Root Locus: ROBT303 Linear Control Theory With Lab

ROBT303 Linear Control Theory with Lab
Root locus
Tohid Alizadeh
Academic year 2016-2017
Tohid Alizadeh (NU)
1 / 37
Part I
What is the root locus?
Tohid Alizadeh (NU)
2 / 37
Motivation: proportional control

Assume that we have a standard feedback loop, where we neglect the presence
of disturbance terms
If
n (t )
and
d (t )
u (t ) = kp e (t ) = Gc (s ) = kp ,
r
i.e. we have a proportional controller
- n
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
In order to design the proportional controller, we must choose
the closed-loop system is stable
we respect transient specications (e.g., about
We are then interested in studying how the poles of
Mp
kp
and/or
T (s )
such that
Ts ,2% )
vary as a function of
kp
Actually, these poles give us
complete information about closed-loop stability
approximate information on step response parameters, in case we can make

a second-order approximation
Tohid Alizadeh (NU)
3 / 37
Denition of root locus

Where are these poles? First we assume that
Gp (s ) = K 0 Gp0 (s ) = K 0
where
N (s )
and
D (s )
Then, by dening
KGp (s )
is in Evans form, i.e.
(s + z1 )(s + z2 ) . . . (s + zm )
N (s )
= K0
D (s )
(s + p1 )(s + p2 ) . . . (s + pn )
are coprime polynomials (no zero-pole cancellations)
= kp K 0
T (s ) =
L(s )
=
1 + L( s )
Gp0 (s )
1 + Gp0 (s )
N (s )
D (s ) + N (s )
Therefore, the poles of the closed-loop system are the roots of the characteristic
equation
D (s ) + N (s ) = 0
Denition
The root locus of a feedback system is a plot of the poles of
T (s )
as parameter
changes
Tohid Alizadeh (NU)
4 / 37
A simple example
The shown camera automatically

follows a subject who wears infrared
sensors on their front and back
Tracking commands are relayed to
the camera via a radio frequency link
from a unit worn by the subject
A proportional controller has to be
designed, in order for the camera to
follow the subject
Tohid Alizadeh (NU)
5 / 37
A simple example
In this case, we nd the roots of
D (s ) + KN (s ) = s 2 + 10s + K = 0
Since it is a second-order polynomial,
it is easy to see how the poles change
as a function of
=K 0
in this case
In general, we want a method to

draw the root locus for an arbitrary
number of roots
We call positive locus (PL) the values
0, and negative
locus (NL) the values of the roots for
of the roots for
<0
Tohid Alizadeh (NU)
6 / 37
Phase and magnitude conditions

The characteristic equation can be rewritten in dierent ways
D (s ) + N (s ) = 0,
1+
N (s )
= 1 + Gp0 (s ) = 0,
D (s )
Gp0 (s ) =
N (s )
1
=
D (s )
All points of the complex plane which satisfy any of these conditions are points
of the root locus
Looking at the last condition, and remembering that, for a given complex
number
s , Gp0 (s )
is another complex number, we need
Magnitude condition:

N (s )
1

D (s ) = ||
Phase condition:
Tohid Alizadeh (NU)

N (s )
+ 2h,
1
=
=
D (s )
0 + 2h,
> 0 (PL)
< 0 (NL)
7 / 37
Phase condition: example

Once a point
satises the phase condition, we can always nd a value of
such that the magnitude condition is satised

Dening
= the angle associated to the zero in
associated to the pole in
pi ,
zi ,
and
= the angle
we get
m
n
X
N (s ) X
=
i
i
D (s ) i = 1
j =1
Figure 6-2 (a) and (b) Diagrams showing angle measurements from open-loop poles and open-loop zero to test point s.
Example:
Gp0 (s ) = 1 1 2 3 4
Next, we dene some properties, useful to draw the root locus of a given system
Modern Control Engineering, Fifth Edition
Tohid Alizadeh (NU)Katsuhiko Ogata
Copyright 2010, 2002, 1997 by Pearson Education, Inc.

