Example for Sketching root locus:

For the system with following loop gain,

K
KG ( s ) H ( s ) =
( s + 2)( s + 7)( s + 12)

1. sketch the root locus by step by step process (Page 371 Dorf Book)
a. Find the jω crossing points and the gain, K, at the crossing points.
b. Find the asymptotes' angles and their intercept with real-axis.
c. Find all break-away (or/and break-in) points, if applicable.
2. Depict the closed loop poles on the Fig. 5 such that the closed loop system has a
damping ratio of 0.54.
3. What would be the approximate damping frequency, un-damped natural
frequency, for the selected poles in section-5.

Step-by-step Solution (Refer to Page 371, Dorf Book):

Step-1: Characteristic equation (C.E.):
1
KG ( s ) H ( s ) = 0 ⇒ G ( s ) H ( s ) =
( s + 2)( s + 7)( s + 12)
- Open loop poles & zeros:
Poles: s= -2, -7, -12 => n=3
Zeros: None => m=0
Draw open loop poles and zeros on the s-plane:
- Number of separate branches = n = 3 (since n>m)
Step-2:
The line between -2 & -7 has only one (odd number) pole on its right. So,
according to the "Rules of Root Locus" it is a part root locus. Likewise is for the line
between -12 to infinity. It has three (odd number of ) poles to its right side.

Pole-Zero Map
20

Ploes
15

10

5
Imaginary Axis

0
-12 -7 -2
-5

-10

-15

-20
-25 -20 -15 -10 -5 0 5
Real Axis
Step-3: Asymptotes:
- number of asymptotes: n-m=3

n m

∑ ( Finite − poles) −∑ ( Finite − zeros) = ∑ (− p ) −∑ (− z )

i i
(−2 − 7 − 12) − 0
σA = i =1 i =1
= = −7
n−m n−m 3−0

(2q + 1) 2q + 1
ϕA = 180 = 180 = 60,180,300 q = 0,1,2
n−m 3−0

Asymptotes are shown in the following Fig.

Pole-Zero Map
20

Ploes
15

10

5
Imaginary Axis

0
-12 -7 -2
-5

-10

-15

-20
-25 -20 -15 -10 -5 0 5
Real Axis

Step4: (Do it by yourself.) Find the characteristic equation, q(s)= 0. Construct the Routh-
Hurwitz array from q(s) and then force one row to zero. This will give you the value of K
at crossing point with imaginary axis. Construct the auxiliary equation from the
immediate row above zero row as described in chapter-6, case-3 (Entire row is zero). The
roots of the auxiliary equation gives you the cross points with imaginary axis.
 Root Locus System: sys
20 Gain: 2.4e+003
Pole: 0.0126 + 11i
Damping: -0.00114
15 Overshoot (%): 100
Frequency (rad/sec): 11

10

5
Imaginary Axis

-5

-10

-15

-20
-25 -20 -15 -10 -5 0 5
Real Axis

Step-5: Determine the breakaway points at which the root locus goes from real axis to
complex plane.
1 dK
K= = ( s + 2)( s + 7)( s + 12), = 0 ⇒ 3s 2 + 42s + 122 = 0 ⇒ s1, 2 = −4.11,−9.89
G ( s) H ( s) ds

Out of which the s = -4.11 is applicable to this case. So, the breakaway point is s=-4.11.
Root Locus
20

15

10 System: sys
Gain: 48.1
Pole: -4.11 - 0.0622i
5 Damping: 1
Overshoot (%): 0
Imaginary Axis

Frequency (rad/sec): 4.11

0

-5

-10

-15

-20
-25 -20 -15 -10 -5 0 5
Real Axis
Step-6: Not applicable to this case since there no complex pole or zero.
You can that there are three segment for root locus one red, another is green and the last
one is blue.

5- To find the closed loop poles for damping ratio of 0.54, we need to draw the radial
lines from origin from which the damping ratio is constant. The pole for the above specs.

6- The pole at intersection, has damping frequency of ω d = 4.7 rad/s and natural
frequency of ω n = 5.5 red/s (look at the circles for constant natural frequency).

Root Locus
20
0.8 0.68 0.54 0.4 0.26 0.14

15 System: sys
Gain: 299
0.9 Pole: -3.03 + 4.7i
10 Damping: 0.543
Overshoot (%): 13.1
0.97 Frequency (rad/sec): 5.59
5
Imaginary Axis

25 20 15 10 5
0

-5
0.97

-10
0.9
-15

0.8 0.68 0.54 0.4 0.26 0.14

-20
-25 -20 -15 -10 -5 0 5
Real Axis

Fig. 5: Root locus and grids for constant damping ratio and un-damped natural
frequency, i.e. constant ζ ,ω n .