MECH NOTES

UNIT-4
Poles and Zeros – Stability of Systems – Conditions for Stability – Routh –
Hurwitz Stability Criterion – Root Locus Analysis – Properties – Root Locus Plots
Part –A (2 Marks)

1. What are root loci?

The path taken by the roots of the open loop transfer function when the loop gain is
varied from 0 to infinity are called root loci.
2. What is a dominant pole?
The dominant pole is a pair of complex conjugate pole which decides the transient
response of the system. In higher order systems the dominant poles are very close to origin and
all other poles of the system are widely separated and so they have less effect on transient
response of the system.
3. What are the main significances of root locus?
▷ The root locus technique is used for stability analysis.
▷ Using root locus technique the range of values of K, for as stable system can be
determined
4. What are break away and break in points?
At break away point the root locus breaks from the real axis to enter into the complex
plane. At break in point the root locus enters the real axis from the complex plane. To find the
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break away or break in points, form a equation for K from the characteristic equation and
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differentiate the equation of K with respect to s. Then find the roots of the equation dK/dS = 0.
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The roots of dK/dS = 0 are break away or break in points provided for this value of root the gain
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K should be positive and real.

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5. What are asymptotes? How will you find angle of asymptotes?

Asymptotes are the straight lines which are parallel to root locus going to infinity and
meet the root locus at infinity.
Angles of asymptotes = ±180° (2q + 1)/(n-m) q= 0,1,2, …….(n-m)
n- number of poles.
m- number of zeros.
6. What is centroid?
The meeting point of the asymptotes with the real axis is called centroid. The centroid is
given by Centroid = (sum of poles – sum of zeros) / (n-m)
n-number of poles.
m-number of zeros.

7. What is magnitude criterion?

The magnitude criterion states that s=sa will be a point on root locus if for that value of S,
magnitude of G(S)H(S) is equal to 1.
|G(S)H(S)| = K(product of length of vectors from open loop zeros to the point s=sa)/ (product of
length of vectors from open loop poles to the point s=sa) = 1.
8. What is angle criterion?
The angle criterion states that s=sa will be the point on the root locus if for that value of S
the argument or phase of G(S)H(S) is equal to an odd multiple of 180°.
(Sum of the angles of vectors from zeros to the point s=sa)- (Sum of the angles of vectors from
poles to the point s=sa) = ±180° (2q + 1)
9. How will you find the root locus on real axis?
To find the root loci on real axis, choose the test point on real axis. If the total number of
poles and zeros on the real axis to the right of this test point is odd number then the test point
lie on the root locus. If it is even then the test point does not lie on the root locus.
10. What is characteristic equation?
The denominator polynomial of C(S)/R(S) is the characteristic equation of the system.
11. How the roots of characteristic are related to stability?
If the root of characteristic equation has positive real part then the impulse response of
the system is not bounded. Hence the system will be unstable. If the root has negative real parts
then the impulse response is bounded. Hence the system will be stable.
12. What is the necessary condition for stability?
The necessary condition for stability is that all the coefficients of the characteristic
polynomial be positive. The necessary and sufficient condition for stability is that all of the
elements in the first column of the routh array should be positive.
13. What are the requirements for BIBO Stability?
The requirement of the BIBO stability is that the absolute integral of the impulse
response of the system should take only the finite value.
14. What is auxiliary polynomial?
In the construction of routh array a row of all zero indicates the existence of an even
polynomial as a factor of given characteristic equation. In an even polynomial the exponents of
S are even integers or zero only. This even polynomial factor is called auxiliary polynomial. The
coefficients of auxiliary polynomial are given by the elements of the row just above the row of all
zeros.
15. For the system represent by the following characteristic equation say whether the
necessary condition for stability is satisfied or not.