All rights reserved.
Academic
year
2016-2017
8 / 37
Root locus with Matlab

The root locus can be plotted by using Matlab command
rlocus()
However, we want to have some intuition on how the root locus is sketched,
especially for synthesizing controllers
Tohid Alizadeh (NU)
9 / 37
Root locus with Matlab

The root locus can be plotted by using Matlab command
rlocus()
However, we want to have some intuition on how the root locus is sketched,
especially for synthesizing controllers
So, let's move to the sketching rules. . .

Tohid Alizadeh (NU)
9 / 37
Part II
Root locus properties
Tohid Alizadeh (NU)
10 / 37
Number of branches and symmetry

Rule 0
The root locus is symmetrical with respect to the real axis
Since
N (s )
and
D (s )
have real coecients, if a complex root is present in the
characteristic equation, then its complex conjugate is also present.
Rule 1
The root locus has 2n branches,
in the positive locus and
in the negative locus
This can obtained from the fact that the polynomial equation
D (s ) + N (s ) = 0
has
complex roots, which continuously depend on the parameter
Tohid Alizadeh (NU)
11 / 37
Origin and end of the branches

Rule 2
For both the PL and the NL,
Gp (s ).
Amongst these,
branches of the root locus originate at the poles of
terminate on the zeros of
Gp (s ),
and
r =nm
at innity
The characteristic equation can be written as
1+
from which
(s + p1 )(s + p1 ) . . . (s + pn )
=0
(s + p1 )(s + p1 ) . . . (s + pn ) + (s + z1 )(s + z1 ) . . . (s + zm ) = 0
We see that for

For
(s + z1 )(s + z2 ) . . . (s + zm )
= 0,
the solutions coincide with the poles of
Gp ( s )
, the equation degenerates into (s + z1 )(s + z1 ) . . . (s + zm ) = 0,

m roots, coinciding with the zeros of Gp (s )
which has
The other
r =nm
Tohid Alizadeh (NU)
branches will end at innity
12 / 37
Asymptotic behavior
Rule 3
The branches that go to innity have asymptotes which meet on the real axis, at the
point of abscissa
xa =
and form with the real axis angles
r a =
m
X
i =1
zi
n
X
i =1
pi
such that
(2h + 1),
2h,
h = 0, 1, . . . , r 1
h = 0, 1, . . . , r 1
(PL)
(NL)
The result is obtained by noticing that

lim
Gp0 (s ) =
lim
sm
= lim r
s s
sn
and then nding the solutions for PL and NL

The computation of
Tohid Alizadeh (NU)
xa
has a meaning only if
r 2
13 / 37
Root locus on the real axis

Rule 4
All the points on the real axis belong to the root locus.
If the total number of real poles + real zeros to the right of the test point is
odd, the test point belongs to the PL

If the total number of real poles + real zeros to the right of the test point is
even, the test point belongs to the NL

Figure 6-8 Determination of the root locus on the real axis.
This is easily obtainable, since

all pairs of complex poles give an
angle contribution equal to zero
the same for all the real
poles/zeros to the left of the test
point
the real poles/zeros to the right
of the test point give a
contribution of
each, from
which the rule follows
Tohid Alizadeh (NU)
Modern Control
Engineering,
FifthLab
Edition
ROBT303 Linear Control
Theory
with
2010, 2002, 199714

by Pearson
Academic yearCopyright
2016-2017
/ 37Educ
Breakaway and break-in points

Rule 5
A necessary condition for a point of the root locus to be a breakaway or break-in
point is
N (s )D 0 (s ) N 0 (s )D (s ) = 0
for both PL and NL.
N 0 (s )
and
D 0 (s )
represent the derivatives w.r.t.
of
N (s )
and
D (s ).
Root Locus
1
0.982
0.962
0.925
0.86
0.72
0.45
0.8
0.6 0.992
BREAKAWAY POINT
0.4
Imaginary Axis
0.998
0.2
4
0.2
0.998
0.4
0.6 0.992
BREAKIN POINT
0.8
1
5
Tohid Alizadeh (NU)
0.962
0.982
4
0.925
3
0.86
2
Real Axis
0.72
0.45
15 / 37
Angles of departure
Rule 6
The angles of departure
is
q dep =
of a branch of the root locus from a pole of multiplicity
X
m
n
X
i + (2k + 1),
i
i =1
m
X
where the angles
dep
i =1
and
i =1
n
X
i =1
i + 2k ,
k = 0, 1, . . . , q 1 (PL)
k = 0, 1, . . . , q 1 (NL)
are computed as usual, by considering the current pole as
a test point, and neglecting the associated angle (i
= 0).
This rule is obtained by checking the

