Introduction

Root locus describes the path of poles of the closed loop transfer function (CLTF) with variation
in gain of open loop transfer function (i.e. K).
Rules of Sketching Root Locus
1. Root locus is always symmetrical about the real axis (i.e. x-axis/ σ- axis).
2. Root locus always start from open loop pole ( K = 0) and terminate either at finite open loop
zero or at infinity that means virtual zero ( K = ∞) .
3. Existence of any point on root locus :
(i) The entire real axis of s-plane is occupied by the root locus for all values of K (i.e.
− ∞ ≤ K ≤ ∞ ).
(ii) Root locus for K ≥ 0 are found in the section if the sum of the number of open loop poles
and zeros to the right of the section is odd.
(iii)The remaining section of the real axis are occupied by the root locus for K ≤ 0 (i.e.
complementary root locus).
(iv) Open loop pole and zero are considered as the part of root locus, do not check even and
odd concept at this point.
4. Existence of root locus on real axis :
Root locus will exist only on that section of real axis, to the right of which sum of all poles and
zeros is an odd number.
5. Existence of root locus in complex plane/real axis :
(i) A point of s-plane will lie on root locus if the angle of G ( s) H ( s ) evaluated at that point is
an odd integer multiple of ±1800 .
(ii) Substitute the given complex location into the characteristic equation and then calculate
the value of K.
(iii)If K is real and positive for a given complex location then closed loop pole will exist at that
location.
(iv) If K is either negative or imaginary or complex for a given complex location then the
location will be invalid and close loop pole will not exist at that location.
6. Number of root locus branches :
(i) Number of root locus branches = P(if , P > Z )
(ii) Number of root locus branches = Z (if , Z > P )
(iii)Number of root locus branches = P = Z (if , P = Z )
Note: Number of root locus branch = max( P, Z )
7. Break points/Saddle points :
(i) The point at which root locus branches meet or diverge is known as break point or saddle
point.
(ii) There are two types of break point :
(a) Break away point (BAP)
(b) Break in point (BIP)
 To find break point ;
Step 1 : At first we have to find the characteristics equation, i.e., 1 + G ( s ) H ( s ) = 0 .
Step 2 : Then we have to find the value of K in terms of s, i.e. K = f ( s ) .
dK
Step 3 : Find =0
ds
dK
Step 4 : Valid roots of = 0 will be the valid break points.
ds
(a) Break away point :
 The point at which root locus branches leave the real axis or moves away from the real
axis is known as break away point.
 Mostly two adjacent pole consist break away point. (Not Always)
 Break away point also referred as maxima point because at this point the value of K
will be maximum (among all K values between two consecutive poles) on real axis.
(b) Break in point :
 The point at which root locus branches enter into the real axis is known as break in
point.
 Mostly two adjacent zero consist break in point. (Not Always)
 Break in point also referred as minima point because at this point the value of K will
be minimum (among all K values between two consecutive zeros) on real axis.
Remember
 Whenever the root locus move from real to complex plane break away point exist.
 Whenever the root locus move from complex to real plane axis break in point exist.
8. Number of asymptotes :
(i) The number of asymptotes (A) are :
A = (P − Z ) if P > Z
A = (Z − P) if Z > P
A=0 if P = Z
9. Angle of asymptotes :
(i) For P > Z ,
(2α + 1)1800
∠A = where, α = 0,1,2….. ( P − Z − 1)
P−Z
(ii) For Z > P,
(2α + 1)1800
∠A = where, α = 0,1,2….. ( Z − P − 1)
Z −P
(iii)For P = Z ,
There are no asymptotes.
10. Centroid ( σ ) :
(i) The intersection point of all the asymptotes on the real axis is known as centroid.
 Σ real parts of all open loop poles − Σ real parts of all open loop zeros
σ=
P−Z
(ii) Centroid may or may not be a part of the root locus diagram.
(iii)It may be located anywhere on the real axis (positive and negative real axis).
11. Angle of departure/angle of arrival :
(i) Angle of departure is valid for complex conjugate poles.
(ii) Angle of arrival is valid for complex conjugate zeros.
(iii) Angle of departure indicates the angle by which the complex pole is departed from its
position.
(iv) Angle of arrival indicates the angle by which the pole arrives to the complex zeros.
Angle of Departure = [1800 − φ]
φ = ΣφP − ΣφZ
where, Σφ P is the sum of all angles contributed by remaining poles.
Σφ Z is the sum of all angles contributed by all the zeros.
Also, Angle of Arrival = [1800 + φ]
φ = ΣφP − ΣφZ
where, Σφ P is the sum of all angles contributed by all the poles.
Σφ Z is the sum of all angles contributed by remaining zeros.
Graphical Calculation of K
Once the root locus is constructed, the values of K along the loci can be determined by
First method :
The value of K at a point s1 on the root locus is obtained from above equation by substituting value
of s1. Graphically, we write
Product of vector lengths drawn from the poles of G ( s ) H ( s ) to s1
K=
Product of vector lengths drawn from the zeros of G ( s ) H ( s ) to s1
Second method :
The value of K can be determined by magnitude condition. Magnitude condition is given by,
G ( s) H ( s) s = s = 1
1

Remember
1. The difference between the sums of the angles of the vectors drawn from the zero and those
from poles of G ( s ) H ( s ) to s1 is an odd multiple of ± 1800 .
2. For existence of root locus at a given point, it must satisfy angle condition.
Angle condition : ∠G ( jω) H ( jω) = ± ( 2n + 1)1800
(i.e., odd multiples of −1800 or 1800 )
3. Purpose of magnitude condition is to find the system gain at any point on the root locus.
 Magnitude condition : G ( jω) H ( jω) = 1
Magnitude condition is applicable only if the point satisfies the angle condition.
Gain Margin from Root Locus
There is a critical value of the open loop gain factor K, when the root locus crosses the jω axis.
For a particular value of K if a closed-loop pole is located on the jω axis, the response will be
oscillatory and the system will be on the verge of instability. This value of K is called the marginal
value of K. If the value of K is further increased, the root travel towards the right half of the s-
plane and the system becomes unstable.
The gain margin is the factor by which the given value of K can be multiplied to get the
marginal value of K. If K mar is the marginal value of K, then the gain margin is,
Marginal value of K K marginal
GM = =
Specified value of K K desired
Note : If the root locus does not cross the jω axis, the system has infinite gain margin. K marginal
can also be obtained using Routh’s array. It is the value of ‘K’ for which a complete row (except
the last row) of Routh’s table becomes zero.