EE362 Ch7

Root Locus Design
Assoc. Prof. Enver Tatlicioglu

Department of Electrical & Electronics Engineering
Izmir Institute of Technology
Chapter 7
Assoc. Prof. Enver Tatlicioglu (EEE@IYTE)
EE362 Feedback Control Systems
Chapter 7
1 / 64
Compensators
We have seen how to draw a root locus when there is a variable gain
K for a given plant dynamics.
Q. What if the desired pole locations are not on this locus?
A. We need to modify the locus by adding extra dynamics (i.e., D (s)).
The transfer function of the system is

KD (s) G (s)
T (s) =
1 + KD (s) G (s)
and after letting G (s) , D (s) G (s), we obtain
K G (s)
.
1 + K G (s)
We need to redraw the locus and pick K in order to put the poles to
meet the design specifications.
T (s) =
Chapter 7
2 / 64
Compensators
Adding a compensator effectively adds dynamics to the plant.

Two main questions are:
Q. What type of compensation should we use?
Q. How do we figure out where to put the additional dynamics?
There are three classical types of controllers.
Chapter 7
3 / 64
PID control
General control setup is given as
where we need to design the controller D (s).

One option is PID (Proportional Integral Derivative) control.
More than 90% of all controllers are PID.
This doesnt mean that they are great, just popular.
Chapter 7
4 / 64
Proportional control
Proportional control is given as
u (t) = Ke (t) or D (s) = K
so, the transfer function is
T (s) =
KG (s)
.
1 + KG (s)
The controller only consists of a gain knob.

We have to take the root locus as given since there is no extra
dynamics to modify it.
This is usually a very limited approach, but a good place to start.
May allow nonzero steady state error.
May not be able to completely reject a constant disturbance.
For higher order systems, increasing K usually leads to instability.
Chapter 7
5 / 64
Example
1
Consider G (s) = (s+a)(s+b)
where a > b > 0.
We apply proportional control
D (s) = K .
Since G (0) =
1
ab ,
steady state error to a unit step input is

ess =
1
.
K
1 + ab
We can make ess small by making K very large, but this often leads to
poorly damped behavior and often requires excessively large actuators.
Chapter 7
6 / 64
For the DC motor example, consider the controller
u (t) = K (r (t) y (t)) = Ke (t) or D (s) = K .
The closedloop transfer function is
Y (s)
AK
=
.
R (s)
(1 s + 1) (2 s + 1) + AK
where the poles are the roots of (1 s + 1) (2 s + 1) + AK .
Without feedback (i.e., K = 0)
s1 = 1/1 , s2 = 1/2 .
With feedback (i.e., K > 0)
s1 , s2 =
q
(1 + 2 ) (1 + 2 )2 41 2 (1 + AK )
21 2
Chapter 7
7 / 64
Figure: Root locus plot for the DC motor example
For K >
(1 2 )2
4A1 2 ,
poles go straight up and down.
Settling time remains the same, rise time decreases, damping

decreases (more transient overshoot).
Chapter 7
8 / 64
Integral control
Pure integral control is given as
Zt
K
K
e ( ) d or D (s) =
u (t) =
TI
TI s
0
where TI is the integral time.

The transfer function is found as
T (s) =
K G (s)
TI s
.
+ TKI G (s)
s
Integral feedback is used to reduce/eliminate steady state error.

Constant disturbances can be cancelled completely.
Integral feedback can give nonzero control even if e = 0 because of
memory.
Dynamic response usually degrades.
The response may become oscillatory.
For high gains, the system may become unstable.
Chapter 7
9 / 64
Integral control
Substitute u (t) =
K
TI
Rt
0
(r ( ) y ( )) d into the DC motor model
1 2 y (t) + (1 + 2 ) y (t) + y (t) = A
K
TI
Zt
0
+ Bw (t) .
(r ( ) y ( )) d
Differentiating the above expression results in