In equation (i) all the coefficient are positive and so the necessary condition for stability
is satisfied. In equation (ii), (iii) and (iv) some of the coefficient are negative and some of the
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coefficient are missing. Hence the necessary condition for stability is not satisfied
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Part –B
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1. Explain the concept of stability in control system

CONCEPTS OF STABILITY:

Stability in a system implies that small changes in the system input, in initial conditions
(or) in system parameters do not result in large changes in system output. The linear time
invariant system is stable, if the following two notions of system stability are satisfied.

▷ When the system is excited by the bounded input, the output is bounded.
▷ In the absence of the input, the output tends towards zero irrespective of initial
conditions, [This stability concept is known as asymptotic stability]
▷ If the system is subjected to an unbounded input and produces an unbounded response,
the system is unstable.
But if it is subjected to a bounded input and produce an unbounded response the
system is unstable. The output of the unstable system may increase to certain extent and then
the system may breakdown (or) become non-linear, after the output exceeds certain magnitude
so that a linear Mathematical model no longer applies.
Absolute stability:
The linear system is characterized as absolutely stable system with respect to a
parameter of the system if it is stable for all value of this parameter.
Conditionally stable system: (qualitative Stability)
A system is said to be conditionally stable with respect to a parameter, if a
system is stable for only certain bounded ranges of values of this parameter
Relative stability: (Quantitative stability)
 Relative stability is the Quantitative measure of how fast the transients die out in the
system. It may be measured by Relative settling times of each root or pair of roots.
As a root [or a pair of roots] moves far from the imaginary axis as shown in figure, the
relative stability of the system improves

Relative stability for various root locations in the s-plane

Necessary conditions for stability:

The necessary condition for stability of a linear system is that all the co-efficient of the
characteristic equation q(s) =0, Be real and have the same sign. Furthermore, none of the
coefficients should be zero.
Q (s) = a0 sn+ a1 sn-1 + ……. + an-1 s +an =0; a0>0
In case ao tends to zero, it can be made positive by multiplying the characteristic
equation by -1 throughout. The absence or negativeness of any coefficient of the characteristic
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equation ( if ao ≥ 0) indicates that the system is either unstable (or) atmost limitedly stable.
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▷ The positiveness of the coefficients of the characteristic equation is necessary as well as

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sufficient conditions of stability of system of I & II order.

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▷ The positiveness of the coefficients of the characteristic equation ensures the negativeness
of real roots but does not ensure the negativeness of the real parts of complex roots for III &
higher order system .Therefore it cannot be a sufficient condition for stability of III & higher
order systems.
▷ If the characteristic equation of the system is of degree higher than second, the possibility
of its instability cannot be excluded even when all the coefficients of characteristic equation
are positive. The First step in analysing the stability of the system is to examine its
characteristic equation. If some of the coefficient are zero (or) negative it can be concluded
that the system is not stable.
▷ On the other hand if all the coefficients of the characteristic equations are positive (or
negative), the possibility of stability of system exists and one should proceed further to
examine the sufficient condition of the stability.
 2. Explain about the Routh stability criterion in details

ROUTH STABILITY CRITERION:

Q(s) = aos +a1s +a2s +………+ an-1s+an =0
n n-1 n-2

Routh Array:
S n a0 a2 a4 a6
S n-1 a1 a3 a5
S n-2 b1 b2 b3
S n-3 c1 c2
S n-4 d1 d2
. . .
. . .
. . .
s 2 e1 an
s 1 f1
S o an
b1 = (a1 a2 – a0 a3) \a1;
b2 =(a1 a4-a0a5)\a1;
c1= (b1 a3 – a1 b2)\b1;
c2=(c1 b5 – a1 b3)\b1;
d1= (c1 b2 – b1 c2)\c1;
d2= (c1 b3 -b1 c3)\c1
This process is continued till we get zero as the last coefficients, in a particular row. In
the process of generating the routh Array, the missing terms are regarded as zero, also all the
elements of any row can be divided by a positive constants during the process to simplify the
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work.
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The Routh’s stability criterion is stated as below

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For a system to be stable, it is necessary and sufficient that all elements of I Colum of
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Routh array of its characteristic equation be positive if ao>o. If this condition is not met, the
system is unstable and number of sign changes of the terms of the I column of routh array
corresponds to the number of roots of the characteristic equation in the right half of the s-plane.

