Modern Control Systems (MCS)

Lecture-2-3-4
Root Locus

Dr. Imtiaz Hussain

Assistant Professor
email: [email protected]
URL :http://imtiazhussainkalwar.weebly.com/

1
 Lecture Outline
• Construction of root loci
• Angle and Magnitude Conditions
• Illustrative Examples
• Closed loop stability via root locus
• Example of Root Locus
• Root Locus of 1st order systems
• Root Locus of 2nd order systems
• Root Locus of Higher order systems
2
 Construction of Root Loci
• Finding the roots of the characteristic equation of degree
higher than 3 is laborious and will need computer
solution.

• A simple method for finding the roots of the

characteristic equation has been developed by W. R.
Evans and used extensively in control engineering.

• This method, called the root-locus method, is one in

which the roots of the characteristic equation are plotted
for all values of a system parameter.

3
 Construction of Root Loci
• 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.

• By using the root-locus method the designer can

predict the effects on the location of the closed-loop
poles of varying the gain value or adding open-loop
poles and/or open-loop zeros.
4
 Angle & Magnitude Conditions
• In constructing the root loci angle and magnitude
conditions are important.
• Consider the system shown in following figure.

• The closed loop transfer function is

C (s) G (s)

R( s) 1  G ( s) H ( s)
5
 Construction of Root Loci
• The characteristic equation is obtained by setting the
denominator polynomial equal to zero.

1  G (s) H (s)  0
• Or
G ( s ) H ( s )  1

• Where G(s)H(s) is a ratio of polynomial in s.

• Since G(s)H(s) is a complex quantity it can be split

into angle and magnitude part.

6
 Angle & Magnitude Conditions
• The angle of G(s)H(s)=-1 is

G ( s ) H ( s )    1
G ( s ) H ( s )  180 (2k  1)

• Where k=1,2,3…

• The magnitude of G(s)H(s)=-1 is

G (s) H (s)   1
G (s) H (s)  1

7
 Angle & Magnitude Conditions
• Angle Condition
G ( s ) H ( s )  180 (2k  1) (k  1,2,3...)
• Magnitude Condition
G (s) H (s)  1
• The values of s that fulfill both the angle and
magnitude conditions are the roots of the
characteristic equation, or the closed-loop poles.

• A locus of the points in the complex plane satisfying

the angle condition alone is the root locus.
8
 Angle and Magnitude Conditions (Graphically)
• To apply Angle and magnitude conditions graphically we
must first draw the poles and zeros of G(s)H(s) in s-plane.

• For example if G(s)H(s) is given by

Pole-Zero Map
1

s 1 0.5

G (s) H (s) 
s ( s  3)( s  4) Imaginary Axis
0

-0.5

-1
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis
9
 Angle and Magnitude Conditions (Graphically)
Pole-Zero Map
1
p

0.5
Imaginary Axis

θ1 θ2 ɸ1 θ3
0

G ( s ) H ( s ) s  p  1  1   2   3
-0.5
• If angle of G(s)H(s) at s=p is equal to ±180o(2k+1) the
point p is on root locus.

-1
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 10
Angle and Magnitude Conditions graphically
Pole-Zero Map
1
p

0.5

A B1
Imaginary Axis

B3 B2
0

s  1 s p A
-0.5 G (s) H (s) s  p  
s s p s  3 s p s  4 s p B1 B2 B3

-1
-4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 11
 Illustrative Example#1
• Apply angle and magnitude conditions
(Analytically as well as graphically) on following
unity feedback system.

12
 Illustrative Example#1
K
• Here G (s) H (s) 
s ( s  1)( s  2)

• For the given system the angle condition becomes

K
G ( s ) H ( s )  
s ( s  1)( s  2)

G ( s ) H ( s )  K  s  ( s  1)  ( s  2)

K  s  ( s  1)  ( s  2)  180(2k  1)

13
 Illustrative Example#1
• For example to check whether s=-0.25 is on the root
locus or not we can apply angle condition as follows.

G ( s ) H ( s ) s  0.25   K s  0.25  s s  0.25  ( s  1) s  0.25  ( s  2) s  0.25

G ( s ) H ( s ) s  0.25  (0.25)  (0.75)  (1.75)

G ( s ) H ( s ) s  0.25  180  0  0

G ( s ) H ( s ) s  0.25  180(2k  1)
14
 Illustrative Example#1
K
• Here G (s) H (s) 
s ( s  1)( s  2)

• And the Magnitude condition becomes

K
G (s) H (s)  1
s ( s  1)( s  2)

15
 Illustrative Example#1
• Now we know from angle condition that the point s=-
0.25 is on the rot locus. But we do not know the value of
gain K at that specific point.

