MCH 3008 CONTROL SYSTEMS

LECTURE 6: ROOT LOCUS

Dr. Beste Bahçeci
Bahçeşehir University
Overview of Lecture 6

■ Root Locus Design Method

THE ROOT-LOCUS DESIGN METHOD
• The characteristic equation contains information on stability and performance of the
system.

• The roots of the characteristic equation determine the stability and performance of
the system.

• In the root-locus design method the “paths” of the roots in the s-plane are plotted
as a control or plant parameter is varied from 0 to infinity.

• This plot is called root locus.

• It is used for control parameter selection and for control structure selection.
Consider the feedback loop.
 Consider the feedback loop.

We are interested in the closed-loop stability and performance of this system.

 Consider the feedback loop.

We are interested in the closed-loop stability and performance of this system.

The closed transfer function is:

Y(s) D ( s )G ( s )

R( s ) 1  D ( s )G ( s ) H ( s )
 Consider the feedback loop.

We are interested in the closed-loop stability and performance of this system.

The closed transfer function is:

Y(s) D ( s )G ( s )

R( s ) 1  D ( s )G ( s ) H ( s )
Characteristic equation: 1  D( s )G ( s ) H ( s )  0
Characteristic equation: 1  D ( s )G ( s ) H ( s )  0
Characteristic equation: 1  D ( s )G ( s ) H ( s )  0

Suppose that the characteristic equation can be written as

1  KL( s )  0
Characteristic equation: 1  D ( s )G ( s ) H ( s )  0

Suppose that the characteristic equation can be written as

b( s )
1  KL( s )  0 with L( s )  .
a(s)
Characteristic equation: 1  D ( s )G ( s ) H ( s )  0

Suppose that the characteristic equation can be written as

b( s ) Polynomials
1  KL( s )  0 with L( s )  .
a(s)
Characteristic equation: 1  D ( s )G ( s ) H ( s )  0

Suppose that the characteristic equation can be written as

b( s ) Polynomials
1  KL( s )  0 with L( s )  .
a(s)
Characteristic equation: 1  D ( s )G ( s ) H ( s )  0

Suppose that the characteristic equation can be written as

b( s ) Polynomials
1  KL( s )  0 with L( s )  .
a(s)

Design parameter.
 Characteristic equation: 1  D ( s )G ( s ) H ( s )  0

Suppose that the characteristic equation can be written as

b( s ) Polynomials
1  KL( s )  0 with L( s )  .
a(s)

Design parameter.

Roots of the characteristic equation are plotted on the s-plane by varying K from 0 to
infinity.
 Characteristic equation: 1  D ( s )G ( s ) H ( s )  0

Suppose that the characteristic equation can be written as

b( s ) Polynomials
1  KL( s )  0 with L( s )  .
a(s)

Design parameter.

Roots of the characteristic equation are plotted on the s-plane by varying K from 0 to
infinity.
 Characteristic equation: 1  D ( s )G ( s ) H ( s )  0

Suppose that the characteristic equation can be written as

b( s ) Polynomials
1  KL( s )  0 with L( s )  .
a(s)

Root locus form of the characterisric eqution.

Design parameter.

Roots of the characteristic equation are plotted on the s-plane by varying K from 0 to
infinity.
Example: Root locus of DC motor (small inductance) position control

e u Plant
G
D
Example: Root locus of DC motor (small inductance) position control

e u Plant
G
D

e u 1
K
K s ( s  1)
Example: Root locus of DC motor (small inductance) position control

e u Plant
G
D

e u 1
K
K s ( s  1)

1
K
Y(s) s ( s  1)

R( s) 1  K 1
s ( s  1)
Example: Root locus of DC motor (small inductance) position control

e u Plant
G
D

e u 1
K
K s ( s  1)

1
K
Y(s) s ( s  1) 1
 Characteristic equation: 1 K 0
R( s) 1  K 1 s ( s  1)
s ( s  1)
Characteristic equation: 1
1 K 0
s ( s  1)
Characteristic equation: 1
1 K 0
s ( s  1)
 s ( s  1)  K  0
Characteristic equation: 1
1 K 0
s ( s  1)
 s ( s  1)  K  0

 s2  s  K  0
Characteristic equation: 1
1 K 0
s ( s  1)
 s ( s  1)  K  0

 s2  s  K  0

The roots (closed-loop poles) are functions of K:

 1  1  4K
 p1, 2 
2
Characteristic equation: 1
1 K 0
s ( s  1)
 s ( s  1)  K  0

 s2  s  K  0

The roots (closed-loop poles) are functions of K:

