Lecture Notes on Control Systems/D.

Ghose/2012 137

13.6 An Example for Obtaining Root Locus

Let the plant transfer function be,

s+3
G(s) =
s(s − 2)[(s + 1)2 + 4]
Using P-control the closed loop system is,

k· s+3
s(s−2)[(s+1)2 +4]
Gc (s) =
1+ k · s(s−2)[(s+1)
s+3
2 +4]

Step 1: The system is already in Evan’s form.

G1 (s)
Gc (s) =
1 + kG2 (s)
with
s+3
G2 (s) =
s(s − 2)[(s + 1)2 + 4]
The open-loop poles: p1 = 0, p2 = 2, p3,4 = −1 ± j2.
The open-loop zeros: z1 = −3.
So, m = 1, n = 4.

Figure 13.25: Location of open loop poles and zeros, asymptotes and asymptotic centroid

Step 2: Starting and ending points of the loci.

3 poles go to ∞.
1 pole goes to the open-loop zero.
Lecture Notes on Control Systems/D. Ghose/2012 138

Step 3: Real axis segments.

The root locus on the real axis lies on the left of an odd number of poles and zeros. So
it lies between 0 and 2, and on the left of the zero at −3. (See the figure above).
Step 4: Find the asymptotes.
(a) Asymptote angles:


180o + α360o 180o + α360o 
φα = = 
n−m 3 α=0,1,2
= 60o , 180o , 300o
(b) Asymptote centroid:

Figure 13.26: Asymptotes

 
pi − zi 0 + 2 + (−1 + j2) + (−1 − j2) − (−3) 3
σ= = = =1
n−m 3 3

(See the figure above).

Step 5: Angles of departure and arrival.
(a) Angle of departure:

 
θz k − θpj − θdi = 180o
j=i

Calculate θd1 :
θz1 − [θp2 + θp3 + θp4 ] − θd1 = 180o

Note that θz1 = 0, θp3 + θp4 = 360o and θp2 = 180o . So,

θd1 = 0o
Lecture Notes on Control Systems/D. Ghose/2012 139

Figure 13.27: Compute θd1

Calculate θd2 :

θz1 − [θp1 + θp3 + θp4 ] − θd2 = 180o

Note that again θz1 = 0 and θp3 + θp4 = 360o , but θp1 = 0o . So,

θd2 = 180o

Figure 13.28: Compute θd2

Calculate θd3 :

θz1 − [θp1 + θp2 + θp4 ] − θd3 = 180o

Note that θz1 = 45o , θp1 = 90o + tan−1 12 , θp2 = 90o + tan−1 32 , and θp4 = 90o . So,

θd3 = θz1 − [θp1 + θp2 + θp4 ] − 180o

= 45o − [(90o + 26.6o ) + (90o + 56.3o ) + 90o ] − 180o
= 45o − 352.9o − 180o = −487.9o = 232.1o
Lecture Notes on Control Systems/D. Ghose/2012 140

Figure 13.29: Compute θd3

By symmetry (Since the root locus is symmetric about the real axis), we can obtain
θd4 = 127.9o .
(a) Angle of arrival:

 
θzk − θpj + θai = 180o
k=i

In this case there is only one zero. So,

−[θp1 + θp2 + θp3 + θp4 ] + θa1 = 180o

−[180o + 180o + 360o ] + θa1 = 180o
θa1 = 180o

Figure 13.30: Compute θa1

Step 6: We have no idea about the breakaway point, except that the loci break away
from (or join at) the real axis at ±90o .
Step 7: It is not necessary to try out the Routh-Hurwitz criterion here.
Consolidating these results we get the root locus as follows:
What does the root locus reveal? That it is not possible to stabilize the system using
P-control with any positive value of k.
Lecture Notes on Control Systems/D. Ghose/2012 141

Figure 13.31: Complete root locus

PROBLEM SET 7

For the following problems, do not use MATLAB. Qualitative sketches of the root locus
is fine. After sketching the root locus comment on the performance of the compensator.
You may check the results using MATLAB if you wish.

1. Obtain the root locus with respect to parameter K for the system given by

1
G(s) =
s(0.04s2 + 0.2s + 1)

1
H(s) = ,
0.1s + 1

Where H(s) is the transfer function in the feedback loop.

Lecture Notes on Control Systems/D. Ghose/2012 142

Figure 13.32: System block diagram

Sketch the root locus for the following cases:

(a) K(s) = K
(b) K(s) = K1 + K2 s
(c) K(s) = K1 + K2 /s
In (b) and (c) above keep K1 constant at some value and sketch the root locus
against K2 and then keep K2 constant at some value and sketch the root locus
against K1 .
2. Consider an aircraft flight control system given by
−4(s2 − 25)
G(s) =
s(s + 2)(s2 + 10s + 50)

H(s) = K1 > 0 K(s) = 1

Obtain the root locus with respect to K1 .

(Hint: see D’Azzo and Houpis (page 230) for a similar problem, in case you have
any difficulty).
3. Consider
s+a
G(s) =
s2 (s
+ 1)

H(s) = 1 K(s) = K

Sketch the root locus against K for a negative and a positive value of a.

You may practice a few other root locus sketches from the suggested textbooks.