...
AK
AK
1 2 y (t) + (1 + 2 ) y (t) + y (t) +
y (t) =
r (t) + B w (t) .
TI
TI
If r (t) and w (t) are constants (i.e., w (t) = 0), we obtain
AK
AK
yss =
rss
TI
TI
thus there is no steady state error.
Chapter 7
10 / 64
Integral control
We apply a step (or a ramp or a parabola) input and we would like to
know how well does our (closedloop) system track this input.
Ultimately, we would like zero error (i.e., e (t) = 0) (maybe 1%, 2%
in reality).
Recall that, for a unity feedback control system, the steady state error
to a unit step input is
ess =
1
.
1 + KD (0) G (0)
For integral control, we have D (s) = T1I s , which satisfies D (s)

as s 0, so for systems that do not have any free integrators
1
= 0.
1+
So, by adding the integrator into the compensator, the error has been
1
reduced from 1+K
to zero for systems that do not have any free
P
integrators.
ess
Chapter 7
11 / 64
Integral control
Example
Consider G (s) =
1
(s+a)(s+b)
where a > b > 0.
We apply integral control

D (s) =
K
.
TI s
Since D (s) as s 0, the steady state error is

ess
1
= 0.
1+
Increasing K to increase the speed of response pushes the pole toward

the imaginary axis which results in oscillatory behavior.
Chapter 7
12 / 64
Proportional integral control

The performance of pure integral control can be improved by adding
proportional term to integral term
K
u (t) = Ke (t) +
TI
Zt
0

s + T1I
1
e ( ) d or D (s) = K 1 +
=K
TI s
s
which adds a pole and a zero to the plant dynamics.

Note that, combination of proportional and integral control solves
many of the problems with just integral control.
For the DC motor example, poles are the roots of
1 2 s 3 + (1 + 2 ) s 2 + (1 + AK ) s +
AK
=0
TI
where we have two degrees of freedom to locate the poles (i.e., K

and TI ).
Chapter 7
13 / 64
Proportional integral control
Figure: Root locus plot for PI control of the DC motor model
Figure: Root locus plot for PI control of G (s) =

1
(s+a)(s+b)
with a > b > 0

Chapter 7
14 / 64
Derivative control
Pure derivative control is given as
u (t) = KTD e (t) or D (s) = KTD s
where TD is the derivative time.
Damps dynamic response.
Has a stabilizing effect.
Provides feedback that is proportional to the rate of change of e (t),
so, control response anticipates future errors.
Does nothing to reduce constant error (i.e., if e (t) = 0, then
u (t) = 0).
Does not do much to help the steady state error.
Is impractical since derivative magnifies sensor noise.
Chapter 7
15 / 64
Derivative control
Example
Substituting u (t) = KTD e (t) into the DC motor model results in

1 2 s 2 + (1 + 2 + AKTD ) s + 1 = 0.
Notice that, TD enters into which can make damping better.
Chapter 7
16 / 64
Derivative control
Example
1
Consider G (s) = (s+a)(s+b)
where a > b > 0.
We apply derivative control
D (s) = TD s.
The closedloop system is very stable and there is no ringing.
Figure: Root locus plot for D control of G (s) =

1
(s+a)(s+b)
with a > b > 0

Chapter 7
17 / 64
Proportional derivative control
Often, proportional control and derivative control are used together

D (s) = K (1 + TD ) s.
Different from pure derivative feedback, there is no zero at s = 0.
Therefore, we obtain better steady state response.
Chapter 7
18 / 64
Proportional derivative control
Figure: Root locus plot for PD control of G (s) =
1
(s+a)(s+b)
with a > b > 0
Figure: Root locus plot for PD control of the DC motor example

Chapter 7
19 / 64
Proportional integral derivative control
PID controller is given as

K
u (t) = K (r (t) y (t)) +
TI
Zt
0
(r ( ) y ( )) d
+KTD (r (t) y (t))

or
D (s) = K

1
1+
+ TD s .
TI s
We need ways to design parameters K , TI , TD .
Chapter 7
20 / 64

There are some tuning rules for selecting K , TI , TD .
In general (i.e., not always),
K , TI
TD
error , stability
stability .
For some desired point s1 = |s1 | exp (j) and

G (s1 ) = |G (s1 )| exp (j), we obtain
K
TD
sin ( + ) TI |s1 |
|G (s1 )| sin () [TI |s1 | + 2 cos ()]
sin ()
K
+
|s1 | |G (s1 )| sin () TI |s1 |2
and TI is chosen to match some design criteria, such as steady state

error.
Chapter 7
21 / 64
Substituting the PID controller into the DC motor model and solving
for poles results in
1 2 TI s 3 + TI ((1 + 2 ) + AKTD ) s 2 + TI (1 + AK ) s + AK
AK
(1 + 2 ) + AKTD 2 1 + AK
s +
s+
s3 +
1 2
1 2
1 2 T I
= 0
= 0.
There are three coefficients and there are three control gains (i.e., K ,
TI , TD ).
We can put poles anywhere.
So we have complete control of dynamics in this case.
Chapter 7
22 / 64

