Center for Advanced Studies in Engineering, Islamabad

Control Systems Lab

Experiment # 10: Control Systems Analysis by Root Locus Method

using MATLAB
Name of Student: …………………………………………………….

Roll No.: ……………………………………………………………….

Date of Experiment: ………………………………………………….

Report submitted on: ………………………………………………..

Marks obtained: ……………………………………

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Fall 2018-Semester V
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Experiment # 10
Control Systems Analysis by Root Locus
Method using MATLAB

Objectives
1. Study the closed loop stability by root locus
2. Study the angle and magnitude condition for root locus
3. Basic rules for sketching and refining of a root locus using matlab code

Root Locus Method

The basic characteristic of the transient response of a closed-loop system is closely related to the
location of the closed-loop poles. If the system has a variable loop gain, then the location of the
closed-loop poles depends on the value of the loop gain chosen. It is important, therefore, that
the designer know how the closed-loop poles move in the s plane as the loop gain is varied.
The root-locus method, is one in which the roots of the characteristic equation are plotted for all
values of a system parameter. The roots corresponding to a particular value of this parameter
can then be located on the resulting graph. Note that the parameter is usually the gain, but any
other variable of the open-loop transfer function may be used. Unless otherwise stated, we shall
assume that the gain of the open-loop transfer function is the parameter to be varied through all
values, from zero to infinity.

Angle and Magnitude Condition

Consider the negative feedback system shown in Figure 1. The closed-loop transfer function is
given below.

Figure-1
The characteristic equation for this closed-loop system is obtained by setting the denominator of
above equation equal to zero. That is,

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Since G(s)H(s) is a complex quantity, above equation can be split into two equations by equating
the angles and magnitudes of both sides, respectively to obtain the following.

Angle condition:

Magnitude condition:

The values of s that fulfill both the angle and magnitude conditions are the roots of the
characteristic equation, or the closed-loop poles. So the root locus technique can be used to
analyze and design the effect of loop gain upon system transient response and stability.

Example:
Consider an open loop transfer function.
G(s)= __K .
s (s + 10)
MATLAB Code

Figure 2: Root Locus

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As gain (K) increases, the closed loop pole moves as shown in table 1.

Table 1: Variation of pole with respect to gain

Observation
The root locus shows the changes in transient response as gain K varies. First of all, poles are real
for gain less than 25. Thus, the system is overdamped. At gain of 25, pole are real and multiple,
hence it becomes critically damped. For gain above 25, the system is underdamped. Directing
our attention to the underdamped portion of root locus, you can see that real part of complex
pole is always same. So, the damped frequency is increases with imaginary part of pole but
settling is remain same. Finally, root locus shows that for all value of gain, the system is always
stable.

Rules for Sketching the Root Locus

Now, we can develop some rules that can be used to sketch the root locus. Let us consider a
transfer function with unity feedback system.

G(s)= ____K __.

s (s + 2) (s + 4)
Now we will sketch the root locus by using its rules as explained below by using MATLAB.

Rule 1: Loci Branches

The number of branches of root locus are equal to the number of closed loop pole. We can define
a branch as a path that one pole traverses, so there will be one branch for each closed loop pole.
The root-locus branches start from open-loop poles and terminate at open loop zeros (finite zeros
or zeros at infinity). The value of gain for starting point is 0 (K=0) and value of gain for ending
point is infinite (K= ∞). The poles and zeros for above transfer function is given below.
Poles = 0, -4, -2. Therefore, P=3 and it is called number of branches.
Zeros = there are no zeros. So, Z=0.
Branches terminate at infinity= P-Z=3
Remember that, Z segment of locus extend from pole to zero and other pole extend to infinity.

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MATLAB Implementation

Rule 2: Real Axis Segment

On a real axis, for K>0, the root locus includes all the points along the real axis to the left of an
odd number poles and zeros. For these points, the angle contribution of each real axis pole or
zero is 0 or 180 degree. Now we will implement this rule in MATLAB.

MATLAB Implementation

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Figure 3: Real Axis Segment

Observation
The real axis segment of the system is shown in the figure 3. Here we have find the root locus
(RL) existence region i.e. real axis segments for our system. As you can see that it only shows the
region for root locus. It does not show root locus of closed poles as the system parameter varies.

Rule 3: Asymptotic Angle

A line to which root locus touches at infinity is called asymptotes. This rule will tell us how root
locus looks like as it approaches zero at infinity or as it moves from poles at infinity. As K
approaches infinity, the branches of the root locus become asymptotic to straight lines with
angles.

