1 K

j 1
n

(s p )
i 1

 Step

3: Locate the poles and zeros

with specific symbols, the root
locus begins at the open-loop
poles and ends at the open-loop
zeros as K increases from 0 to
If
open-loop
system
has
n-m
zeros
at
infinity.
infinity, there will be n-m branches of the root
locus approaching the n-m zeros at infinity.

 Step

4: The root locus on the real axis

lies in a section of the real axis to the
left of an odd number of real poles and
zeros.
Step 5: The number of separate loci is
equal to the number of open-loop poles.
Step 6: The root loci must be continuous
and symmetrical with respect to the
horizontal real axis.

 Step

7: The loci proceed to zeros

a
at infinity along asymptotes
a
centered
at
and with angles
:
n
m
a

p z
i 1

j 1

nm

( 2k 1)
a
nm

( k 0,1, 2, n m 1)

 Step

8: The actual point at which

the root locus crosses the
imaginary axis is readily evaluated
by using Routh criterion.
Step 9: Determine the breakaway
point d (usually on the real axis):
m
n
1
1

j 1 d z j
i 1 d pi

 Step

10: Determine the angle of

pi from a pole
departure of locus
and the angle of arrival zof
the
i
locus at a zero
by using
phase angle criterion.
m
n
pi 180 ( z j pi
0

j 1

zi 1800 (

j 1, j i

j 1, j i
n

z j zi

p j pi

p j zi )
j 1

 Step

11: Plot the root locus that

satisfy the phase criterion.
P( s ) ( 2k 1)
k 1, 2,
Step 12: Determine the parameter
value K1 at a specific root
s1
using the magnitude criterion.
n

K1

(s p )
i 1
m

(s z )
j 1

s s1

1)

Sketch the root locus of the

following system:

Assuming n poles and m zeros for

G(s)H(s):
The

n branches of the root locus

start at the n poles.
m of these n branches end on the m
zeros
The n-m other branches terminate
at infinity along asymptotes.
First step: Draw the n poles and m zeros
of G(s)H(s) using x and o respectively

Draw the n poles

and m zeros of
G(s)H(s) using x
1
and
o
G s H s
s s 1 s 2
respectively.

3 poles:
p1 = 0; p2 = -1; p3 = -2

No zeros

Draw the n poles

and m zeros of
G(s)H(s) using x
1
and
o
G s H s
s s 1 s 2
respectively.

3 poles:
p1 = 0; p2 = -1; p3 = -2
No zeros

 The

loci on the real axis are to the

left of an ODD number of REAL
poles and REAL zeros of G(s)H(s)

Second step: Determine the loci on

the real axis. Choose a arbitrary test
point. If the TOTAL number of both
real poles and zeros is to the RIGHT
of this point is ODD, then this point
is on the root locus

Determine the loci on

the real axis:

Choose a arbitrary
test point.
If the TOTAL number
of both real poles
and zeros is to the
RIGHT of this point is
ODD, then this point
is on the root locus

Determine the loci on

the real axis:

Choose a arbitrary
test point.
If the TOTAL number
of both real poles
and zeros is to the
RIGHT of this point is
ODD, then this point
is on the root locus

Assuming n poles and m zeros for G(s)H(s):

The root loci for very large values of s must
be asymptotic to straight lines originate on
the real axis at point:
n pi m zi
s
nm
radiating out from this point at angles:

180o 2l 1
l
nm

Third step: Determine the n - m asymptotes of the

root loci. Locate s = on the real axis. Compute
and draw angles. Draw the asymptotes using
dash lines.

Determine the n - m
asymptotes:
Locate s = on the real
p p2 p3 0 1 2
saxis:
1

1
30

Compute
180 2land
1 draw
l 0, 1, 2 ,

l
angles:
nm

1800 2 0 1
0
600
30
1800 2 1 1
1
1800
30

Draw the asymptotes

using dash lines.

Determine the n - m
asymptotes:
Locate s = on the real
p p2 p3 0 1 2
saxis:
1

1
30

Compute
180 2land
1 draw
l 0, 1, 2 ,

l
angles:
nm

1800 2 0 1
0
600
30
1800 2 1 1
1
1800
30

Draw the asymptotes

using dash lines.

 The

breakpoints are the points in the

s-domain where multiples roots of
the characteristic equation of the
feedback control occur.

These

points correspond to
intersection points on the root locus.

Given the characteristic equation is KG(s)H(s) = -1

The breakpoints are the closed-loop poles

that satisfy:

dK
0
ds

Fourth step: Find the breakpoints. Express K such

as:

for
1 the poles.
Set dK/ds = 0 and
solve
K
.
G s H s

Find the breakpoints.

Express K such as:

1
K
s s 1 s 2
G( s )H ( s )
K s 3 3s 2 2 s

Set dK/ds = 0 and solve

for the poles.

3s 2 6 s 2 0
s1 1.5774, s2 0.4226

Find the breakpoints.

Express K such as:

1
K
s s 1 s 2
G( s )H ( s )
K s 3 3s 2 2 s

Set dK/ds = 0 and solve

for the poles.

3s 2 6 s 2 0
s1 1.5774, s2 0.4226

Assuming n poles and m zeros for

G(s)H(s):
The

n branches of the root locus

start at the n poles.
m of these n branches end on the m
zeros
The n-m other branches terminate
at infinity along asymptotes.
Last step: Draw the n-m branches that
terminate at infinity along asymptotes

Draw the n-m branches

that terminate at infinity
along asymptotes