3. Using Routh’s criterion Determine the stability of the system represented by a

characteristic equation s +8s +18s +16s+5 =0. comment on the location of the roots of
4 3 2

characteristic equation
S +8s +18s +16s+5 =0.
4 3 2

Necessary condition:
All the coefficients given in the polynomial are positive (or of same sign) and none of the
terms are missing. Hence the system may be stable
Sufficient condition:
For the system to be stable it has to satisfy the necessary condition as well as the
sufficient condition. The sufficient condition can be checked using Routh’s stability condition.
Routh array:
S4 1 18 5
S3 8 16 0
S2 16 5 0
S1 1.7 0
S0 5
On examining the elements of I column of Routh array is observed that all the elements
have positive sign and there is no sign change. Hence all the roots are lying on left half of its
plane.

▷ Stable System
▷ All four roots lie on left half of s-plane.

4. Using Routh’s criterion Determine the stability of the system represented by a

characteristic equation S +2s +8s +12s +20s +16s+16=0. comment on the location of the
6 5 4 3 2

roots of characteristic equation

S +2s +8s +12s +20s +16s+16=0
6 5 4 3 2

Necessary condition:
All the coefficient given in the polynomial are positive and none of the term are missing.
Hence the system may be stable.
Sufficient condition:
For the system to be stable it has to satisfy the necessary condition as well as the
sufficient condition. The sufficient condition can be checked using Routh stability condition.

Routh array:
S6 1 8 20 16
S5 1 6 8 0 (Dividing throught by 2)
S4 1 6 8
S3 0 0 0
S2 3 8
S1 0.333 0
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S0 8
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[If the element in a row becomes zero, from an auxillary polynomial

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A (s) = 1s +6s +8
4 2
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dA /dS = 4s +12s]
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After forming a Routh array if we examine I column all elements seems to be positive & it
satisfies the Routh stability criterion. Hence the system is stable
All the roots of the given system are located in the left half of the s-plane. Find out the root
that passes entire row all zero
The roots of the Auxillary polynomial are
s =x
2

X +6x+8=A(s)
2

The roots are s= + j √2; + j2

5. Construction of Root locus.

Root locus Technique:
The root locus technique, for finding the roots of the characteristic equation provides a
graphical method of plotting the locus of the roots in the s-plane, as a given system parameter
is varied over the complete range of values (May be from o to ∞). The roots corresponding to a
particular value of the system parameter can then be located on the locus or the value of the
parameter for a desired root location can be determined from the locus.
The root locus also provides a measure of sensitivity of roots to the variation of the parameter
be considered.
The closed loop transfer function of the system shown is

So the characteristic equation is

As K changes, so do locations of closed loop poles (i.e., zeros of characteristic

equation). The table below gives rules for sketching the location of these poles as K
varies from 0 to INFINITY (K>0).

