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Root Locus Theory

This document provides background information on root locus analysis and techniques for sketching root loci. It discusses open-loop vs closed-loop systems, complex number vector representation, the definition of a root locus as the paths of closed-loop poles as gain is varied, and five rules for sketching root loci including that the number of branches equals the number of closed-loop poles and the locus is symmetrical about the real axis. It also covers refining a root locus sketch by determining real axis breakaway/break-in points and jw-axis crossings. The document concludes by posing a problem to sketch the root locus for a given transfer function.

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Atikah Abdalla
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55 views16 pages

Root Locus Theory

This document provides background information on root locus analysis and techniques for sketching root loci. It discusses open-loop vs closed-loop systems, complex number vector representation, the definition of a root locus as the paths of closed-loop poles as gain is varied, and five rules for sketching root loci including that the number of branches equals the number of closed-loop poles and the locus is symmetrical about the real axis. It also covers refining a root locus sketch by determining real axis breakaway/break-in points and jw-axis crossings. The document concludes by posing a problem to sketch the root locus for a given transfer function.

Uploaded by

Atikah Abdalla
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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ME 176

Control Systems Engineering


Root Locus Technique

Department of
Mechanical Engineering
Introduction : Root Locus

"... a graphical representation of closed loop poles as a system


parameter is varied, is a powerful method of analysis and design
for stability and transient response."

"...real powere lies in its ability to provide for solutions for systems of
order higher than 2."
Department of
Mechanical Engineering
Background: Control Systems
Open Loop vs. Closed Loop

Department of
Mechanical Engineering
Background: Complex Number Vector Representation

Representation of complex Number:


Cartesian Form :
Vector Form :

Vector complex arithmetic:

Department of
Mechanical Engineering
Background: Complex Number Vector Representation
Example

Department of
Mechanical Engineering
Background:
Root Locus

"... is the representation of the


paths of the closed-loop poles as
the gain is varied." Department of
Mechanical Engineering
Background: Root Locus

Given Poles and Zeros of a closed-loop


transfer function KG(s)H(s) a point in the
s-plane is on the root locus for a gain K if : angles of zeros minus
angles of poles add up to (2k+1)180 degrees. K is found by dividing
the product of pole lengths to that of zeros.
Department of
Mechanical Engineering
Sketching: Root Locus

Rule 1 of 5 : The number of branches of the root locus equals the


number of closed-loop poles.

2 poles therefore 2 branches

Department of
Mechanical Engineering
Sketching: Root Locus

Rule 2 of 5 : The root locus is symmetrical about the real axis

Symmetry of segments between:


Branch 1 : -5 onward
Branch 2 : -5 onward

Department of
Mechanical Engineering
Sketching: Root Locus

Rule 3 of 5 : On the real axis, for K > 0 the root locus exists to the left of
an odd number of real-axis, finite open-loop poles and/or finite open-loop
zeros.

Root Locus Exists:


Left of -3 : zero number 1
Left of -1 : pole number 1

Department of
Mechanical Engineering
Sketching: Root Locus

Rule 4 of 5 : The root locus begins at the finite and infinite poles of G(s)H
(s) and ends at the finite and infinite zeros of G(s)H(s).

Root Locus Exists:


Starts on poles at real axis : -1, -2
Ends on zeros at real axis : -3, -4

Department of
Mechanical Engineering
Sketching: Root Locus

Rule 5 of 5 : The root locus approaches straight lines as asymptotes as


the locus approaches infinity. Further, the equation of the asymptotes is
given by :

Angle is radians with respect to positive


extension of the real axis.

Department of
Mechanical Engineering
Refining Sketch: Root Locus

Real Axis Breakaway and Break-in :

Breakaway and break-in points


satisfy the relationship:

where zi and pi are vnegative


of the zero and pole values,
respectively.

Department of
Mechanical Engineering
Refining Sketch: Root Locus

jw - Axis Crossing :

Use Routh-Hurwitz criterion,1) forcing


a row of zeros in the Routh table to
establish the gain; 2) then going back
one row to the even polynomial
equation and solving for the roots
yields the frequency at the imaginary
axis crossing.

1)

2)

Department of
Mechanical Engineering
Problem:

Department of
Mechanical Engineering
Problem:

Sketch the root locus and its asymptotes for a unity feedback system that has the
forward transfer function:

Department of
Mechanical Engineering

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