phase condition in the neighborhood
of the considered pole
Tohid Alizadeh (NU)
16 / 37
Angles of arrival
Rule 7
The angles of arrival
q arr =
arr
where the angles
of a branch of the root locus to a zero of multiplicity
X
m
n
X
+
i + (2k + 1),
i
i =1
m
X
i =1
and
i +
i =1
n
X
i =1
i + 2k ,
is
k = 0, 1, . . . , q 1 (PL)
k = 0, 1, . . . , q 1 (NL)
are computed as usual, by considering the current zero as
a test point, and neglecting the associated angle (i
= 0).
This rule can be also obtained by checking the phase condition, this time in the
neighborhood of the considered zero
Tohid Alizadeh (NU)
17 / 37
Some notes
Remember that, once we know that a point
want to nd the associated gain
kp
s = s is
on the root locus, and we
of the proportional controller, we just need
to use the magnitude condition:

N (

D (

s ) = 1 ||
s)
=
D (

s)
||
N (
s)
We obtain the sign of
simply checking if the considered point is on the PL or
on the NL, and then
= kp K 0 kp =
K0
In case we are asked to nd the range of values of
(or
kp )
for which the
closed-loop system is BIBO stable, we can apply the Routh criterion, and nd
the values of
for which the rst column of the Routh table associated to
D (s ) + N (s )
has all positive values
Tohid Alizadeh (NU)
18 / 37
Part III
Drawing the root locus: examples
Tohid Alizadeh (NU)
19 / 37
Examples
r
- n
Example 1 (Click
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
for the corresponding YouTube video)
Draw a sketch of the root locus associated to the standard feedback loop with
proportional controller
Gc (s ) = kp
for a process described by
Gp ( s ) =
s +1
and compare the obtained solution with that obtained with Matlab. In addition:
compute (if possible) the value of
closed-loop system,
Ts ,5% = 0.3
kp
such that, given the step response of the
nd the steady-state error
nd the range of values of
kp R
to
r (t ) = step(t )
for the same closed-loop system
such that the closed-loop system is BIBO
stable
Tohid Alizadeh (NU)
20 / 37
Examples (cont'ed)
r
- n
Example 2 (Click
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Gc (s ) = kp
Gp (s ) =
0.05
s (1 + 10s )
kp
such that the step response of the
closed-loop system is critically damped

nd the steady-state error
to
r (t ) = 5ramp(t )
for the same closed-loop
system
Tohid Alizadeh (NU)
kp R
such that closed-loop system is BIBO stable
21 / 37
Examples (cont'ed)
r
- n
Example 3 (Click
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Gc (s ) = kp
Gp (s ) =
15
s (s + 3)(s + 5)
kp R
stable
kp
closed-loop system, using (if possible) a second-order approximation, is

undamped
Tohid Alizadeh (NU)
22 / 37
Examples (cont'ed)
r
- n
Example 4 (Click
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Gc (s ) = kp
Gp ( s ) =
s +1
s2
kp R
stable
kp
closed-loop system, using a second-order approximation, is critically damped

(i.e., no overshoot!)
Tohid Alizadeh (NU)
23 / 37
Examples (cont'ed)
r
- n
kp
Example 5 (Click
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Gc (s ) = kp
s +2
Gp (s ) = 2
s + 2s + 2
kp R
stable
for which value of
Tohid Alizadeh (NU)
kp
is it possible to approximate
T (s )
as a rst-order system?
24 / 37
Examples (cont'ed)
r
- n
kp
Example 6 (Click
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Gc (s ) = kp
Gp (s ) =
s (s + 1)(s 2 + 4s + 13)
kp R
stable
nd the value of
Tohid Alizadeh (NU)
kp
for which the step response will be undamped (if possible)
25 / 37
Examples (cont'ed)
r
- n
Example 7 (Click
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Gc (s ) = kp
s +b
Gp (s ) = 2
s (s + a )
and compare the obtained solution with that obtained with Matlab, for the following
conditions:
a = 10,
and
b=1
a = 9,
and
b=1
a = 8,
and
b=1
Tohid Alizadeh (NU)
26 / 37
Examples (cont'ed)
r
- n
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Example 8
Gc (s ) = kp
Gp (s ) =
(s + 1)2
(s + 2)2
stable, by using
Tohid Alizadeh (NU)
both
kp R
the magnitude condition and the Routh criterion
27 / 37
Examples (cont'ed)
r
- n
kp
Gp (s)
PROPORTIONAL
ACTUATOR
CONTROLLER
+ PROCESS
+
+
Example 9
Gc (s ) = kp
Gp (s ) =
(s + 1)2
(s + 2)4
kp R
stable, by directly using the magnitude condition instead of the Routh criterion
Tohid Alizadeh (NU)
28 / 37
Part IV
Design of proportional controllers via root

