Locus of the Roots (closed loop poles)

• General Feedback Control System

5. Root Locus Design

Electronic Control Systems
• Transfer Function

Prof Rohan Munasinghe

Department of Electronic and Telecommunication Engineering
Faculty of Engineering
University of Moratuwa
• Root Locus

Locus of the Roots (closed loop poles) Phase of Zeros and Poles
• Magnitude and Phase conditions

s<z z s≥z

• Phase condition

No phase contribution on the real axis

 Conjugate pair of Poles Root Locus Rules
s>a

a + jb × b b s − (a − jb)

θ
a s s−a
(> 0)

a − jb × b b s − (a + jb)

s<a
N (s) ( s − z1 )( s − z 2 )...( s − z m ) ⇐ OL zeros
K → 0 Gc ( s ) → G ( s ) = =
a + jb × b s − ( a − jb) b D ( s ) ( s − p1 )( s − p2 ).....( s − p3 ) ⇐ OL poles
K → ∞ R ( s ) − KY ( s ) → − KY ( s )
θ
R(s) becomes insignific ant, and the system becomes autonomous ,
s a s−a
(< 0) Then − KY ( s )G ( s ) = Y ( s )
a − jb × b s − (a + jb) b 1 D(s)
−K = = ; as K → ∞ N ( s ) → 0 or D ( s ) → ∞
G (s) N (s)

Root Locus Rules Root Locus Rules

Asymptote Intersection point

α =
∑ p −∑zi i

Asymptote angles
n−m
180o + 360o (l − 1)
φl = ; l = 0,1...(n − m − 1)
n−m
 Root Locus Rules Root Locus Rules

Gain K for a given point on the root locus

Example: Root Locus Design Example: Root Locus Design

Determine
• Asymptotes

Answer
• Open loop Poles
• Asymptote intersection point

x for K=0

x x
x
n=4 (4 poles) and m=0 (no zeros)
 Example: Root Locus Design Newton-Raphson Method
• Angle of departure from pole − 3 + j 11

• Breakaway Point

Example: Root Locus Design Example: Root Locus Design

• Gain at the breakaway point

• Stability margin
Routh Array
MatLab: Root Locus Design MatLab: Root Locus Design Root Locus
8
0.76 0.64 0.5 0.34 0.16

6 0.86

4
0.94

2 System: G
0.985

Imaginary Axis
Gain: 208
Pole: -0.00115 + 2.58i
8 6 4 2
0 Damping: 0.000445
Overshoot (%): 99.9
Frequency (rad/sec): 2.58
0.985
-2

0.94
-4

-6 0.86

0.76 0.64 0.5 0.34 0.16

-8
-10 -8 -6 -4 -2 0 2 4 6
Real Axis