• We can use magnitude condition to determine the value

of gain at any point on the root locus.
K
1
s ( s  1)( s  2) s  0.25

K
1
(0.25)(0.25  1)(0.25  2) s  0.25
16
Illustrative Example#1
K
1
(0.25)(0.25  1)(0.25  2) s  0.25

K
1
(0.25)(0.75)(1.75)

K
1
 0.3285

K
1
0.328
K  0.328 17
 Illustrative Example#1
• Home work:

– check whether s=-0.2+j0.937 is on the root

locus or not (Graphically as well as
analytically) ?

– check whether s=-1+j2 is on the root locus

or not (Graphically as well as analytically) ?

18
 Illustrative Example#1
• Home work:

– If s=-0.2+j0.937 is on the root locus

determine the value of gain K at that point.

– If s=-1+j2 is on the root locus determine the

value of gain K at that point.

19
 Construction of root loci
• Step-1: The first step in constructing a root-locus plot
is to locate the open-loop poles and zeros in s-plane.
Pole-Zero Map
1

0.5

Imaginary Axis
0

K
G( s) H ( s)  -0.5

s( s  1)( s  2)
-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
20
 Construction of root loci
• Step-2: Determine the root loci on the real axis.
• To determine the root loci Pole-Zero Map
on real axis we select some 1
test points.
• e.g: p1 (on positive real
0.5
axis).

Imaginary Axis
p1
0

• The angle condition is not

satisfied. -0.5

• Hence, there is no root

-1
locus on the positive real -5 -4 -3 -2 -1 0 1 2
axis. Real Axis
21
 Construction of root loci
• Step-2: Determine the root loci on the real axis.
• Next, select a test point on the
negative real axis between 0 and Pole-Zero Map
–1. 1

• Then
0.5

Imaginary Axis
• Thus p2
0

• The angle condition is satisfied. -0.5

Therefore, the portion of the
negative real axis between 0 and
–1 forms a portion of the root -1
locus. -5 -4 -3 -2 -1 0 1 2
Real Axis
22
 Construction of root loci
• Step-2: Determine the root loci on the real axis.
• Now, select a test point on the
negative real axis between -1 and Pole-Zero Map
1
–2.
• Then
0.5

Imaginary Axis
p3
• Thus 0

-0.5
• The angle condition is not
satisfied. Therefore, the negative
real axis between -1 and –2 is not -1
-5 -4 -3 -2 -1 0 1 2
a part of the root locus. Real Axis
23
 Construction of root loci
• Step-2: Determine the root loci on the real axis.

Pole-Zero Map
• Similarly, test point on the 1

negative real axis between -3

and – ∞ satisfies the angle 0.5
condition.

Imaginary Axis
p4
0
• Therefore, the negative real
axis between -3 and – ∞ is part
of the root locus. -0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis
24
 Construction of root loci
• Step-2: Determine the root loci onMap
Pole-Zero the real axis.
1

0.5
Imaginary Axis

-0.5

-1 25
-5 -4 -3 -2 -1 0 1 2
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.

Asymptote is the straight line approximation of a curve

Actual Curve
Asymptotic Approximation

26
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.
 180(2k  1)
Angle of asymptotes   
nm
• where
• n-----> number of poles
• m-----> number of zeros
K
• For this Transfer Function G( s) H ( s) 
s( s  1)( s  2)

 180(2k  1)

30
27
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.

  60 whe n k  0
 180 when k  1
 300 when k  2
 420 when k  3

• Since the angle repeats itself as k is varied, the distinct angles

for the asymptotes are determined as 60°, –60°, -180°and
180°.
• Thus, there are three asymptotes having angles 60°, –60°,
180°.
28
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.

• Before we can draw these asymptotes in the complex

plane, we must find the point where they intersect the
real axis.

• Point of intersection of asymptotes on real axis (or

centroid of asymptotes) can be find as out

 poles   zeros

nm
29
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.

K
• For G( s) H ( s) 
s( s  1)( s  2)

(0  1  2)  0

30

3
  1
3

30
 Construction of root loci
• Step-3: Determine the asymptotes of the root loci.
Pole-Zero Map
1

0.5

  60 ,60 , 180

Imaginary Axis

180 60

  1
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis 31
 Home Work
• Consider following unity feedback system.

