Root Locus

Preamble
Routh Stability test algebraic method for determining stability from
characteristic equation
Theorems of Routh test gave an idea regarding the number of roots
on R.H.S of imaginary axis.
Finding the roots of characteristic equation find out response of
system for arbitrary forcing function.
Root Locus A concept
Root locus is a graphical method to find out the roots of C.E

C 1+G=0

G varies with controller gain

= =
( +)( +)
1 2 2
= + =
1+ 1+ ( +)
= =
1 +

The roots of characteristic equation determine the stability of
=
( + )( + )( + )
system which affect the response for change in set point or
load variable
 The open loop transfer function is given by
+ =
=
( + )( + )( + )
= 1 = 12 = 13

= + + + +=
( )( )( )
+ + + + =

=

1 1 1
= = =

The characteristic equation for closed loop system is given by

+ =
( )( )( )
+ + + +=

+ + + + =
Rules for plotting root locus
The number of poles (n) is greater than number of zeros (m)

Rule 1: The number of loci or branches is equal to number of open loop

poles (n).
Rule 2: The root loci begin at open loop poles and terminate at open
loop zeros.
Rule 3: The real axis is a part of root locus when the sum of number of
poles and zeros to the right of a point on the real axis is odd.
Rule 4: The point at which two root loci, emerging from adjacent poles
on real axis, intersect and leave the real axis is determined by solution

of equation.
=

= =

The loci leave the real axis at right angles of

Rule 5: There will be (n-m) loci, that approach asymptotically (n-m)
straight lines radiating from the center of gravity of poles and zeros of
open loop transfer function. The center of gravity is given by
=1
=1
=

The asymptotes make an angle 2+1

() with real axis for k = 0,
1, 2 ,3,.. , (n-m-1).
Rule 6: The gain at each value in root locus is obtained by solving the
equation .

Rule 7: The point at which root locus crosses the imaginary axis can be
found from the third theorem of Routh test for stability.
 Plot the root locus of the open loop transfer function

=
( + )( + )( + )

The open loop poles are -1,-2,-3. No open loop zeros are there for the problem
As we are having three poles we will have three branches for root loci Rule 1
One portion of root locus is in between real axis of -1 and -2 and other
portion is to the left of -3 Rule 3.
As n-m = 3 we have three asymptotes originating from center of gravity

The angles the asymptotes make with the real axis is /3 3/3 (5/
 The break away point is found out by solving the equation


= + + =
+ + +
= =

To find the point at which root locus cross the imaginary axis we can
use third theorem of Routh test. Writing the characteristic equation
+=

+ =
( + )( + )( + )

+ + + +=
The characteristic equation for open loop
transfer function is
+ + + + =
To find out the gain at s = -0.95 + 1.5i. s-p1 = 1.5
Use s-p2 = 1.8
s-p3 = 2.52

=1 = 6.8
1.5 1.8 2.52