Output to reference input transfer function is obtained as
AK (TI s + 1)
Y (s)
=
.
R (s)
1 2 TI s 3 + TI (1 + 2 ) s 2 + TI (1 + AK ) s + AK
Figure: Step reference response

Chapter 7
23 / 64

Output to disturbance input transfer function is obtained as
TI Bs
Y (s)
=
.
W (s)
1 2 TI s 3 + TI (1 + 2 ) s 2 + TI (1 + AK ) s + AK
Figure: Step disturbance response

Chapter 7
24 / 64
Practical problem: Integrator overload
Integrator in PI or PID control can cause problems.

Suppose there is saturation in the actuator.
Error will not decrease.
Integrator will integrate a constant error and its value will blow up.
Solution is integrator antiwindup which turns off integration when
the actuator saturates.
Doing this is necessary in any practical implementation and omission
leads to bad response, or even instability.
Chapter 7
25 / 64
Lag compensator design

PI control is often approximated by lag control
D (s) =
s z0
s p0
with |p0 | < |z0 | (that is, the pole is closer to the origin than the zero).
Since |z0 | > |p0 |, the phase added to the openloop transfer function
is negative (i.e., phase lag).
Pole is often placed very close to origin (e.g., p0 0.01), and zero
is placed near the pole (e.g., z0 0.1).
Lag control does not change locus much since p0 z0 0.01.
Lag control improves the steady state error.
Lag control is very similar to proportional control.
Chapter 7
26 / 64

Example
Consider the following system
where
G (s) =
1
.
(s + 1) (s + 5)
Let D (s) = K = 13 and R (s) = 1/s, find the steady state error.
Chapter 7
27 / 64

Example
From the block diagram, we can obtain the closedloop transfer

function as
1
K (s+1)(s+5)
Y (s)
.
=
1
R (s)
1 + K (s+1)(s+5)
The error is found as
E (s) = R (s) Y (s)
1
K (s+1)(s+5)
R (s)
= R (s)
1
1 + K (s+1)(s+5)
=
1
1
1 + K (s+1)(s+5)
R (s) .
Chapter 7
28 / 64

Example
After applying the final value theorem, the steady state error is found
as
ess
=
=
=
lim e (t)
t+
lim sE (s)
s0
5
1
= .
K
18
1+ 5
So, as K goes up the steady state error goes down.
Chapter 7
29 / 64

Example
where
G (s) =
1
.
(s + 1) (s + 5)
s+c
with K = 13, c = 0.1, and d = 0.01 which is a
Let D (s) = K s+d
typical lag compensator.
Find the steady state error for R (s) = 1/s.

Chapter 7
30 / 64

Example

function as
1
D (s) (s+1)(s+5)
Y (s)
.
=
1
R (s)
1 + D (s) (s+1)(s+5)
E (s) = R (s) Y (s)
s+c
1
K s+d
(s+1)(s+5)
R (s)
= R (s)
1
s+c
1 + K s+d
(s+1)(s+5)
=
1
1+K
1
s+0.1
s+0.01 (s+1)(s+5)
R (s) .
Chapter 7
31 / 64

Example
as
ess
=
=
=
lim e (t)
t+
lim sE (s)
s0
1
1
= .
0.1
27
1 + K 0.015
Recall that, for D (s) = K = 13, steady state error was ess = 5/18.
So, the steady state error is a factor of 7.5 better with
s+0.1
.
D (s) = 13 s+0.01
Chapter 7
32 / 64
Lead compensator design

Instead of D or PD control, we use lead control
D (s) =
s z0
s p0
with |z0 | < |p0 |, that is, the zero is closer to the origin than the pole.
Lead control does change the locus.
Pole and zero locations are chosen so that the locus will pass through
some desired point s = s1 .
Design may be done analytically for
D (s) =
a1 s + a0
s +a
or D (s) = K
.
b1 s + 1
s +b
Chapter 7
33 / 64

Choose a0 to get specified DC gain

a1 s + a0

= desired DC gain
G
(s)
b1 s + 1

s=0
|a0 | |G (s)|s=0 = desired DC gain
desired DC gain
|a0 | =
|G (s)|s=0
and a1 and b1 are chosen to make the locus go through some desired
point s1 by satisfying
a1 s 1 + a0
G (s1 ) = 1.
b1 s 1 + 1
Chapter 7
34 / 64