• Determine
– Root loci on real axis
– Angle of asymptotes
– Centroid of asymptotes
32
 Construction of root loci
• Step-4: Determine the breakaway point.
Pole-Zero Map
• The breakaway point 1

corresponds to a point
in the s plane where 0.5
multiple roots of the
characteristic equation Imaginary Axis

occur. 0

• It is the point from

which the root locus -0.5

branches leaves real

axis and enter in
-1
complex plane. -5 -4 -3 -2 -1 0 1 2
Real Axis 33
 Construction of root loci
• Step-4: Determine the break-in point.
Pole-Zero Map
• The break-in point 1

corresponds to a point
in the s plane where 0.5
multiple roots of the
characteristic equation Imaginary Axis

occur. 0

• It is the point where the

root locus branches -0.5

arrives at real axis.

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis 34
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.

• The breakaway or break-in points can be determined from the

roots of
dK
0
ds
• It should be noted that not all the solutions of dK/ds=0
correspond to actual breakaway points.

• If a point at which dK/ds=0 is on a root locus, it is an actual

breakaway or break-in point.

• Stated differently, if at a point at which dK/ds=0 the value of K

takes a real positive value, then that point is an actual breakaway
or break-in point. 35
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.
K
G( s) H ( s) 
s( s  1)( s  2)
• The characteristic equation of the system is
K
1  G( s) H ( s)  1  0
s( s  1)( s  2)

K
 1
s( s  1)( s  2)

K  s(s  1)( s  2)

• The breakaway point can now be determined as
  s( s  1)( s  2)
dK d
ds ds 36
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.

  s( s  1)( s  2)

dK d
ds ds
dK
ds

d 3
ds

s  3s 2  2 s 
dK
 3s 2  6s  2
ds
• Set dK/ds=0 in order to determine breakaway point.
 3s 2  6s  2  0
3s 2  6s  2  0

s  0.4226
 1.5774 37
 Construction of root loci
• Step-4: Determine the breakaway point or break-in point.
s  0.4226
 1.5774
• Since the breakaway point must lie on a root locus between 0
and –1, it is clear that s=–0.4226 corresponds to the actual
breakaway point.
• Point s=–1.5774 is not on the root locus. Hence, this point is
not an actual breakaway or break-in point.
• In fact, evaluation of the values of K corresponding to s=–
0.4226 and s=–1.5774 yields

38
 Construction of root loci
• Step-4: Determine the breakaway point.
Pole-Zero Map
1

0.5

s  0.4226
Imaginary Axis

180 60
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
Real Axis 39
 Construction of root loci
• Step-4: Determine the breakawayPole-Zero
point.Map
1

0.5
Imaginary Axis

s  0.4226
0

-0.5

-1
-5 -4 -3 -2 -1 0 1 2
40
Real Axis
 Home Work
• Determine the Breakaway and break in points

41
 Solution

K ( s 2  8s  15)
 1
s  3s  2
2

( s 2  3s  2)
K  2
( s  8s  15)
• Differentiating K with respect to s and setting the derivative equal to zero yields;
dK [( s 2  8s  15)(2s  3)  ( s 2  3s  2)( 2s  8)]
 0
ds ( s  8s  15)
2 2

11s 2  26s  61  0

Hence, solving for s, we find the

break-away and break-in points; s = -1.45 and 3.82
42
 Construction of root loci
• Step-5: Determine the points where root loci cross the
imaginary axis.
Pole-Zero Map
1

0.5
Imaginary Axis

180 60
0
  60

-0.5

-1
-5 -4 -3 -2 -1 0 1 2 43
 Construction of root loci
• Step-5: Determine the points where root loci cross the
imaginary axis.
– These points can be found by use of Routh’s stability criterion.

– Since the characteristic equation for the present system is

– The Routh Array Becomes

44
 Construction of root loci
• Step-5: Determine the points where root loci cross the
imaginary axis.
• The value(s) of K that makes the system
marginally stable is 6.

• The crossing points on the imaginary

axis can then be found by solving the
auxiliary equation obtained from the
s2 row, that is,

• Which yields

45
 Construction of root loci
• Step-5: Determine the points where root loci cross the
imaginary axis.
• An alternative approach is to let s=jω in the characteristic
equation, equate both the real part and the imaginary part to
zero, and then solve for ω and K.

• For present system the characteristic equation is

s 3  3s 2  2s  K  0

( j )3  3( j ) 2  2 j  K  0

( K  3 2 )  j (2   3 )  0
46
 Construction of root loci
• Step-5: Determine the points where root loci cross the
imaginary axis.
( K  3 2 )  j (2   3 )  0
• Equating both real and imaginary parts of this equation
to zero
(2   3 )  0

( K  3 2 )  0
• Which yields

47
48
 Root Locus
5

2
Imaginary Axis

-1

-2

-3

-4

-5
-7 -6 -5 -4 -3 -2 -1 0 1 2
Real Axis 49
 Example#1
• Consider following unity feedback system.

