ROOT LOCUS

Course: Control Systems (15EECC206)

Unit: II

Chapter Nos.: 04

Faculty Incharge: R. V. Hangal, R. M. Shet, Suhas S., Rohit K.

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Objective

On completion of this session the student would understand,

 The effect of changing roots and pole-zero locations on system

response and system stability

 Root locus and various steps involved in construction of root

locus plot

 The stability analysis using root locus plot analysis

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 Control System

R(s) E(s) Controllers/ C(s)

Compensators Plant

R(s): Reference Input Controller: P, PI, PID Plant: G(s)

E(s): Error signal Compensators: Lead-Lag Feedback: H(S)
C(s): Desired response

  Closed Loop Transfer function

  Closed Loop Transfer function with unity

feedback

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Contd.

   

  : Zeros of the system Denoted as “o” in s-plane plot

  : Poles of the System Denoted as “x” in s-plane plot, and

determines the order of the system

G(s)H(s): Open-loop poles of the system

1+G(s)H(s): Closed-loop poles of the system

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 Pole-Zero plot:
Example:
 
   

The locations of the poles and zeros

x is important because

x o o • It affects the transient response.

• It indicates whether the system is

x
stable or not.

Pole-zero plot 3-D representation

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 Example:

R(s) C(s)
Controllers Plant

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 System response:

s=-2.61, -0.38

s=-1.5+j2.7,
-1.5-j2.7

s=-1.5+j9.88,
-1.5-j9.88

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Stability Analysis : Stability & pole location

• Closed-loop poles & response: stable and unstable systems

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Contd.

• Second order response & locus of poles as a function of damping ratio

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Root locus: Who? What? & How?

Who?
• Developed by an American control theorist Walter R. Evans in 1948.

What is Root-Locus?
• Root locus plot is a graphical way to observe how the roots of system
travel as the gain, K, is varied.

• Uses the open-loop poles to determine the closed-loop stability.

• Root locus points should satisfy

– Magnitude condition
– Angle condition

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Contd.

Magnitude condition:
• Characteristic equation 1+G(s)H(s) is,
 

Angle condition:
• Characteristic equation 1+G(s)H(s) is
 
 

• The values of s that fulfill both the angle and magnitude conditions are the roots of
the characteristic equation, or the closed-loop poles.
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Rules to construct Root locus

How to plot Root Locus?

• The root locus is always symmetrical about real axis.
• The number of root locus branches is equal to the order of the characteristic equation.
Step 1: Locate the no.of open-loop poles and zeros in s-plane.
P= No.of open-loop poles, at k=0
pole terminated to zeros
Z= No.of open-loop zeros, at k= ∞
N=P-Z, branches approaching to ∞
Step 2: Root loci on real axis
A test point lies on the root locus region if the sum of all points (poles and zeros)

on right side of test point is odd (angle condition).

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Contd.

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Contd.

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 Problem 01:

Sketch the root loci for the system shown in below figure (The gain K is assumed to be +ve)
 

Step 1: Locate the no.of open-loop poles and zeros in s-plane.

P= No.of open-loop poles= 0, -3
Z= No.of open-loop zeros= zero
x x
N=P-Z, branches approaching to ∞= 2-0=2
Sum is even: No root locus
Step 2: Root loci on real axis

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Contd.

x x x x x x

Sum is odd: root locus exists Sum is even: No root locus

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Contd.

 
x x

Final Root Locus

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 Problem 02:

Draw a root locus plot for the give TF:

   

   
x x x

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Contd.

 
Root Locus
6
System: S
Gain: 5.85
4 Pole: -0.00681 + 1.4i
Damping: 0.00486

Imaginary Axis (seconds )

-1
Overshoot (%): 98.5
2 Frequency (rad/s): 1.4

1 2     -2

3 K
    -4
0
  -6
-8 -6 -4 -2 0 2 4
K 0   Real Axis (seconds )
-1

   
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 Drill problem…

Draw a root locus plot for the give TF:

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 Problem 03:

 
 

   
x x x

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Contd.

 
Root Locus
8

Imaginary Axis (seconds )

-1
2
System: S
Gain: 30.2
0 Pole: 0.00279 + 2.46i
Damping: -0.00114
-2 Overshoot (%): 100
1 6     Frequency (rad/s): 2.46

-4
5 K
0   -6

-8
  -12 -10 -8 -6 -4 -2
-1
0 2 4
Real Axis (seconds )
K 0
   

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Drill problem…

Draw a root locus plot for the give systems

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 Problem 04:

 
   

o x x

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Contd.

 
 
Root Locus
4

3
System: S
Gain: 0.99
Pole: 0.00483 + 0.985i
2 Damping: -0.00491 System: S
Overshoot (%): 102 Gain: 0.675

Imaginary Axis (seconds )

Frequency (rad/s): 0.985

-1
Pole: 0.162
1 Damping: -1
Overshoot (%): 0
Frequency (rad/s): 0.162
0

-1

  -2

    -3

-4
-14 -12 -10 -8 -6 -4 -2 0 2 4
-1
Real Axis (seconds )
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Drill problem…

Draw a root locus plot for the give systems

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 Problem 05:
Draw a root locus plot for the give characteristic equation
     

 
x o xx
-9

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Contd.

Root Locus
10

Imaginary Axis (seconds )

-1
4

1 K 2

0
9 K   -2

0 -4
  -6

K 0 -8
  -10
-10 -8 -6 -4 -2 0 2
-1
Real Axis (seconds )

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Drill problem…

Draw a root locus plot for the give systems

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Summary

 Importance of pole-zero location with respect to system

response and stability is studied

 Steps involved for root locus plot generation was understood

and implemented of various systems

 Stability analysis of systems was studied

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 Ignition System

THANK YOU

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