So, from magnitude and angle conditions, we have

a1 s 1 + a0

b1 s1 + 1 |G (s1 )| = 1

a1 s 1 + a0
+ G (s1 ) = 180 .
b1 s 1 + 1
From these expressions, for s1 = |s1 | exp (j) and
G (s1 ) = |G (s1 )| exp (j), we obtain
a1 =
b1 =
sin () + a0 |G (s1 )| sin ( )

|s1 | |G (s1 )| sin ()
sin ( + ) + a0 |G (s1 )| sin ()
.
|s1 | sin ()
Chapter 7
35 / 64

Example
with
G (s) =
1
.
s2
0
such that the root locus passes through
Find D (s) = ab11s+a
s+1
s1 = 2 + 2j = 2 2 exp (j135 ) which is chosen to achieve = 0.707

and = 0.5 sec.
Chapter 7
36 / 64

Since |G (s)|s=0 = s12 |s=0 +, we cannot compute a0 . So, we
arbitrarily choose a0 = 2.
Note that
1
1
G (s1 ) = 2 |s=22 exp(j135 ) = exp (j270 )
s
8
so, from the formula, we find
sin (135 ) + 2 18 sin (405 )
a1 =
=
2 2 81 sin (270 )
1
2
+ 2 81 12
5
1
= .
2
2 28
From the formula, we find

12 + 2 81 12
sin (135 270 ) + 2 81 sin (135 )
3
=
= .
16
2 2 sin (270 )
2 2
So, the compensator has the form
b1 =
D (s) =
5
2s + 2
.
3
16 s + 1
Chapter 7
37 / 64

Example
Root Locus
20
15
10
Imaginary Axis
10
15
20
6
Real Axis
Figure: Root locus plot for G (s) =

1
s2
with D (s) =
5
2 s+2
3
16 s+1
Chapter 7
38 / 64

Example
where
G (s) =
1
.
s (s + 1)
Find D (s) such that the dominant closedloop poles are at 3 3j.
Chapter 7
39 / 64

Example
First try D (s) = K which results the denominator of the transfer

function to be of the following form
1 + KG (s) = 1 + K
1
.
s (s + 1)
The root locus is obtained as

Root Locus
Imaginary Axis
3.5
2.5
1.5
Real Axis
0.5
0.5
which does not clearly go through 3 3j.

Chapter 7
40 / 64

Example
Consider
s +a
s +b
with b > a > 0 which is a lead compensator.
D (s) = K
The denominator of the transfer function is now of the following form

1 + KD (s) G (s) = 1 + K
s +a
1
.
s + b s (s + 1)
Note that, there are three closedloop poles where two of them are at
3 3j and the third one depends on the values of a, b, K .
Since we are told that 3 3j are going to be the dominant poles

then the third pole should be real and it should be on the left of 3.
How do we find the values for a, b, and K which ensure that 3 3j

are the closedloop poles?
Chapter 7
41 / 64

Example
From the block diagram, we can obtain the transfer function as

K (s+a)
Y (s)
s(s+b)(s+1)
=
.
s+a
R (s)
1 + K s(s+b)(s+1)
Note that,

1+K
s +a
s (s + b) (s + 1)
|s=3+3j = 0
achieves the desired result.

We will use angle condition to find a and b.
Note that, the angle condition is

s +a
|s=3+3j = 180
s (s + b) (s + 1)
where we have one equation and two unknowns (a and b).
Chapter 7
42 / 64

Example
When selecting a, it should be noted that:

a is not unique,
If a is picked too big, b will not exist (i.e., b may become negative),
If a is picked too small, the system might not exhibit the right
dominant behavior (i.e., the third closedloop pole might dominate
the behavior of the system).
Recall that,

A
= (A) (B)
B
(AB) = (A) + (B)

1
( + j) = tan
.
Chapter 7
43 / 64

Example
Let a = 3.
After utilizing the angle condition along with the properties, we obtain

1
s +3
|s=3+3j +
|s=3+3j = 180
s (s + 1)
s +b

s (s + 1)
|s=3+3j = (s + b) |s=3+3j .
180 +
s +3

|s=3+3j = 168.69 , so
Note that, s(s+1)
s+3

3
1
(3 + b + 3j) = tan
= 11.31
b3
and after noting that tan (11.31 ) = 0.2, we obtain b = 18.
Thus, we obtain the following characteristic equation
s +3
1 + KD (s) G (s) = 1 + K
.
s (s + 18) (s + 1)
Chapter 7
44 / 64