• Determine the value of K such that the damping ratio of

a pair of dominant complex-conjugate closed-loop poles
is 0.5.
K
G( s) H ( s) 
s( s  1)( s  2)
50
 Example#1
• The damping ratio of 0.5 corresponds to
  cos 

  cos 1 

  cos 1 (0.5)  60

51
?

52
 Example#1
• The value of K that yields such poles is found from the
magnitude condition

K
1
s( s  1)( s  2) s 0.3337 j 0.5780

53
54
 Example#1
• The third closed loop pole at K=1.0383 can be obtained
as
K
1  G( s) H ( s)  1  0
s( s  1)( s  2)
1.0383
1 0
s( s  1)( s  2)

s( s  1)( s  2)  1.0383  0

55
56
 Home Work
• Consider following unity feedback system.

• Determine the value of K such that the natural

undamped frequency of dominant complex-conjugate
closed-loop poles is 1 rad/sec.
K
G( s) H ( s) 
s( s  1)( s  2)
57
 Root Locus

1.5

-0.2+j0.96
1

0.5
Imaginary Axis

-0.5

-1

-1.5

-2

-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5 58

 Example#2
• Sketch the root locus of following system and
determine the location of dominant closed loop
poles to yield maximum overshoot in the step
response less than 30%.

59
 Example#2
• Step-1: Pole-Zero Map
Pole-Zero Map
1

0.8

0.6

0.4
Imaginary Axis

0.2

-0.2

-0.4

-0.6

-0.8

-1
-5 -4 -3 -2 -1 0 1
Real Axis 60
 Example#2
• Step-2: Root Loci on Real axis
Pole-Zero Map
1

0.8

0.6

0.4
Imaginary Axis

0.2

-0.2

-0.4

-0.6

-0.8

-1
-5 -4 -3 -2 -1 0 1
Real Axis 61
 Example#2
• Step-3: Asymptotes
Pole-Zero Map
1

0.8

0.6
  90 0.4
Imaginary Axis

0.2

  2 0

-0.2

-0.4

-0.6

-0.8

-1
-5 -4 -3 -2 -1 0 1
Real Axis
62
 Example#2
• Step-4: breakaway point
Pole-Zero Map
1

0.8

0.6

0.4
Imaginary Axis

0.2

-0.2 -1.55
-0.4

-0.6

-0.8

-1
-5 -4 -3 -2 -1 0 1
Real Axis 63
 Example#2
Root Locus
8

2
Imaginary Axis

-2

-4

-6

-8
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis 64
 Example#2
• Mp<30% corresponds to


1 2
Mp e 100



1 2
30%  e 100

  0.35

65
 Example#2 Root Locus
8

6
6 0.35

2
Imaginary Axis

-2

-4

-6 0.35
6

-8
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
Real Axis
66
 Example#2
Root Locus
8

6
6 0.35

System: sys
4
Gain: 28.9
Pole: -1.96 + 5.19i
2 Damping: 0.354
Overshoot (%): 30.5
Imaginary Axis

Frequency (rad/sec): 5.55

0

-2

-4

-6 0.35
6

-8
-4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0 0.5
67
Real Axis
 Root Locus of 1st Order System
• 1st order systems (without zero) are represented by following
transfer function.
K
G( s) H ( s) 
s 
• Root locus of such systems is a horizontal line starting from -α
and moves towards -∞ as K reaches infinity.

jω

-∞ σ
-α

68
 Home Work
• Draw the Root Locus of the following systems.

K
1) G (s) H ( s) 
s2

K
2) G ( s) H ( s) 
s 1

K
3) G ( s) H ( s) 
s
69
 Root Locus of 1st Order System
• 1st order systems with zero are represented by following
transfer function.
K (s   )
G( s) H (s) 
s 
• Root locus of such systems is a horizontal line starting from -α
and moves towards -β as K reaches infinity.

jω

σ
-β -α

70
 Home Work
• Draw the Root Locus of the following systems.

Ks
1) G (s) H ( s) 
s2

2) G ( s ) H ( s )  K ( s  5)
s 1

3) G ( s ) H ( s )  K ( s  3)
s
71
 Root Locus of 2nd Order System
• Second order systems (without zeros) have two poles and the
transfer function is given
K
G ( s) H (s) 
( s  1 )( s   2 )

• Root loci of such systems are vertical lines.

jω

σ
-α2 -α1

72
 Home Work
• Draw the Root Locus of the following systems.

K
1) G( s) H ( s) 
K 4) G( s) H ( s) 
s( s  2) s 2  3s  10

K
2) G ( s) H ( s)  2
s

K
3) G( s) H ( s) 
( s  1)( s  3)
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 Root Locus of 2nd Order System
• Second order systems (with one zero) have two poles and the
transfer function is given
K (s   )
G ( s) H (s) 
( s  1 )( s   2 )
• Root loci of such systems are either horizontal lines or circular
depending upon pole-zero configuration.

jω jω jω

σ σ σ
-α2 -β -α1 -β -α2 -α1 -α2 -α1 -β

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 Home Work
• Draw the Root Locus of the following systems.