Where i=0, ±1, ±2……

n = number of poles
m = number of zeros
So, there are more poles then zeros in the transfer function, thus there must be a zero at infinity.
So, this rule tell us that how we get to the zeros at infinity. For the above transfer function,
Number of asymptotes = n - m = 3
Therefore 3 asymptotes are approaching to infinity. Put i = 0, 1, 2 in the above equation, we get
Θ1 = 60
Θ2 = 180
Θ3 = 300
If the value of i continued to increase, then angles would begin to repeat.

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Rule 4: Centroid of Asymptotes

The starting point of asymptotic, the centroid of the pole zero plot is on the real axis at,

Branches will approach infinity along these lines which are asymptotes. It is basically a point of
departure from real axis. When n-m is either 0 or 1, then centroid is not used. For those values,
closed loop pole do not move off the real axis on the way towards infinity. When n-m=0, the all
open loop poles terminates at open loop zeros as gain rises up towards infinity. When n-m=1,
then one closed loop pole will move towards infinity along the negative real axis.
For the above transfer function,
Poles = 0, -4, -2. Therefore, n=3 and it is called number of branches.
Zeros = there are no zeros. So, m=0.
The value of centroid becomes,
σ = (0 -2 -4) – (0)
3

σ = -2

MATLAB Implementation

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Figure 4: Asymptotes Angle and Centroid

Rule 5: Breakaway and Break-in (Entry) Point

Loci leave the real axis at gain K that is maximum gain K in that region of real axis. These point
are termed as breakaway point. Loci enter the real axis at the minimum value of K in that region
of real axis. These point are termed as break-in point or entry point. Member of pair of locus
segment leave or enter the real axis at an angle of ±90. To find where the locus breaks away from
the axis (or break-in on the axis), we note that this always occurs when two (or more) roots
intersect. The breakaway point corresponds to a point in the s plane where multiple roots of the
characteristic equation occur. It is a well-known fact, that when a polynomial has multiple roots,
not only is the value of the polynomial zero, but its derivative is also zero. To find breakaway or
break-in points, we have characteristic equation as,

At the break-away (and -in) points, the derivative of the characteristic equation is also zero.

The roots of this equation is equal to breakaway and break-in point.

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MATLAB Implementation

Figure 5: Breakaway Points

Observation
As there is no root locus between -2 to -4, -3.15 cannot be a breakaway point. It can also be
confirmed by calculating ‘K’ for s = -3.15. It will be negative that confirms s = -3.15 is not a
breakaway point. For s = -3.15, K = -3.079 (Substituting in equation for K). But as there has to be
breakaway point between’0’and ‘-2’, s = – 0.845 is a valid breakaway point. For s = -0.845 K =
+3.079. As K is positive s = – 0.845 is valid breakaway point.

Rule 6: Locus Crosses Imaginary Axis

If it becomes apparent that the root locus crosses the imaginary axis (i.e., it is unstable for some
values of K), use a technique such as Routh-Horwitz to find where the locus crosses the imaginary
axis. So, the jw axis crossing is used to separate stable operation from unstable operation. The
value of w at axis crossing is the frequency of oscillation, while the gain (K) at the jw axis crossing
is the maximum positive gain for system stability. The crossing points on the imaginary axis can
be found by the use of Routh’s stability criterion on characteristics equation.

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Forcing a row of zeros on the Routh table will yield gain, going back one row to even polynomial
equation and solving for the roots yields the imaginary axis crossing point.
The Routh table for characteristics equation is shown below.

K = 48, which makes the system marginally stable and make the row of s 1 as rows of zeros.

MATLAB Implementation

Figure 6: Imaginary Axis Crossing for Root Locus

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Observation
So, the intersection of root locus with imaginary axis is at ±j2.828 and corresponding value of
K = 48 at this point. For 0 < K < 48, all the roots are in left half of s-plane hence system is absolutely
stable. For K(marginal) = +48, a pair of dominant roots lies on imaginary axis with remaining root
in left half. So the system is marginally stable oscillating at 2.82 rad/sec. For K > 48, the roots are
located in right half of s-plane and hence system is unstable.

Rule 7: Angle of Departure from Complex Pole & Angle of Arrival at Complex Zero
We know that root locus start from open loop poles and ends at open loop zeros. In order to
sketch root locus more accurately, we want to calculate the root locus departure angle from
complex pole and the arrival angle to complex zeros. However, if the pole or zero is complex
then it can leave or arrive at any angle.