Example
Root Locus
20
15
10
Imaginary Axis
10
15
20
20
15
10
Real Axis

1
s(s+1)
s+3
with D (s) = K s+18
Chapter 7
45 / 64

Example
We will now use the magnitude condition to find K

s
+
3
|s=3+3j =
K
s (s + 18) (s + 1)

3j

=
K
(3 + 3j) (15 + 3j) (2 + 3j)
|3j|
=
K
|3 + 3j| |15 + 3j| |2 + 3j|
3
K
=
4.24 15.3 3.65
K
=
1
1
1
1
78.
Chapter 7
46 / 64

Example
where
G (s) =
1
.
s (s + 1)
Find D (s) such that the dominant closedloop poles are at 3 3j

using coefficient matching method.
Chapter 7
47 / 64

Example
Recall, the transfer function

Y (s)
R (s)
=
=
K (s+a)
s(s+b)(s+1)
s+a
+ K s(s+b)(s+1)
K (s + a)
s (s + b) (s + 1) + K (s + a)
where
cl
= s (s + b) (s + 1) + K (s + a)
= s 3 + (1 + b) s 2 + (b + K ) s + aK
is the actual closedloop denominator.

Chapter 7
48 / 64

Example
While, the desired denominator is obtained as

dcl
= (s + 3 3j) (s + 3 + 3j) (s + p3 )

= (s + p3 ) s 2 + 6s + 18
= s 3 + (6 + p3 ) s 2 + (18 + 6p3 ) s + 18p3
where p3 is the third pole of the closedloop system.

Equate the desired denominator to the actual denominator (i.e.,
cl = dcl ) to obtain
6 + p3 = 1 + b
18 + 6p3 = b + K
18p3 = aK .
Note that, in the above set of nonlinear equations, we have 3
equations and 4 unknowns, which thus cannot be solved.
Chapter 7
49 / 64

Example
Let a = 3 (for the same reason as before)

6 + p3 = 1 + b
18 + 6p3 = b + K
18p3 = 3K .
From the third expression, we obtain 6p3 = K .
Substituting 6p3 = K into the second expression results in b = 18.
Substituting b = 18 into the first expression results in p3 = 13.
Finally, from the third expression, we find K = 78.
Chapter 7
50 / 64

Example
Interesting side note: The above equations can also be used to

determine how big a can get.
From the first expression, we have 5 + p3 = b.
From the second expression, we have b = 18 + 6p3 K .
From the third expression, we have K = 18p3 /a.
Thus, after eliminating K and b, we obtain

p3
18
5 + p3 = 18 + 6p3 18
5 p3 = 13.
a
a
Since p3 should be a positive number, we obtain
18
18
5>0
> a.
a
5
Chapter 7
51 / 64

Example
On the other hand, we also know that p3 > 3, so

p3 =
18
28
18
54
13
13
>
5
>
a> .
>3
3
a
3
a
28
5
18
a
Combining these results in

18
54
>a> .
5
28
Choosing a outside the above region may either result in b to be
negative (i.e., hence, the compensator would have an unstable pole)
or the system might not exhibit the right dominant behavior (i.e., the
third closedloop pole might dominate the behavior of the system).
Chapter 7
52 / 64
Lead/lag compensator design
Proportional integral derivative control is often approximated by

lead/lag compensator to make use of the useful properties of both
lead compensators and lag compensators:
To obtain the desired steady state error (lag compensator),
To place the poles of the closedloop system to desired locations
(lead compensator).
The general form of the lead/lag compensator is as follows
D (s) = K
s +a s +c
.
+ b} |s +
{z d}
|s {z
Lead
Lag
Chapter 7
53 / 64

Example
where
G (s) =
1
.
(s + 1) (s + 5)
Design a lead/lag compensator that has

dominant closedloop poles are at s = 4 5j,
the steady state error is equal to 0.01 for R (s) = 1/s.

