Root Locus 261

The loop sensitivity term K is determined by setting the s1 row to zero:

bc
K¼ ð7:60Þ
d
For K > 0, Eq. (7.59) gives the natural frequency of the undamped oscillation.
This corresponds to the point on the imaginary axis where the locus crosses
over into the right-half s plane. The imaginary axis divides the s plane into
stable and unstable regions. Also, the value of K from Eq. (7.60) determines
the value of the loop sensitivity at the crossover point. For values of K < 0
the term in the s0 row is negative, thus characterizing an unstable response.
The limiting values for a stable response are therefore
bc
0<K < ð7:61Þ
d
In like manner, the crossover point can be determined for higher-order
characteristic equations. For these higher-order systems care must be exer-
cised in analyzing all terms in the first column that contain the term K in order to
obtain the correct range of values of gain for stability.

Rule 9: Intersection or Nonintersection of

Root-Locus Branches [5]
The theory of complex variables yields the following properties:
1. A value of s that satisfies the angle condition of Eq. (7.34) is a point
on the root locus. If dW(s)/ds 6¼ 0 at this point, there is one and only
one branch of the root locus through the point.
2. If the first y  1 derivatives of W(s) vanish at a given point on the
root locus, there are y branches approaching and y branches leaving
this point; thus, there are root-locus intersections at this point.
The angle between two adjacent approaching branches is given by
360
y ¼
ð7:62Þ
y
Also, the angle between a branch leaving and an adjacent branch
that is approaching the same point is given by
180
yy ¼
ð7:63Þ
y
Figure 7.14 illustrates these angles at s ¼ 3, with yy ¼ 45 and y ¼ 90.

Rule 10: Conservation of the Sum of the System Roots

The technique described by this rule aids in the determination of the general
shape of the root locus. Consider the general open-loop transfer function

Copyright © 2003 Marcel Dekker, Inc.