SPC318: System Modeling and Linear Systems

Lecture 9: Closed Loop Control Systems

The Root Locus Procedures

Dr. Haitham El-Hussieny

Adjunct Lecturer
Space and Communication Engineering
Zewail City of Science and Technology

Fall 2016

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 1 / 25

Procedures for Root Locus:

The roots of the characteristic equation of

a system provide a valuable insight
concerning the response of the system.
To locate the roots of the characteristic
equation in a graphical manner on the
s-plane, six steps are used to facilitate the
rapid sketching of the locus.

2.762s 2 + 981.3
G (s) =
s 4 + 1.798s 3 + 841.2s 2 + 639s

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 2 / 25

Procedures for Root Locus:

1 Step-1: Prepare the root locus sketch:

(a) Write the characteristic equation so
that the parameter of interest, K, appears
as a multiplier:

1 + KG (s)H(s) = 0

We are usually interested in determining

the locus of roots as K varies as:

0≤K ≤∞

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 3 / 25

Procedures for Root Locus:

1 Step-1: Prepare the root locus sketch

Example:
(a) Write the characteristic equation so
that the parameter of interest, K, appears
as a multiplier:
K
1+ =0
s 4 + 12s 3 + 64s 2 + 128s
We are usually interested in determining
the locus of roots as K varies as:

0≤K ≤∞

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 4 / 25

Procedures for Root Locus:

1 Step-1: Prepare the root locus sketch:

(b) Factor G (s)H(s) in terms of n poles
and M zeros:

1 + KG (s)H(s) = 0
QM
(s + zi )
1 + K Qni=1 =0
j=1 (s + pi )

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 5 / 25

Procedures for Root Locus:

1 Step-1: Prepare the root locus sketch

Example:
(b) Factor G (s)H(s) in terms of n poles
and M zeros:

1 + KG (s)H(s) = 0
QM
(s + zi ) You can use zpk(sys) in MATLAB
1 + K Qni=1 =0
j=1 (s + pi )

K
1+ =0
s(s + 4)(s + 4 + j4)(s + 4 − j4)

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 6 / 25

Procedures for Root Locus:

1 Step-1: Prepare the root locus sketch:

(c) Locate the open-loop poles and zeros
of G (s)H(s) in the s-plane with selected
symbols:
QM
(s + zi )
G (s)H(s) = Qni=1
j=1 (s + pi )
x: pole, o: zero.
Locus begins at a pole and ends at a zero.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 7 / 25

Procedures for Root Locus:

1 Step-1: Prepare the root locus sketch

Example:
(c) Locate the open-loop poles and zeros
of G (s)H(s) in the s-plane with selected
symbols:

1
G (s)H(s) =
s(s + 4)(s + 4 + j4)(s + 4 − j4)

You can use pzplot(sys) in MATLAB

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 8 / 25

Procedures for Root Locus:

1 Step-1: Prepare the root locus sketch:

(d) Determine the number of separate loci
or branches, SL:
QM
(s + zi )
G (s)H(s) = Qni=1
j=1 (s + pi )

SL = n when n≥M
n : Number of poles
x: pole, o: zero.
M : Number of zeros

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 9 / 25

Procedures for Root Locus:

1 Step-1: Prepare the root locus sketch

Example:
(d) Determine the number of separate loci
or branches, SL:
1
G (s)H(s) =
s(s + 4)(s + 4 + j4)(s + 4 − j4)

SL = n = 4 when n≥M
You can use pzplot(sys) in MATLAB

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 10 / 25

Procedures for Root Locus:

1 Step-1: Prepare the root locus sketch:

(e) Keep in mind the root locus is
symmetric around the real axis.

Example

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 11 / 25

Procedures for Root Locus:

2 Step-2: Locate the segments of the

real axis that are root loci:
I The root locus on the real axis always
lies in a section of the real axis to the
left of an odd number of real poles
and zeros.
I If the total number of real poles and real
zeros to the right of this test point is
odd, then this point lies on a root locus.
I This fact validate the angle condition.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 12 / 25

Procedures for Root Locus:

3 Step-3: Determine the asymptotes

of the root loci:
I Asymptote is the straight line approximation of a
curve.
I When the number of finite zeros of G (s)H(s), M,
is less than the number of poles n by the number
N = n − M, then N sections of loci must end at
zeros at infinity.
I These sections of loci proceed to the zeros at
infinity along asymptotes as K approaches
infinity.
I The loci proceed to the zeros at infinity along
asymptotes centered at σA and with angles φA .