K ( s  1)
1) G ( s) H ( s) 
s( s  2)

2) G ( s ) H ( s )  K ( s  2)
2
s

K ( s  5)
3) G( s) H ( s) 
( s  1)( s  3)
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 Example
• Sketch the root-locus plot of following system
with complex-conjugate open loop poles.

76
 Example
• Step-1: Pole-Zero Mao

• Step-2: Determine the root loci on real axis

• Step-3: Asymptotes

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 Example
• Step-4: Determine the angle of departure from the
complex-conjugate open-loop poles.

– The presence of a pair of complex-conjugate open-loop

poles requires the determination of the angle of
departure from these poles.

– Knowledge of this angle is important, since the root

locus near a complex pole yields information as to
whether the locus originating from the complex pole
migrates toward the real axis or extends toward the
asymptote.
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 Example
• Step-4: Determine the angle
of departure from the
complex-conjugate open-loop
poles.

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 Example
• Step-5: Break-in point

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81
 Root Locus of Higher Order System
• Third order System without zero

K
G ( s) H ( s) 
( s  1 )( s   2 )( s   3 )

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 Root Locus of Higher Order System
• Sketch the Root Loci of following unity feedback system

K ( s  3)
G( s) H ( s) 
s( s  1)( s  2)( s  4)

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• Let us begin by calculating the asymptotes. The real-axis intercept is
evaluated as;

• The angles of the lines that intersect at - 4/3, given by

84
• The Figure shows the complete root locus as well as the asymptotes
that were just calculated.

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 Example: Sketch the root locus for the system with the characteristic equation
of;

a) Number of finite poles = n = 4.

b) Number of finite zeros = m = 1.
c) Number of asymptotes = n - m = 3.
d) Number of branches or loci equals to the number of finite poles (n) = 4.
e) The portion of the real-axis between, 0 and -2, and between, -4 and -∞, lie
on the root locus for K > 0.
• Using Eq. (v), the real-axis asymptotes intercept is evaluated as;

−2 + 2 −4 − (−1) −10 + 1
σ𝑎 = = = −3
𝑛 −𝑚 4 −1

• The angles of the asymptotes that intersect at - 3, given by Eq. (vi), are;

(2𝑘 + 1)π (2𝑘 + 1)π For K = 0, θa = 60o

θ𝑎 = = For K = 1, θa = 180o
𝑛 −𝑚 4−1 For K = 2, θa = 300o86
• The root-locus plot of the system is shown in the figure below.
• It is noted that there are three asymptotes. Since n – m = 3.
• The root loci must begin at the poles; two loci (or branches) must leave the double pole
at s = -4.
• Using Eq. (vii), the breakaway point, σ, can be determine as;

• The solution of the above equation is 𝜎 = −2.59.

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 Example: Sketch the root loci for the system.

• A root locus exists on the real axis between points s = –1 and s = –3.6.
• The intersection of the asymptotes and the real axis is determined as,
0 + 0 + 3.6 − 1 2.6
σ𝑎 = = = −1.3
𝑛 −𝑚 3 −1
• The angles of the asymptotes that intersect at – 1.3, given by Eq. (vi), are;
(2𝑘 + 1)π (2𝑘 + 1)π For K = 0, θa = 90o
θ𝑎 = = For K = 1, θa = -90o or 270o
𝑛 −𝑚 3−1

• Since the characteristic equation is

• We have (a)
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• The breakaway and break-in points are found from Eq. (a) as,

From which we get,

• Point s = 0 corresponds to the actual breakaway point. But points are

neither breakaway nor break-in points, because the corresponding gain values K
become complex quantities.

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• To check the points where root-locus branches may cross the imaginary axis, substitute
𝑠 = 𝑗𝜔 into the characteristic equation, yielding.

• Notice that this equation can be satisfied only if

𝜔 = 0, 𝐾 = 0.

• Because of the presence of a double pole at the

origin, the root locus is tangent to the 𝑗𝜔axis at
𝑘 = 0.

• The root-locus branches do not cross the 𝑗𝜔axis.

• The root loci of this system is shown in the

Figure.
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END OF LECTURES-2-3-4

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