Angle of Departure
The angle of departure from a complex pole, pj, is 180 degrees + (sum of angles between pj and
all zeros) - (sum of angles between pj and all other poles).

Angle of Arrival
The angle of arrival at a complex pole, zj, is 180 degrees - (sum of angles between zj and all other
zeros) + (sum of angles between zj and all poles).

Observation
In our system, as there are no complex conjugate poles or zeros, no angles of departures or
arrivals are required to be calculated.

Root Locus using MATLAB

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Figure 7: Root Locus Diagram

Observation
The root locus diagram is shown in fig-7. This root locus diagram has been made by all rules as
explained above by using MATLAB. Firstly, we can sketch all the rules separately by using MATLAB
and also show the effect of every rule on root locus. Then we can combine these rules by using
MATLAB command rlocus to show the root locus plot.

Lab Task
Q.1 Consider the transfer function for negative feedback system shown (We assume that the
value of gain K is nonnegative.)

Let us sketch the root locus and implement each rule separately which is explained above.
a. Implement each rule from 1 to 7 as explained above.
b. Provide the separate code for each rule in MATLAB.
c. Also draw the root locus by using rlocus and verify your result.

Q.2 Consider a transfer function,

G(s)= (s - 3) (s - 5) .
(s + 1) (s + 2)
Let us sketch the root locus by hand and also implement the root locus by using rlocus in MATLAB
and verify your result.

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Labs Rubrics
Control System
Lab # 10
Control Systems Analysis by Root Locus
Method using MATLAB
Lab #10: Marks distribution
Criteria ER1 ER4 ER7 ER9 RR2
Marks

Lab #10: Marks obtained

Criteria ER1 ER4 ER7 ER9 RR2 Total
Marks

Lab Evaluation Rubrics

# Qualities & Criteria 0 < Poor <=40 40< Satisfactory <= 70 70 < Good <= 90 90< Excellent <=100
No Tasks were Some tasks were Few tasks were left All tasks completed in
completed/ completed. Could not to be completed. due time. All goals
ER1 Task Completion minimal effort justify the reasons for Provided acceptable achieved.
shown uncompleted tasks and justification for the
goals. uncompleted tasks
and goals.
ER4 System model/ None of the Incomplete diagrams Diagrams without Correct Diagrams,
Mathematical model/ requirements are and partially correct labels and few properly labeled
Network model/ Block fulfilled/ labels/Circuit doesn’t details. showing all the
diagram/ Circuit Demonstrates incorporate required Construction is necessary details and
Diagram/ Simulation minimal or no components/ Blocks not fairly good / Input/Outputs/
Diagram understanding of connected correctly/ Chooses a Chooses an optimal
the connection Chooses a mathematical mathematical mathematical model
between model that applies to an model that applies that applies to an
mathematical engineering problem, to an engineering engineering problem,
models and but requires assistance problem, and has and develops new
engineering in model development. some success in models.
problems/ minimal model
effort shown development.
ER7 Code indentation, No indentation of Computationally Working code and Good structure,
optimization and code, no complex routine with good indentation or optimized code and
descriptive variable optimization and improper indentation structure, but not good variable names
name no descriptive and variable names optimized resulting and comments
variable names/ in unnecessary
minimal effort computations
shown

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ER9 Results and Plots Unable to produce Inaccurate plots and Correct plots Good presentation of
any plots or results results without any the correct plots with
/minimal efforts necessary proper labels,
shown identifying features captions & visibility
such as labels,
captions & visibility
RR2 Content/Information The report is not The report is objective The report is The report is
objective based based and for some part objective based and objective based and
and addresses the addresses the issues for most part addresses the issues
issues referred in referred in the addresses the referred in the
the proposed topic proposed topic with an issues referred in proposed topic with
poorly. The acceptable the proposed topic in depth analysis and
provided engineering/theoretical with an acceptable reasoning. The
information & analysis. The provided engineering/theore provided information
results is not information & results tical analysis and & results is necessary,
coherent rather for some parts is reasoning. The relevant and
irrelevant. Little necessary and sufficient provided sufficient to discuss
engineering/theore to discuss these issues information & these issues. The
tical analysis is results for most details are easily
presented part is necessary understood at peer
and sufficient to level.
discuss these issues

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