National University of Computer and Emerging Sciences, Islamabad Campus

FORMULA SHEET

\
National University of Computer and Emerging Sciences, Islamabad Campus

Overshoot against normalized zero location (in LHP) added at

Overshoot against damping ratio () for a second order system

Rise time against an additional pole added at

National University of Computer and Emerging Sciences, Islamabad Campus

Phase margin V/s Damping ratio

Phase margin V/s Overshoot

National University of Computer and Emerging Sciences, Islamabad Campus
 National University of Computer and Emerging Sciences, Islamabad Campus

Rules for Positive Root Locus

= / with poles and
root locus of 1 +
Given a complex rational function zeros , the
versus real positive must obey the following rules.

RULE 1. The branches of the locus leave the poles, branches arrive at the zeros and
branches approach the asymptotes.

RULE 2. The positive locus is on the real axis to the left of an odd number of real poles plus
zeros. In other words, an odd number of real poles plus zeros lie to right of the positive locus on
the real axis.

180 + 360 1
RULE 3. The asymptotes radiate out at angles
= , = 1,2, ,

from the center point
=

The angle of separation between asymptotes is 360/ .

RULE 4. Departure angles from a pole of multiplicity !are

1
= %& ' & 180 360 1 )
,"#$
!
("#$
and arrival angles to a zero of multiplicity !are
1
' ,*++ = ,& & ' + 180 + 360 1 -
!
(*++
where ' are angles from the zeros, are the angles from the poles. and = 1,2, , !.

and depart from each other so as to keep an angle of separation 360/2! between any meeting
RULE 5. Branches move towards each other, meet at points on the locus with multiple roots,

branch and the nearest departing branch. Such meeting points on the locus satisfy the following
2 5
equivalent equations:
. 1 1 1
/ 0 = 0, 1 = 0, 1
= 1
, & =&
.
34 34
Solving of any these equations, and keeping the solutions that lie on the locus, gives the locations
of the meeting points.