Example
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 13 / 25
Procedures for Root Locus:

3 Step-3: Determine the asymptotes of the root

loci:
I The centroid σA , (point of intersection of
asymptotes on real axis):
P P
Poles − Zeros
σA =
n−M

I The angles of asymptotes:

180o (2k + 1)
φA = (k = 0, 1, 2, . . . , n − M − 1)
n−M

n : Number of poles
M : Number of zeros Example
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 14 / 25
Procedures for Root Locus:
3 Step-3: Determine the asymptotes of the root loci:
Example:
I
1
G (s)H(s) =
s(s + 4)(s + 4 + j4)(s + 4 − j4)
I P P
Poles − Zeros
σA =
n−M
(0 − 4 − 4 + j4 − 4 − j4) − (0)
σA = = −3
4

I The angles of asymptotes:

 
 +45o , for k =0 
o
 
180 (2k + 1) +135o , for k =1
 
φA = =
n−M 
 +225o , for k =2 

+315o , for k =3
 

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 15 / 25

Procedures for Root Locus:
In-class activity:

Steps:
[1] Poles and Zeros ?
[2] Real-axis root loci (odd left).
[3] asymptotes:
P P
Poles − Zeros
σA =
For the given unity feedback system, determine: n−M
1 Root loci on real axis. 180o (2k + 1)
φA =
2 Angle of asymptotes. n−M

3 Centroid of asymptotes.

Time allowed: 10 min.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 16 / 25

Procedures for Root Locus:

4 Step-4: Determine the breakaway and break-in

points:
I The break-away and break-in point corresponds to
points in the s plane where multiple roots of the
characteristic equation occur.
I Break-away point:
It is the point from which the root locus branches
leave the real axis and enter in complex plane.
I Break-in point:
It is the point from which the root locus branches (s + 2)(s + 3)
enter the real axis and leave the complex plane. G (s)H(s) =
s(s + 1)

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 17 / 25

Procedures for Root Locus:
4 Step-4: Determine the breakaway and break-in points:

1 + KG (s)H(s) = 0

1
K =−
G (s)H(s)

I The break-away or break-in points can be determined from

the roots of:
dK
=0
ds
dK (s + 2)(s + 3)
I It should be noted that not all the solutions of =0 G (s)H(s) =
ds s(s + 1)
correspond to actual breakaway points.
dK
I If a point at which = 0 is on a root locus, i.e. K takes a
ds
real positive value, it is an actual breakaway or break-in point.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 18 / 25

Procedures for Root Locus:
4 Step-4: Determine the breakaway and break-in points:
Example:
1
G (s)H(s) =
s(s + 4)(s + 4 + j4)(s + 4 − j4)

1 + KG (s)H(s) = 0
K = −s(s + 4)(s + 4 + j4)(s + 4 − j4)
K = −(s 2 + 4s)(s 2 + 8s + 32)
K = −(s 4 + 12s 3 + 64s 2 + 128s)
dK  
=0  −3.7117 + j2.5533 
ds
s= −3.7117 − j2.5533
4s 3 + 36s 2 + 128s + 128 = 0 roots() 
−1.5767 OK

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 19 / 25
Procedures for Root Locus:

5 Step-5: Determine the points where root loci cross the

imaginary axis:

1 + KG (s)H(s) = 0

I We can find the intersection with the jω axis by two

approaches:
1 Set s = jω in the characteristic equation and solve for ω.
2 By the help of Routh’s stability criterion solving the auxiliary
equation.
Example

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 20 / 25

Procedures for Root Locus:

5 Step-5: Determine the cross point:

Example:
(1) Set s = jω in the characteristic equation and solve for ω:

1 + KG (s)H(s) = 0

K
1+ =0
s(s + 4)(s + 4 + j4)(s + 4 − j4)
K + s 4 + 12s 3 + 64s 2 + 128s = 0 set s = jω
K + (jω)4 + 12(jω)3 + 64(jω)2 + 128(jω) = 0
ω = 0 K = 0(REJECTED!) (jω)odd = −jω odd
ω = ±3.266 K = 796.44(ACCEPTED!) (jω)even = −ω even

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 21 / 25

Procedures for Root Locus:
5 Step-5: Determine the cross point:
Example:
(2) By the help of Routh’s stability criterion:

s 4 + 12s 3 + 64s 2 + 128s + K = 0

The K that makes the system

marginally stable, i.e. a = 0:

K = 568.8889

The auxiliary equation:

640 2
s + Ks 0 = 0
12

s = ±3.266
Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 22 / 25
Procedures for Root Locus:

6 Step-6: Determine the angle of departure of the locus

from a complex pole and the angle of arrival of the
locus at a complex zero, using the phase angle criterion:
Angle of Departure:
For the complex pole p = −4 + j4:
X X
θ1 = 180o − θpoles + φzeros
θ1 = 180o − [(180 − 45) + (90) + (90)] + [0]
θ1 = 225o
For the complementary complex pole p = −4 − j4:

θ = −θ1 = −225o

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 23 / 25

Procedures for Root Locus:

Lecture Assignment HW: (Due date: Before Next Lecture)

For the given unity feedback system, draw the root locus with detailed steps and compare your
plot with MATLAB using rlocus() function.

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 24 / 25

 End of Lecture

Best Wishes

haitham.elhussieny@feng.bu.edu.eg

Dr. Haitham El-Hussieny SPC318: System Modeling and Linear Systems 25 / 25