Rule Name Description

Definitions • The loop gain is KG(s)H(s) which can be rewritten as
KN(s)/D(s).
• N(s), the numerator, is an mth ORDER polynomial; D(s)
is nth order.
• N(s) has zeros at zi (i=1..m); D(s) has them at pi (i=1..n).
• The difference between n and m is q, so q=n-m.
Symmetry The locus is symmetric about real axis (i.e., complex poles appear
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as conjugate pairs).
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Number of Branches There are n branches of the locus, one for each pole of the loop
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gain.
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Starting and Ending Points The locus starts (when K=0) at poles of the loop gain, and ends
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(when K→∞ ) at the zeros. Note: there are q zeros of the loop gain
as |s|→∞ .
Locus on Real Axis The locus exists on real axis to the left of an odd number of poles
and zeros.
Asymptotes as |s|→∞ If q>0 there are asymptotes of the root locus that intersect the real
axis at
sum of poles-sum of zeros
σ =
A n-m
0
180 (2q+1)
, and radiate out with angles φ = , where q=0,1,2...
A n-m
Break-Away and -In Points on There are break-away or -in points of the locus on the axis
Real Axis wherever dK/ds =0,if r numbers of branches of root locus meet at a
point,then they break away at an angle of ±1800/r.
Angle of Departure from Complex Angle of departure from pole pj is
Pole 0
φp =±180 2q+1 +φ; q=0,1,2,....
Where Φ is the net angle contribution at the pole by all other open
loop poles and zeros
Angle of Arrival at Complex Zero Angle of arrival at zero zj is
0
φz =±180 2q+1 +φ; q=0,1,2,....
Where Φ is the net angle contribution at the zero by all other open
loop poles and zeros
Locus Crosses Imaginary Axis Use Routh-Horwitz to determine where the locus crosses the
imaginary axis.Alternatively they can be evaluated by letting s=jω in
the characteristic equation and equating the real and imaginary part
to zero,to solve for ω and K. The values of ω are the intersection
points on imaginary axis and K is the value of gain at the
intersection points.
Determine Location of Poles, Rewrite characteristic equation as D(s)+KN(s)=0. Put value of K into
Given Gain "K" equation, and find roots of characteristic equation.
Determine Value of "K", Given n

Pole Locations sa + p
i
i=1
Rewrite characteristic equation as K= m
=
sa + z
i
i=1

Product of vector lenghts from open loop poles to the points sa

Product of vector lenghts from open loop zeros to the points sa

, replace "s" by the desired pole location and solve for K. Note: if "s"
is not exactly on locus, K may be complex, but the imaginary part
should be small. Take the real part of K for your answer.

Application of root locus:

Determination of roots for a specified open loop gain:

Along a particular root locus branch , a region is determined by trial & error procedure
such that the values of the open loop gain at various points of the region are closed to specified
value. Further trial & error will then yield the root location. The above procedure is repeated for
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each root locus branch.

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Determination of the open loop gain for a specified damping of the dominant root. A
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damping line making an angle θ= cos– 1 Σ with negative real axis is drawn for the specified
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damping in the region where the rough root locus edge intersects the delta line, the trial error
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procedure is adopted along the delta line to determine the point of intersection accurately. This
point is then the desired root at which the open loop gain is computed. Roots along other
branches can then be obtained for this open loop gain using the procedure outline above.

6. Consider a feedback system with the characteristic equation 1+ (K.1/

s(s+1)(s+2))=0.Sketch the Root locus.
Step1: To locate poles and zeros
The poles of open loop transfer function are the roots of the equation s(s+1)(s+2)=0
The pole are lying at ,s=0,-1,-2.
Let us denote the pole as p1,p2,p3.
Here p1=0,p2= -1, p3= -2
The poles are marked by x(cross)
Step 2:To find the root locus on real axis:
• There are three poles on the real axis
• Choose a test point on real axis between s=0 and s= -1. To the right of this point the total
number of real poles and zeros is one,which is an odd number.Hence the real axis
between s=0 and s=-1 will be a part of root locus.
• Choose a test point on real axis between s=-1 and s= -2. To the right of this point the
total number of real poles and zeros is two,which is an even number.Hence the real axis
between s= -1 and s= -2 will not be a part of root locus
 • Choose a test point on real axis to the left of s= -2. To the right of this point the total
number of real poles and zeros is three,which is an odd number.Hence the entire
negative real axis from s= -2 to s=∞ will be a part of root locus
Step 3:To find asymptotes and centroid:
Since there are three poles the number of root locus branches are three.There is no finite
zero.Hence all the root locus branches ends at zeros at infinity.
The number of asymptotes required are three.
0
180 (2q+1)
Angle of asymptotes =φ = where q=0,1,2...
A n-m
Here n= 3 and m= 0.
ØA=± 180 (2q+1) / (n-m) q = 0,1,2, (n-m-1)
q= (3-0-1)
q=2
When q=0,
ØA0 = ±180(2*0+1)/ 3-0
ØA0=±60*
When q=1,
ØA1 = ±180 (2*1+1) /3-0
ØA1=±180*
When q=2,
ØA2= ±180(2*2+1)/ 3-0
ØA2= ±30*
sum of poles-sum of zeros
Centroid =σ = =0-1-2-0/3 =-1
A n-m
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Step 4:To find the breakaway and breakin points:

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The breakaway point of the root locus are determined from the roots of the equation dk/ds = 0
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R Branches of root locus which meet at a point, break away at an angle +or - 180 /r
1 + k /[ S(s+1) (s+2)] =0
S(s+1) (s+2)+k=0
- (s +S) (s+2) = K
2

K= -s +s -2s -2s
3 2 2

K = - (s +3s +2s)
3 2

dk/ds = -(3s + 6s + 2) => dk/ds =0

2

S1 = - 0 . 423
S2 = - 1 . 577
In b\w -1 and -2 there is no root locus exists.So no break away ,breakin poin exists.
Step 5:To find the angle of departure and angle of arrival:
No complex poles in loop gain, so no angles of departure.
No complex zeros in loop gain, so no angles of arrival.

Step 6:To find the crossing point on imaginary axis

Routh array:

S3 + 3s +
2 2s + k = 0

S3 1 2

S2 3 k
S1 (6-k)/3 0

(6-K)/3>0 ; 6-K>0 ;k=6

K>0

0<K <6
Sub. K = 6 in Routh array
IN S 1 - row, all element becomes zero
Auxiliary polynomial is,
A = 3s2 + 6 = 0
S = ±j √2
The crossing point on root locus is
S1 = + j 1. 414
S2 = - j 1.414

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1
7. Consider the transfer function 2 . Sketch the Root locus.
s( s +5s+6)

Step1: To locate poles and zeros

For the open loop transfer function, G(s)H(s):
We have n=3 poles at s = 0, -3, -2. We have m=0 finite zeros. So there exists q=3 zeros as s
goes to infinity (q = n-m = 3-0 = 3).

We can rewrite the open loop transfer function as G(s)H(s)=N(s)/D(s) where N(s) is the
numerator polynomial, and D(s) is the denominator polynomial.
N(s)= 1, and D(s)= s3 + 5 s2 + 6 s.

Characteristic Equation is 1+KG(s)H(s)=0, or 1+KN(s)/D(s)=0,

or D(s)+KN(s) = s3 + 5 s2 + 6 s+ K( 1 ) = 0
The poles are marked by x(cross)
Step 2:To find the root locus on real axis:
• There are three poles on the real axis
• Choose a test point on real axis between s=0 and s= -2. To the right of this point the total
number of real poles and zeros is one,which is an odd number.Hence the real axis
between s=0 and s= -2 will be a part of root locus.
• Choose a test point on real axis between s= -2 and s= -3. To the right of this point the
total number of real poles and zeros is two,which is an even number.Hence the real axis
between s= -2 and s= -3 will not be a part of root locus
• Choose a test point on real axis to the left of s= -3. To the right of this point the total
number of real poles and zeros is three,which is an odd number.Hence the entire
negative real axis from s= -3 to s=∞ will be a part of root locus
Step 3:To find asymptotes and centroid:
• Since there are three poles the number of root locus branches are three.There is no finite
zero.Hence all the root locus branches ends at zeros at infinity.
• The number of asymptotes required are three.

