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Root Locus Plotting Guide

The document discusses the procedure for plotting a root locus diagram. It involves 8 steps: 1) determining the open loop poles and zeros, 2) drawing the pole-zero plot, 3) finding asymptotes, 4) locating the centroid, 5) identifying breakaway and break-in points, 6) finding intersections with the imaginary axis, 7) calculating angles of departure and arrival, and 8) sketching the root locus and assessing stability. The root locus shows how closed loop poles vary with the system gain and provides insight into the stability of the feedback system.

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Vara Lakshmi
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148 views3 pages

Root Locus Plotting Guide

The document discusses the procedure for plotting a root locus diagram. It involves 8 steps: 1) determining the open loop poles and zeros, 2) drawing the pole-zero plot, 3) finding asymptotes, 4) locating the centroid, 5) identifying breakaway and break-in points, 6) finding intersections with the imaginary axis, 7) calculating angles of departure and arrival, and 8) sketching the root locus and assessing stability. The root locus shows how closed loop poles vary with the system gain and provides insight into the stability of the feedback system.

Uploaded by

Vara Lakshmi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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ROOT LOCUS:

Root locus is defines as, the locus of closed loop poles obtained when system gain ‘K’ is varied
from 0 to ∞ (infinity)

ANGLE CONDITION:

< G(s) H(s) = ± (2q+1) 1800 where q = 0, 1, 2, 3……

MAGNITUDE CONDITION:

G(s)*H(s) = -1 + j0

І G(s)*H(s) І = 1

PROCEDURE TO PLOT ROOT LOCUS:

Step -1

The root locus is symmetry to real axis

Step -2 (Determine the open loop poles, zeros and a number of branches from given G(s) H(s))

No. of open loop poles = P

No. of open loop Zeros = Z

No. of Root locus branches = P

For (p>Z) :

No. of root locus branches terminating at infinity = P-Z

No. of root locus branches terminating at Zero = Z

Step -3 (Draw the pole-zero plot and determine the parts of real axis are on the root locus)

A point on the real axis lies on the root locus if the sum of the numbers of open loop poles and
open loop zeros, on the real axis; to the right hand side of this point is ODD

Step -4 (Determining the angle of asymptotes)

Number of asymptotes = P-Z

Angle of asymptotes is given by


(2𝑞+1)180
Ѳ= 𝑝−𝑧
Where q= 0, 1, 2, 3…..
Step -5 (Determining centroid)

All the asymptotes intersect the real axis at a common point known as centroid denoted by σ
∑(𝑟𝑒𝑎𝑙 𝑝𝑎𝑟𝑡 𝑜𝑓 𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑝𝑜𝑙𝑒𝑠)−∑(𝑟𝑒𝑎𝑙 𝑝𝑎𝑟𝑡 𝑜𝑓 𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑧𝑒𝑟𝑜𝑠)
σ=
𝑝−𝑧

Step – 6 (Determining break away and break in points)

1. Construct the characteristic equation 1+ G(s)H(s)=0


2. Write the equation in terms of k
𝑑𝑘
3. Derivate ‘k’ w.r.t ‘s’ and equate it to zero i.e. 𝑑𝑠 = 0
4. Find the roots of above equation. The roots give the breakaway point
5. To determine the valid break away break away point substitutes the roots in equation 2.
If the value of K is positive that break away point is valid for the given root locus.

NOTE:
𝑑𝑘
Procedure if you have complex roots of 𝑑𝑠 = 0

1. To find the valid break away point use angle condition i.e.
< 𝐺(𝑠)𝐻(𝑠) = (2𝑞 + 1)180
2. To find the value of k use magnitude condition i.e.
ІG(s) H(s)І = 1

Step – 7 (Intersection of root locus with the imaginary axis)

i) To determine the intersection points, construct Routh array in terms of ‘K’ and find
the value of Kmar.
ii) Construct auxiliary equation A(s) = 0 by using the coefficients of a row which is just
above the row of zeros.
iii) Roots of auxiliary equation A(s) = 0 for K = Kmar are nothing but the intersection
points of the root locus with imaginary axis.

Step -8 (Angle of Departure & Angle of arrival)

Angle of departure at complex conjugate poles and angle of arrival at complex conjugate zeros.

At what angle the root locus branch is departing from complex conjugate pole determines the
angle of departure and denoted as φd

φd = 1800 – φ

where φ = ∑φp - ∑φz


∑φp = Angles made by remaining open loop poles at the pole at which φd is calculated

∑φz = Angles made by remaining open loop zeros at the pole at which φd is calculated

At what angle the branches are terminating to complex conjugate zero determines the angle of
arrival and denoted as φa

φa = 1800 – φ

Where φ = ∑φp - ∑φz

Step -9

Sketch the root locus and predict the stability.

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