ELE4623 Control Systems 202310 by Ali Altowati

Exercise Set 8: Root Locus

1. What does the root locus method provide a graphical representation of?

a. The input-output relationship of a control system.

b. The transient response of a control system.
c. The closed-loop poles' movement as a system parameter is varied.
d. The frequency response of a control system.

2. How does the root locus method complement existing methods in control
systems?

a. It provides a quantitative analysis of system performance.

b. It allows for direct calculation of the system's gain and time constants.
c. It offers a visual and analytical approach to stability and transient response
analysis.
d. It focuses solely on frequency domain analysis.

3. What system parameter is typically varied in the root locus method?

a. The time constant of the system.

b. The initial conditions of the system.
c. The damping ratio of the system.
d. The gain of the system.

K
4. If a system is specified by open loop transfer function: KG ( s ) H (s)=
s ( s +1 ) ( s+ 3 )
,how many root loci (branches) proceed to infinity?

a. 1
b. 2
c. 3
d. 4

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ELE4623 Control Systems 202310 by Ali Altowati

5. For each of the root loci shown in the Tabel, state whether or not the sketch can
be a root locus. If the sketch cannot be a root locus, explain why. Give all
reasons.
Root loci Sketch Yes/No Justification
On real axis to left of an even
number of poles and zeros

No

No: On real axis to left of an

even number of poles and zeros

No

Yes

No Not symmetric; Not on real axis

to left of odd number of poles
and/or zeros

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ELE4623 Control Systems 202310 by Ali Altowati

Yes

Yes

6. Sketch the general shape of the root locus for each of the open-loop pole zero
plots shown in Figures

(b)
(a)

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(d)
(c)

(b)
(a)

(d)
(c)

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ELE4623 Control Systems 202310 by Ali Altowati

7. For the open-loop pole-zero plot shown in Figure, sketch the root locus and find
the break-in point.

The open-loop transfer function is

K (s+2)(s+3)
KG ( s ) H (s)=
s2−2 s+2

On the real-axis

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ELE4623 Control Systems 202310 by Ali Altowati

2 2
σ −2 σ + 2 σ −2 σ +2
K= =
(σ +2)(σ + 3) σ 2 +5 σ + 6

dK ( σ ) 7 σ 2 +8 σ −22
= =0
d (σ ) ( σ 2 +5 σ +6 )
2

2
7 σ + 8 σ−22=0

solving for σ , we find the break-in point σ =−2.43 , please ignore σ =1.29 as it is not on
the root locus

8. Use MATLAB to sketch the root loci for the system of Q6.

>> s=tf('s');
>> G=(s+2)*(s+3)/((s^2-
2*s+2));
>> rlocus(G)

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ELE4623 Control Systems 202310 by Ali Altowati

9. Sketch the root locus of the unity feedback system shown in the figure below,
where

K (s +3)
G ( s )=
( s +1 ) (s−7)

and find the break-in and breakaway points.

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ELE4623 Control Systems 202310 by Ali Altowati

K ( s+3)
G ( s )=
s 2−6 s−7

2nd Method
1 1 1
= +
σ +3 σ +1 σ−7
Simplifying,

2
σ +6 σ−11=0

solving for σ , we find the break-in point σ =−7.47 and the breakaway point σ =1.47

10. Sketch the root locus of the unity feedback system shown in the figure below,
where

K (s+1)
G ( s )=
s ( s +2 ) ( s+3)(s+ 4)

Do the following:

a. Sketch the root locus

b. Find the asymptotes

 The open-loop finite poles 0, -2,-3, -4

 The open-loop finite zeros -1
 No. of finite poles = 4
 No. of finite zeros = 1

( 0−1−3−4 ) −(−1) −8
σ a= = =−2.67
4−1 3

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ELE4623 Control Systems 202310 by Ali Altowati

θ a=
4−1
=
3 (
( 2 k +1 ) π ( 2 k +1 ) π π
= ,π ,
3
5π
3 )
, for k=0 ,1 , 2

c. Find the frequency and gain K, for what the root locus crosses the imaginary axis
(marginally stable)

The closed-loop transfer function for the system

K ( s +1 )
KG ( s ) s ( s+2 )( s+3 )( s+ 4 ) K ( s +1 )
T ( s )= = = 4
1+ KG ( s ) K ( s+1 ) 3 2
s + 9 s +26 s + s ( 24 + K ) + K
1+
s ( s +2 ) ( s+ 3 ) ( s+ 4 )

Routh Table is
4
s 1 26 K
3
s 9 24+ K
2
s 210−K 9K
2
1 −K + 105 K + 5040
s
234−K
0
s 9K

Note: third row s2 has been by 1/9

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ELE4623 Control Systems 202310 by Ali Altowati

2
−K + 105 K + 5040 2
The row s1 is zero for =0 →−K +105 K +5040=0, solving for a positive
234−K
K, thus K=140.8

For this K, the previous row polynomial is

( 210−K ) s 2+ 9 K =69.2 s 2+ 1267=0

whose roots are s=± j 4.28

Thus the root locus crosses the jω -axis at ±j 4.28 at a gain of 140.3,

d. For what range of K is the system stable?.

Thus, the system is stable for 0 ≤ K <140.8

e. Verify your results with Matlab

Root locus plot using Matlab confirms the analytical results

11. The Root Locus plot of a unity feedback system is shown in the figure below

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ELE4623 Control Systems 202310 by Ali Altowati

Which of the following is correct about the system stability?

a. The system is initially unstable, but after certain value of gain, the root
locus crosses to the LHP making the system stable.
b. the system is stable for all values of gain from zero to infinity because the
root locus keep moving on LHP
c. The system is critically stable for all values of gain from zero to infinity.
d. The system is not stable for all values of gain from zero to infinity because
the root locus crossed to RHP after certain values of the gain.

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