0
180 (2q+1)
Angle of asymptotes =φ = where q=0,1,2...
A n-m

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Here n= 3 and m= 0.
ØA=± 180 (2q+1) / (n-m) q = 0,1,2, (n-m-1)
q= (3-0-1)
q=2
When q=0,
ØA0 = ±180(2*0+1)/ 3-0
ØA0=±60*
When q=1,
ØA1 = ±180 (2*1+1) /3-0
ØA1=±180*
When q=2,
ØA2= ±180(2*2+1)/ 3-0
ØA2= ±30*
sum of poles-sum of zeros
Centroid =σ = =0-3-2-0/3 =-1.87
A n-m

Asymptotes as |s| goes to infinity

Step 4:To find the breakaway and breakin points:

The breakaway point of the root locus are determined from the roots of the equation dk/ds = 0
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R Branches of root locus which meet at a point, break away at an angle +or - 180 /r
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1 + k /[ S(s+1) (s+2)] =0
D(s)+KN(s) = s3 + 5 s2 + 6 s+ K( 1 ) = 0
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K= -s3-5s2 -6s
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K = - (s3+5s2 +6s)
dk/ds = -(3s2 + 10s + 6) => dk/ds =0

This polynomial has 2 roots at s = -2.5, -0.78.

From these 2 roots, there exists 2 real roots at s = -2.5, -0.78. These are highlighted on the

diagram above (with diamonds.)

Not all of these roots are on the locus. Of these 2 real roots, there exists 1 root at s = -0.78 on
the locus (i.e., K>0). Break-away (or break-in) points on the locus are shown by diamonds
s=-0.78).
Check for K : when s=-0.78,the value of K is given by,
K= -[(-0.78) +5(-0.78) +6(-0.78)]=
3 2

Since K is positive and real for s=-0.78,this point is actual breakaway point.
when s=-2.5,the value of K is given by,
K= -[(-2.5) +5(-2.5) +6(-2.5)]=
3 2

Since K is negative for s=-2.5,this point is not a actual breakaway point.

(Real break-away (or break-in) with K less than 0 are shown with diamonds).

Step 5:To find the angle of departure and angle of arrival:

No complex poles in loop gain, so no angles of departure.
No complex zeros in loop gain, so no angles of arrival.

Step 6:To find the crossing point on imaginary axis

Routh array:
S + 5s + 6s + k = 0
3 2

S 1
3 6
S2 5 k
S1 (30-k)/5 0
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(30-K)/5>0 ; 30-K>0 ;k=30

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K>0
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0 < K < 30
Sub. K = 30 in Routh array
IN S - row, all element becomes zero
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Auxiliary polynomial is,

A= 5s 2 + 30 = 0
S = ±j √6
The crossing point on root locus is
S1 = + j 2.45
S2 = - j 2.45
The crossing point of root locus is ±j 2.45.The value of K at this crossing point is K=30
8. The feedback control system has an open loop T. F. G (s) H (s) = k /s(s+3) (s +2s+2).Find
2

the root locus as k varies from o to ∞

1. The root locus is symmetrical about the real axis
2. Each branch of the root locus originates from an open – loop at k = 0 and terminates at k =∞
, either on an open loop zero or an infinity. The number of branches of the root locus terminating
on infinity is equal to (n-m) (i.e.) the no. of open loop poles –the no. of zeros.
3. No. of root locus branches = n= no. of open loop poles
M => no. of open loop zeros = 0
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In the given system n = 4

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No. of branches = 4
There are 4 root locus braches they originate at each open loop pole with k= 0
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The number of root locus branches terminality on infinity = (n – m) = 4 – 0= 4.

The poles are
S = 0, s = -3, s= -1+j1 , s =1--j1
3.Segment of the real axis having an odd number of real axis open loop poles Plus zeros to their
right all parts of the root locus. In b\w 0 to – 3 root locus can exist or after -3 the root locus
doesn’t exist
4. The (n-m) root locus branches that tend to infinity, do so along straight line asymptotes
making angles with the real axis given by
ØA = 180 (2q + 2) /(n-m) , q = 0, 1, 2 ................................ (n-m-1)
q = (4 – 0 – 1) ; q = 3

