1. The Root Locus Analysis
Eng R. L. Nkumbwa
MSc, MBA, BEng, REng.

2. Stability of Control Systems
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Eng R. L.

3. 4/25/2018
Eng R. L.

4. Auto-Pilot or Fly-by-Wire Systems
Let us consider the short period approximate model of the Fly Zambezi 727 aircraft landing at Lusaka International Airport.
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Eng R. L.

5. Auto-Pilot or Fly-by-Wire Systems
Where δe is the elevator input,
Take the output as θ, input is δe, then form the transfer function is of the form;
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6. Auto-Pilot or Fly-by-Wire Systems
For the Zambezi 727 (40Kft, M = 0.8) the Transfer Function reduces to:
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7. Auto-Pilot or Fly-by-Wire Systems
Such that, the dominant roots have a frequency of approximately 1 rad/sec and damping of about 0.4 as shown on the pole-zero map below:
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Eng R. L.

8. Auto-Pilot or Fly-by-Wire Systems
As the plane continue navigating the sky, we need to know and analyze where the poles are going as a function of the input command constant in the above pole-zero map.
How do we know where the poles moves as the Zambezi 727 system gain changes?
This is where Root Locus comes to address the problem and provide the solutions.
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Eng R. L.

9. Root Locus Analysis Intro
In Control Systems I and other previous chapter, we have demonstrated the importance of the poles and zeros of the closed loop transfer function of the linear control system on the dynamic performance of the system.
The roots of the characteristic equation which are the poles of the closed loop transfer function, determine the absolute and relative stability of linear SISO Systems.
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Eng R. L.

10. Root Locus Analysis Intro
Another important study of the Control systems is the investigation of the trajectories of the roots of the characteristic equation or simply the Root Locus – When certain system parameters vary.
The first basic properties of the root loci and the systematic construction are due to
Wade R. Evans in 1948
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Eng R. L.

11. Root Locus Analysis Intro
In general, root locus may be sketched by following some simple rules and properties.
For plotting the root locus accurately the MATLAB root locus tool in the Control System Toolbox (control) or in the Time Response Analysis Tool (time tool) of ACSYS can be used.
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Eng R. L.

12. Root Locus Analysis Intro
The root locus technique is not confined only to the study of control systems.
In general, the method can be applied to study the behavior of roots of any algebraic equation with one or more variable parameters.
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Eng R. L.

13. Root Locus Example
Consider an illustrative example for the Radio Volume control in the Course Text Book by Nkumbwa on page 75.
It illustrates how root locus is applied in volume control of radio systems.
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Eng R. L.

14. Root Locus Example: three poles
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15. Root Locus Analysis Intro
General root locus is hard to determine by hand and requires Matlab tools such as:
rlocus (num,den)
To obtain full result, we can get some important insights by developing a short set of plotting rules.
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Eng R. L.

16. Defining Root Locus
To start with, let’s make sure we’re clear on exactly what we mean by the words “Root Locus plot.”
So, what is a Root?
“A number that reduces an equation to an identity when it is substituted for one variable.”
Roots of this equation are the closed-loop poles of the feedback system.
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Eng R. L.

17. Defining Root Locus Then, what is a Locus?
“The set of all points whose location is determined by stated conditions.”
The “stated conditions” here are that 1 + kL (s) = 0 for some value of k, and the “points” whose 0 locations matter to us are points in the s-plane.
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Eng R. L.

18. Defining Root Locus Now, what is a Root Locus?
The set of all points in the s-plane that satisfy the equation 1 + kL (s) = 0 for some 0 value of k.
Root locus is a graphical presentation of the closed- loop poles as a system parameter is varied.
Root locus is a powerful method of analysis and design for stability and transient response.
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Eng R. L.

19. Defining Root Locus
The root- locus technique is a graphical method for sketching the locus of the roots in the s-plane as a parameter is varied.
In fact, the root- locus method provides the engineer with a measure of the sensitivity of the roots of the system to a variation in the parameter being considered.
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Eng R. L.

20. Some Root Locus Basic Questions
What points are on the root locus?
Where does the root locus start?
Where does the root locus end?
When/where is the locus on the real line?
Etc
Answering these and many more questions will help us understand Root Locus technique.
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Eng R. L.

21. Pole and Zero Locations by R-Locus
Let's say we have a closed-loop transfer function for a particular system:
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22. Pole and Zero Locations by R-Locus
Where N is the numerator polynomial and D is the denominator polynomial of the transfer functions, respectively.
Now, we know that to find the poles of the equation, we must set the denominator to 0, and solve the characteristic equation.
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Eng R. L.

23. Pole and Zero Locations by R-Locus
In other words, the locations of the poles of a specific equation must satisfy the following relationship:
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24. Pole and Zero Locations by R-Locus
And from the above equation we can manipulate an equation such as:
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25. Pole and Zero Locations by R-Locus
And finally by converting to polar coordinates, we get:
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26. Equation for all Gain Values
Now we have 2 equations that govern the locations of the poles of a system for all gain values:
The Magnitude Equation
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27. Equation for all Gain Values
The Angle Equation
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28. Root-Locus Design Procedure
In laplace transform domain, when the gain is small the poles start at the poles of the open loop transfer function.
When gain becomes infinity, the poles move to overlap the zeros of the system.
This means that on a root-locus graph, all the poles move towards a zero.
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Eng R. L.