locus
Tohid Alizadeh (NU)
29 / 37
Design procedure
The design procedure for a proportional controller using the root locus can be
summarized as follows:
1
2
Sketch the root locus for the given system

Translate the transient requirements (typically,
Mp , Tr ,
and
Ts
for a step
response) into a feasible area of the root locus, by assuming that
T (s )
can be
approximated as a second-order system with no zeros

3
Translate the steady-state requirements (typically,

responses) into conditions on the gain
kp :
for step or ramp
these conditions are exact (no
approximation needs to be checked a posteriori)

4
Find a gain
kp
which leads to the satisfaction of both transient and steady-state
requirements (if possible!)

5
Have a look at the additional poles and/or zeros, and plot the step response, to
verify if the transient requirements are actually met (i.e., if the approximation
was good)
If they are not met, further modify
kp ,
and try to meet all the requirements
For the sake of simplicity, we will only consider the case
Tohid Alizadeh (NU)
kp > 0
30 / 37
Transient requirements: percent overshoot

To satisfy the requirement
p ,
Mp < M
as
= q
Consider that
= cos( ),
where
we need to nd the corresponding value of
p /100)
ln(M
2
p /100)
2 + ln (M
is the angle between the line connecting the
pole with positive imaginary part and the origin, and the negative real axis
Therefore, the poles will be constrained in the white sector in the gure, and the
limit angle
will become smaller and smaller as
Tohid Alizadeh (NU)
increases
31 / 37
Transient requirements: rise time

We roughly approximate the rise time as
Tr < Tr ,
we nd
We know that
n = 1.8/Tr ,
Tr = 1.8/n ,
n
n >
so, given a condition
and we impose
is the Euclidean distance of any of the two complex poles
from the origin (i.e., the magnitude of the corresponding complex number)
Therefore, the poles will be constrained in the white area in the gure, and the
forbidden circle will increase as a smaller
Tohid Alizadeh (NU)
Tr
is required
32 / 37
Transient requirements: settling time

Ts ,2% < Ts ,2% (same for Ts ,5% < Ts ,5% ), we know that
d = n is (minus) the real part of any of the complex
To satisfy the requirement
Ts ,2% = 4/d ,
where
poles
Therefore, we nd
d = 4/Ts ,2%
and impose
d
d >
The poles will be constrained in the white half plane in the gure, and the
dividing line will move left as
Tohid Alizadeh (NU)
Ts ,2%
increases
33 / 37
Steady-state requirements
The fact that the steady-state error for a given polynomial reference will be zero
does not depend on the chosen gain
the process
kp ,
but only on the number of integrators of
Gp ( s )
Instead, if we had a nite value of

smaller by increasing
for a given reference, we can make it
kp
For instance, if
Gp ( s ) =
then
L(s ) =
s +3
kp
s +3
In this case, if the requirement is
e = 0 for a step reference, then we cannot

e < 10% of the reference step signal, then
e =
1
kp
1+ 3
do it
< 0.1 kp > 27
nite for a ramp or parabolic reference, it is impossible, since
for all values

Tohid Alizadeh (NU)
kp > 0
34 / 37
Steady-state requirements (cont'ed)