 1  1  4K
 p1, 2 
2
We can use MATLAB roots command to obtain numerical values of the roots too:

p=roots([1 1 K])
Let us see what happened in more detail:
An observation from the plot:
An observation from the plot:
The system is never unstable for K>0.
An observation from the plot:
The system is never unstable for K>0.
(Stability analysis use of a root-locus.)
Question: Suppose thet a damping ratio of
0.5 is desired. What is the corresponding
value of K?
Question: Suppose thet a damping ratio of
0.5 is desired. What is the corresponding
value of K?
(Design use of root-locus.)
  0.5    sin 1 (0.5)  30.
  0.5    sin 1 (0.5)  30.
 The desired value of K is 1.
  1  1  4K
Another way of gain computation is from p1, 2  .
2
The imaginary part is
3 times the real part.
4 K-1 3
  K  1.
2 2
We will mostly work with this case.
 We will mostly work with this case.

Why it is called 180° root locus we will see in the following pages.
 We will mostly work with this case.

Why it is called 180° root locus we will see in the following pages.
 We will mostly work with this case.

Why it is called 180° root locus we will see in the following pages.

Why it is called 0° root locus we will see in the following pages.

1  KG ( s )  0
1  KG ( s )  0
1  KG ( s )  0
1  KG ( s )  0
1  KG ( s )  0

1 1
K  
G( s) G( s)
1  KG ( s )  0

1 1
K  
G( s) G( s)
1  KG ( s )  0

1 1
K  
G( s) G( s)
1  KG ( s )  0

1 1
K  
G( s) G( s)
1  KG ( s )  0

1 1
K  
G( s) G( s)
1  KG ( s )  0
1  KG ( s )  0
1
K  (6.1)
G ( s)
 1  KG ( s )  0
1
K  (6.1)
G ( s)
 1  (6.2)
G ( s )   
K
 1  KG ( s )  0
1
K  (6.1)
G ( s)
For 180 root locus :  1  (6.2)
G ( s )   
K
 1  KG ( s )  0
1
K  (6.1)
G ( s)
For 180 root locus :  1  (6.2)
G ( s )   
K
 1  KG ( s )  0
1
K  (6.1)
G ( s)
For 180 root locus :  1  (6.2)
G ( s )   
K
 1  KG ( s )  0
1
K  (6.1)
G ( s)
For 180 root locus :  1  (6.2)
G ( s )   
K
Im

Re
Im

Re

Why is that so?

 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )

Im

Re
 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )

Im

Re
 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )

Im

Re
 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )

Im

Re
 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )

Im

Re
 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )

Im

Re
 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )

Im

Re
 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )

Im

Re
 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )

Im

Re
 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )

Im

Re
 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )
( s  z1 )
 e j ( s  z1 ) e  j ( s  p1 ) e  j ( s  p2 )
( s  p1 ) ( s  p2 )

Im

Re
 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )
( s  z1 ) ( s  z1 )
 e j ( s  z1 ) e  j ( s  p1 ) e  j ( s p2 ) e j  ( s  z1 )   ( s  p1 )   ( s  p2 ) 
( s  p1 ) ( s  p2 ) ( s  p1 ) ( s  p2 )
Im

Re
 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )
( s  z1 ) ( s  z1 )
 e j ( s  z1 ) e  j ( s  p1 ) e  j ( s p2 ) e j  ( s  z1 )   ( s  p1 )   ( s  p2 ) 
( s  p1 ) ( s  p2 ) ( s  p1 ) ( s  p2 )
Im Phase of G(s1 )

Re
 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )
( s  z1 ) ( s  z1 )
 e j ( s  z1 ) e  j ( s  p1 ) e  j ( s p2 ) e j  ( s  z1 )   ( s  p1 )   ( s  p2 ) 
( s  p1 ) ( s  p2 ) ( s  p1 ) ( s  p2 )
Im Phase of G(s1 )

Re

Note that ( s1  z1 )   z1 , ( s1  p1 )   p1 and ( s  p2 )   p 2 .

 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )
( s  z1 ) ( s  z1 )
 e j ( s  z1 ) e  j ( s  p1 ) e  j ( s p2 ) e j  ( s  z1 )   ( s  p1 )   ( s  p2 ) 
( s  p1 ) ( s  p2 ) ( s  p1 ) ( s  p2 )
Im Phase of G(s1 )

Re

Note that ( s1  z1 )   z1 , ( s1  p1 )   p1 and ( s  p2 )   p 2 .