ØA0 = 180* (2*0+1) /(4-0) = 45*

ØA1 = 180 *(2* 1+1) /(4-0) =135*
ØA2 = 180 *(2 *2+1)/ (4-0) = 225*
ØA3= 180 *(2 *3+1) /(4-0) = 315*
5. The point of intersection of the assymptotes with the real axis at S= - σ A
- σ A =( Σ real parts of poles - Σ real parts of zeros)/ (n – m)
- σ A = ( (-3) + ( -1) + (-1) – 0))/4
- σ A = -5 /4 = 1 . 25
6. The breakaway points of the root locus are determined from the roots of the equation dk /ds
=0
R branches of root locus which meet at a point, break away at an angle of = 180*/ r
dk / ds = 0
K = - (s +5s +8+s +6s)
4 3 2

dk/ds = - (4S + 15s + 16s + 6) = 0

3 2

S1 =-2.28
S2 =- 0.7301 + j0 . 348
S3 =-0.731 – j0 . 348
To Check the real part:
The magnitude condition states that s= sa will be a point on the root locus if for that value of
root locus magnitude of |G (s) .H (s) | = 1
The angle criterion states that s = sa will be a point on the root locus for that value of s

the angle of G (s) .H (s) should be odd multiple of 180*

Σ G (s) H (s) = +180 (aq+1)

Σ at j=1 s+zi – Σ at j=1 s+pj =± (2q + 1) 180*

Magnitude criterion:
Sub s = - 2 . 28 in equ.1,
k = - [ (-2.28) + 5(-2.28) + 8 (-2.28) + 6 (-2.28)]
4 3 2

k = - (-4.331)
k = 4.331
k is positive and real
Sub s = - 0.731 + 0 . 348i in equ.1
k = - [(0.731+0.348i) + 5 (-0.731+0.348i)
4 3
es

+ 8[ (-0.731+0.348i) + 6 (-0.731+0.348i)]
2
ot

K = 1.793 – j 0.18.
hN

Here k is not real

ec

S = - 0.731+ i 0.348 is not a breakaway point

M

Sub s = - 0.731 -0.348i in equ.1

K = - [(-0.731-0348i) + 5(-0.731-0.348i)
4 3

+8 [(-0.731-0.348i) – 6 (-0.731 – 0.348i)]

2

7. The angle of arrival at open loop pole is given by

Øp = ±180 (2q+1)+ Ø ; q=0,1,2…………….
0

Where Ø is the contribution at pole of all other open loop poles and zeros similarly the angle
of arrival at an open loop zero is given by
Øz = ±180 (2q+1) - Ø ; q=0,1,2…………….
0

Ø =0-(135 +90 +26 .6 )

0 0 0 /

Ø=-251 6 0 /

Øp =±180 - 251 6
0 0 /

Øp =±71 6 0 /

8. The intersection of root locus branches with the imaginary axis can be determined by the use
of routh criterion .

ROUTH ARRAY TO DETERMINE THE INTERSECTION POINT ON jω AXIS:

The characteristic equation is
1+(k/[S(S+3)(S +2S+2)]=0
2

{S(s+3) (s +2s+2) + k } / {S(s+3) (s +2s+2)} = 0

2 3

S(s+3) (s +2s+2) + k = 0
2

8(s+3) (s +2s+2) + k = 0
2
 S +5s +8s +6s
4 3 2 +k = 0

Routh array;

S4 1 8 k

S3 5 6

S2 6.8 k

S1 (40.8-5K)/ 6.8

S0 k
1)(40.8-5k)/6.8 > 0
40.8-5k = 0
5k = 40.8
K = 8.16
2)K > 0
O < k < 8.16
Sub k = 8.16 in s row, all elements becomes zero.
1

S = 6.8s + 8.16 (K)

2

Roots of Auxillary polynomial

S1 = + j 1.1 ; S2 = j 1.1
Sub k = 2. 91
K = - [s + 5S +8s +6s]
4 3 2
es

S1 = -1.4
ot

S2 = -2.85
hN

S3 = -0.4+j0.7
ec

S4=-0.4-j0.7
M