29. Root-Locus Design Procedure
Only one pole may move towards one zero and this means that there must be the same number of poles as zeros.
If there are fewer zeros than poles in the transfer function, there are a number of implicit zeros located at infinity that the poles will approach.
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Eng R. L.

30. Note
Remember that, Poles are marked on the graph with an 'X' and zeros are marked with an 'O‘ by common convention.
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Eng R. L.

31. Root-Locus Design Procedure
We can start drawing the root-locus by first placing the roots of b(s) on the graph with an 'X'.
Next, we place the roots of a(s) on the graph, and mark them with an 'O'.
Where b(s) and a(s) are the numerator and denominator of the system transfer function.
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Eng R. L.

32. Root-Locus Design Procedure
Next, we examine the real-axis.
Starting from the right-hand side of the graph and traveling to the left, we draw a root-locus line on the real-axis at every point to the left of an odd number of poles on the real-axis.
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Eng R. L.

33. Root-Locus Design Procedure
Now, a root-locus line starts at every pole.
Therefore, any place that two poles appear to be connected by a root locus line on the real-axis, the two poles actually move towards each other, and then they "breakaway", and move off the axis.
The point where the poles break off the axis is called the breakaway point.
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Eng R. L.

34. Note
It is important to note that the s-plane is symmetrical about the real axis, so whatever is drawn on the top half of the S-plane, must be drawn in mirror-image on the bottom-half plane.
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Eng R. L.

35. Root-Locus Design Procedure
Once a pole breaks away from the real axis, they can either travel out towards infinity (to meet an implicit zero) or they can travel to meet an explicit zero, or they can re-join the real-axis to meet a zero that is located on the real-axis.
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Eng R. L.

36. Root-Locus Design Procedure
If a pole is traveling towards infinity, it always follows an asymptote.
The number of asymptotes is equal to the number of implicit zeros at infinity.
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Eng R. L.

37. Root-Locus Construction Rules
Rule 1: Starting Point (K=0)
The root locus starts at open loop poles. Or there is one branch of the root-locus for every root of b(s).
Rule 2: Terminating Point (K=infinity)
The root locus terminates at open loop zeros which include those at infinity.
Rule 3: Number of Distinct Root Loci
There will be as many root loci as the highest number of finite open loop poles or zeros.
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Eng R. L.

38. Root-Locus Construction Rules
Rule 4: Symmetry of the Root Loci
The root loci are symmetrical with respect to the real axis and all complex roots are conjugate.
Rule 5: Angle of Asymptotes
The root loci are asymptotic to straight lines at large values and the angle of asymptotes is given by
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Eng R. L.

39. Root-Locus Construction Rules
Rule 6: Asymptotic Intersection
The asymptotes intersects the real axis at the point given by
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Eng R. L.

40. Root-Locus Construction Rules
Rule 7: Root Locus Location on the Real Axis
The root loci may be found on portions of the real axis to the left of an old number of open loop poles and zeros.
Rule 8: Locus Breakaway Point
The points at which the root locus break away can be calculated by the following:
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Eng R. L.

41. Root-Locus Construction Rules
Rule 9: Angle of Departure and Arrival
Find the formula
Rule 10: Point of Intersection with the Imaginary Axis
Rule 11: Determination of K
And many more rules and equations
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Eng R. L.

42. Root Locus Example
A single- loop feedback system has a characteristic equation as follows:
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43. Root Locus Example
We wish to sketch the root locus in order to determine the effect of the gain K. The poles and the zeros are located in the s-plane as:
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Eng R. L.

44. Root Locus Example
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Eng R. L.

45. Root Locus Example
The root loci on the real axis must be located to the left of an odd number of poles and zeros and are therefore located as shown on the figure above in heavy lines.
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Eng R. L.

46. Root Locus Example The intersection of the asymptotes is: 4/25/2018
Eng R. L.

47. Root Locus Example The angles of the asymptotes are: 4/25/2018
Eng R. L.

48. Root Locus Example
There are three asymptotes, since the number of poles minus the number of zeros, n – m = 3.
Also, we note that the root loci must begin at poles, and therefore two loci must leave the double pole at s = - 4. Then, with the asymptotes as sketched below, we may sketch the form of the root locus:
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Eng R. L.

49. Root Locus Example
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50. Compensator design using the root locus
The root locus graphically displays both transient response and stability information.
The locus can be sketched quickly to get a general idea of the changes in transient response generated by changes in gain.
Specific points on the locus can also be found accurately to give quantitative design information.
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Eng R. L.

51. Compensator design using the root locus
The root locus typically allows us to choose the proper loop gain to meet a transient response specification.
As the gain is varied, we move through different regions of response.
Setting the gain at a particular value yields the transient response dictated by the poles at that point on the root locus.
Thus, we are limited to those responses that exist along the root locus.
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Eng R. L.

52. Possible Root Locus
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53. Possible Response Options
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54. Wrap Up…
Root Locus is a very important techniques that can be used for compensation design of various control systems
Do further research on this topic
4/25/2018
Eng R. L.