 ( s  z1 ) e j ( s  z1 )

( s  p1 ) e j ( s  p1 ) ( s  p2 ) e j ( s  p2 )
( s  z1 ) ( s  z1 )
 e j ( s  z1 ) e  j ( s  p1 ) e  j ( s p2 ) e j  ( s  z1 )   ( s  p1 )   ( s  p2 ) 
( s  p1 ) ( s  p2 ) ( s  p1 ) ( s  p2 )
Im Phase of G(s1 )

Re

Note that ( s1  z1 )   z1 , ( s1  p1 )   p1 and ( s  p2 )   p 2 .


(  jd )

(  jd )
 (  jd )

(  jd )

n2

 (  jd )

(  jd )

n2
m0
 (  jd )

(  jd )

n2
m0
nm  2
 (  jd )

(  jd )

n2
m0
nm  2
 (  jd )

(  jd )

n2
m0
nm  2
 (  jd )

(  jd )

180
n2 1   90
2
m0
nm  2
 (  jd )

(  jd )

180
n2 1   90
2
m0
nm  2
 (  jd )

(  jd )

180
n2 1   90
2
m0
nm  2
 (  jd )

(  jd )

180
n2 1   90
2
m0 180  360
2   270
nm  2 2
      
 (  jd )

(  jd )

180
n2 1   90
2
m0 180  360
2   270
nm  2 2
      
 (  jd )

(  jd )

180
n2 1   90
2
m0 180  360
2   270
nm  2 2
      
 (  jd )

(  jd )

180
n2 1   90
2
m0 180  360
2   270
nm  2 2
      
 (  jd )

(  jd )

180
n2 1   90
2
m0 180  360
2   270
nm  2 2
(  jd )  (  jd )
  
2
 (  jd )

(  jd )

180
n2 1   90
2
m0 180  360
2   270
nm  2 2
(  jd )  (  jd )
  
2
 (  jd )

(  jd )

180
n2 1   90
2
m0 180  360
2   270
nm  2 2
(  jd )  (  jd )
  
2
 (  jd )

(  jd )

180
n2 1   90
2
m0 180  360
2   270
nm  2 2
(  jd )  (  jd )
  
2
n2
m 1
n  m 1
n2
m 1
n  m 1
n2
m 1
n  m 1
n2
m 1
n  m 1
n2
m 1
n  m 1
 (  jd )


(  jd )
 (  jd )


(  jd )

n3
m0
nm 3
 (  jd )


(  jd )

n3
m0
nm 3
 (  jd )


(  jd )

n3
m0
nm 3
 (  jd )


(  jd )

n3
m0
nm 3
 (  jd )


(  jd )

n3
m0
nm 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )



(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
 (  jd )


(  jd )

180
n3 1   60
3
m0
180  360
nm 3 2   180
3
180  720
3   300
3
(  jd )  (  jd )    2  
 
3 3
n3
m 1
nm  2
n3
m 1
nm  2
n3
m 1
nm  2
 (  jd )

 

(  jd )

n3
m 1
nm  2
 (  jd )

 

(  jd )

n3
m 1
nm  2
 (  jd )

 

(  jd )

n3
m 1
nm  2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
 (  jd )

 

(  jd )

n3 180
1   90
m 1 2
180  360
nm  2 2   270
2
(  jd )  (  jd )      2    
 
2 2
n2
m2
nm 0
n2
m2
nm 0
n2
m2
nm 0
n2
m2
nm 0
n2
m2
nm 0
n2
m2
nm 0
zero
Example

Im

Re
Example

Im

Re
Example

Im

Re
Example

Im

Re
Example

Im

Re
Example

Im

Re
Example

Im

Re
Example

Im

Re
Example

Im

Re
Example

Im

Re
Example

Im

Re
Example

Im

Re
Example

Im

Re
Closed loop
transfer function
Gc (s )
Im

Re
Im

Re
Im

Re
Im

Re
Im

Re
Im

Re
Im

Re
Im

Re
Im

Re
Im

Re
Im

Re
There are two open loop poles and two finite zeros.

Im

Re
There are two open loop poles and two finite zeros.
Therefore there are no asymptotes.
Im

Re
Im

Re
 Departure angles are already shown on the real axis
plot.
Im

Re
Im

Re
 Characteristic equation:
Im
a(s )

Re
a(s )
a(s )
a(s )
  0.53

Im

Re
  0.53

Im

Re
 G (s )
 G (s )
 G (s )
 G (s )
  G (s )

 (2 s 3  18s 2  20 s  5s 2  45s  50) 

  G (s )

 (2 s 3  18s 2  20 s  5s 2  45s  50) 


Im

Re
Im

Re
Im

Re