Chapter 7
54 / 64

Example
To meet the design objectives, first design the lead compensator to

place the dominant closedloop poles at s = 4 5j while neglecting
the effects of the lag compensator.
Then, design the lag compensator to achieve the desired steady state
error specification.
Note that, if we do not neglect the effects of the lag compensator
during the lead compensator design, then the problem becomes fairly
difficult to solve.
Chapter 7
55 / 64

Example
The lead/lag compensator has the form

D (s) = K
s +a s +c
s| {z
+ b} |s +
{z d}
Lead
Lag
and after neglecting the effects of the lag compensator, we will first
consider
s +a
D (s) = K
s +b
and find a, b and K .
Next, we will try to find c and d, to complete the lead/lag
compensator design.
Chapter 7
56 / 64

Example

function as follows
s+a
1
K s+b
Y (s)
(s+1)(s+5)
.
=
1
s+a
R (s)
1 + K s+b
(s+1)(s+5)
The denominator of the transfer function in root locus form is found

as
1
s +a
.
(s) = 1 + K
s + b (s + 1) (s + 5)
Let a = 10.
Chapter 7
57 / 64

Example
From the angle condition, we obtain

s + 10
1
|s=4+5j +
|s=4+5j = 180 .
(s + 1) (s + 5)
s +b
From the above expression, we can obtain the following

5
1
tan
= 19.3 b = 18.
b4
Thus, for only the lead compensator, we obtain the following
characteristic equation
1 + KD (s) G (s) = 1 + K
s + 10
.
(s + 18) (s + 1) (s + 5)
Chapter 7
58 / 64

Example
Root Locus
50
40
30
Imaginary Axis
20
10
10
20
30
40
50
20
15
10
Real Axis

1
(s+1)(s+5)
s+10
with D (s) = K s+18
Chapter 7
59 / 64

Example
We can now use the magnitude condition to find K

s
+
10
|s=4+5j
K
(s + 18) (s + 1) (s + 5)

(s + 18) (s + 1) (s + 5)

|s=4+5j K
K =

s + 10
= 1
= 56.6.
After completing the design of the lead part of the compensator, we

obtain the following lead/lag compensator
D (s) = 56.6
s + 10 s + c
.
|s +
{z18} |s +
{z d}
Lead
Lag
Chapter 7
60 / 64

Example

E (s) = R (s) Y (s)
s+c
1
56.6 s+10
s+18 s+d (s+1)(s+5)
R (s)
= R (s)
s+c
1
1 + 56.6 s+10
s+18 s+d (s+1)(s+5)
=
1
1+
s+c
1
56.6 s+10
s+18 s+d (s+1)(s+5)
R (s) .
as
ess
=
=
=
lim e (t)
t+
lim sE (s)
s0
1
1
=
.
10 c 1
1 + 6.3 dc
1 + 56.6 18 d 15
Chapter 7
61 / 64

Example
We are asked to obtain ess = 0.01, so

1
c
= 0.01 = 15.7.
1 + 6.3 dc
d
Note that, c is typically selected to be 0.1, hence, d = 0.00625.
The final form of the lead/lag compensator is as follows
D (s) = 56.6
s + 10 s + 0.1
.
{z18} |s + 0.00625
{z
}
|s +
Lead
Lag
Chapter 7
62 / 64

Example
Why can we neglect the lag compensator dynamics when we design

the lead compensator?
How close was the above calculation?
Let us reexamine the lead compensator calculation with the lag
compensator dynamics inserted.
The exact characteristic equation is

1
s + 10 s + 0.1
|s=4+5j .
cl (s) = 1 + 56.6
s + 18 s + 0.00625 (s + 1) (s + 5)
From the angle condition, we need following to be satisfied

1
s + 10 s + 0.1
|s=4+5j = 180
s + 18 s + 0.00625 (s + 1) (s + 5)
however, it is equal to 179.798 .
Chapter 7
63 / 64

Example
From the magnitude condition, we need following to be satisfied

1
|s=4+5j = 1
56.6 s + 10 s + 0.1

s + 18 s + 0.00625 (s + 1) (s + 5)
however, it is equal to 0.973.
The reason that the above calculations are still close is because

s + 0.1
|s=4+5j = 0.9819 0.66
s + 0.00625
which is very close to 10 .

Hence, by selecting the zero of the lag compensator (i.e., c) close to
the j axis and the pole of the lag compensator relatively close to the
zero of the lag compensator, we change angle and magnitude
calculation very little. Thus, the above approximation method is fairly
accurate.
Chapter 7
64 / 64

EE362 Ch7

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Root Locus Design

Assoc. Prof. Enver Tatlicioglu

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Figure: Root locus plot for PD control of G (s) =

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