R(s) K C(s)

+-
s(s  a)

 jω

K s-plane
a

s
s+

a2
K
4
2 1
σ
x x0
K=0 K=0
a2
K
4
X – denotes O L P
a a
2 2

a2
K
4

R(s) C(s)
+- G (s)

H (s)
 R(s) K ( s  1)( s  2) C(s)
+- G ( s) 
s ( s  3)( s  4)

jω

s-plane

Terminating Points of
Root Loci

K X= 0 K=0 K=∞ K=∞ K=0 σ

X X
∞ K -4 -3 -2 -1 0

Originating Points of
Root Loci X – denotes O L P
– denotes O L Z
 jω

s-plane

e
cLin
toti

∞
mp
Asy
Break away point

K
180

300 60

∞ K
Asymptotic Line K=0
X
-2
K=0
X
-1
.
b = - 0. 423
K=0
X
0
σ

K
Asy
mp
toti

∞
c Li
ne

Centroid
X – denotes O L P
– denotes O L Z
 jω

s-plane
Break away point
K=0
X j1

K
.
-3.414 K  -2
-1 0 σ

X – denotes O L P
– denotes O L Z

X -j1
K=0
 jω g(t)

Single Root

X
0 σ 0 t

jω g(t)

Double Root

XX
0 σ 0 t

jω g(t)
X Single pair of roots

0 σ 0 t

jω g(t)
XX
Double pair of roots

0 σ 0 t

XX
 jω g(t)

s-plane

X
0 σ 0 t

X – denotes C L P
(or) Root of the
Characteristic
Equation
jω g(t)

s-plane

X
0 σ 0 t

X – denotes C L P
(or) Root of the
Characteristic
Equation

jω g(t)
X

0 σ 0 t

jω g(t)
X

0 σ 0 t

X
 jω

 p  135 s-plane

X j1

 2  45

-1 0 σ
-2

X – denotes O L P
1  90 – denotes O L Z

X -j1

jω
  Line
s-plane

P .
B jd

.

A
 O σ
 ∞
jω
K
∞

e
As

K=0

Lin
ym

X j4

c
oti
pt

K
oti

pt
.

ym
cL
in

As
.
e

.
j 10

j 2.45 s-plane
j2

135

.
Complex Break
away points
45
K=0 K=0
X X
 0 σ
-4 45
-2

135 Real Break away

point

.  j 2.45
.
- j2

.
X – denotes O L P
– denotes O L Z
e
Lin

As

 j 10
ym
c
oti

pt
pt

oti
ym

- j4
c

X
K
As

Lin

Centroid K=0
e

K
∞

∞
 jω

. j6.24

∞
K
e
Lin
c
toti
mp
Asy
s-plane

180

Asymptotic Line

∞ K
K=0
X
-7 300 
K=0
X
-4
60
.
b = - 2.27

-2
K=0
X
-1 0
σ

Centroid
Asy

X – denotes O L P
mp

Break away point

toti
c Li
ne

.
∞

-j6.24
 jω

∞
.

e
Lin

K
c
K =48 j2.83

toti
mp
Asy
ξ = 0.5 Line s-plane
  cos   cos 0.5  60
1 1 

K = 8.33 . j1.16

180
K = 8.33


300

.
b
=-

.
60 0.
84   60
Asymptotic Line K=0 K=0 5
K=0 σ
X X -1 X
-4 -3 0
∞
- 4.67 -0.67
K -2

8
3.0
K=

Centroid
Break away point
Asy

X – denotes O L P
mp
toti
c Li

.
ne

K =48 -j2.83
K
∞
 jω

. j√2

3
s-plane

=
K = 1 j1

4
K 

41
K = 5.83 K=0 K=0

0.
X X
4 -2 -1 0 σ
K . 41
-2

Break away point

K = 1 -j1
K=3
. -j√2 X – denotes O L P
– denotes O L Z