Instead, if
Gp (s ) =
then
L( s ) =
kp
s
In this case, if the requirement is
e = 0 for a step reference, it will always

e < 20 for a unit ramp reference, then
e =
kp
be satised
< 0.2 kp > 5
e = 0 for a ramp reference, then we cannot do it

e nite for parabolic reference, it is impossible, since e
kp > 0
for all
Analogous considerations hold for the rejection of process disturbances
d (t )
Important: for some systems, increasing the gain too much leads to instability
Tohid Alizadeh (NU)
35 / 37
Example: DC motor
Considering again the previously-analyzed DC motor, we recall that its transfer
function was
Gp (s ) =
0.01
0.005s 2
+ 0.06s + 0.1001
Let us consider the following requirements:
Ts ,2% < 2
s,
Mp < 25%, e < 10%
for a step reference

By using the
rltool
setting, for instance,
of Matlab, we can verify that the requirements are met by
kp = 87.7
(no need to check the approximation)
Step Response
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
Tohid Alizadeh (NU)
0.2
0.4
0.6
Time (sec)
0.8
1.2
36 / 37
Example: DC motor
Let us assume now that the same motor is used for a high-precision application,
for which we need
By using the
Ts ,2% < 2
rltool
s,
Mp < 5%, e < 1%
of Matlab, we can verify that the requirements cannot be
met by using a proportional controller, since not enough degrees of freedom are
provided
Step Response: kp=27
Step Response: kp=1025
0.8
1.8
0.7
1.6
1.4
0.6
1.2
Amplitude
Amplitude
0.5
0.4
1
0.8
0.3
0.6
0.2
0.4
0.1
0
0.2
0.2
0.4
0.6
0.8
Time (sec)
1.2
1.4
To have
Mp < 5%,
we can set at most
To have
e < 1%,
we must set at least
Tohid Alizadeh (NU)
kp = 27,
0.2
0.4
0.6
Time (sec)
for which
kp = 1025,
for which
0.8
1.2
is too large
Mp
is too large
37 / 37

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ROBT303 Linear Control Theory with Lab

Academic year 2016-2017

Tohid Alizadeh (NU)

ROBT303 Linear Control Theory with Lab

Academic year 2016-2017

What is the root locus?

Tohid Alizadeh (NU)

ROBT303 Linear Control Theory with Lab

Academic year 2016-2017

Motivation: proportional control

i.e. we have a proportional controller

In order to design the proportional controller, we must choose

the closed-loop system is stable

we respect transient specications (e.g., about

We are then interested in studying how the poles of

Actually, these poles give us

complete information about closed-loop stability

approximate information on step response parameters, in case we can make

Tohid Alizadeh (NU)

ROBT303 Linear Control Theory with Lab

Academic year 2016-2017

Denition of root locus

is in Evans form, i.e.

are coprime polynomials (no zero-pole cancellations)

Tohid Alizadeh (NU)

ROBT303 Linear Control Theory with Lab

Academic year 2016-2017

The shown camera automatically

Tohid Alizadeh (NU)

ROBT303 Linear Control Theory with Lab

Academic year 2016-2017

In general, we want a method to

Tohid Alizadeh (NU)

ROBT303 Linear Control Theory with Lab

Academic year 2016-2017

Phase and magnitude conditions

is another complex number, we need

Tohid Alizadeh (NU)

ROBT303 Linear Control Theory with Lab

Academic year 2016-2017

Phase condition: example

satises the phase condition, we can always nd a value of

such that the magnitude condition is satised

= the angle associated to the zero in

associated to the pole in

Tohid Alizadeh (NU)Katsuhiko Ogata

Copyright 2010, 2002, 1997 by Pearson Education, Inc.

ROBT303 Linear Control Theory with Lab

Root locus with Matlab

Tohid Alizadeh (NU)

ROBT303 Linear Control Theory with Lab

Academic year 2016-2017

Root locus with Matlab

So, let's move to the sketching rules. . .

ROBT303 Linear Control Theory with Lab

Academic year 2016-2017

Root locus properties

Tohid Alizadeh (NU)

ROBT303 Linear Control Theory with Lab

Academic year 2016-2017

Number of branches and symmetry

have real coecients, if a complex root is present in the

characteristic equation, then its complex conjugate is also present.

we respect transient specications (e.g., about

Denition of root locus

satises the phase condition, we can always nd a value of

such that the magnitude condition is satised

have real coecients, if a complex root is present in the

branches will end at innity

and then nding the solutions for PL and NL

In case we are asked to nd the range of values of

for which the rst column of the Routh table associated to

nd the steady-state error

nd the range of values of