Experiment No.

04
ROOT LOCUS ANALYSIS OF SYSTEMS
1. Objective(s):
This activity aims to equip the students with the skills and knowledge in analyzing control systems using the
root locus approach.
2. Intended Learning Outcomes (ILOs):
At the end of this activity, the students shall be able to obtain transient response, steady-state error and
stability information on feedback control systems using the root locus approach.
3. Discussion
Root locus is the graphical representation of the paths of the closed-loop poles as a parameter of the
system is varied. Commonly, this parameter is the forward gain of the system. A generalized root locus
approach was also presented in the discussion with which an open-loop pole was being varied and the
locus of the closed-loop pole was tracked.
The root locus gives the control engineer to analyze and design higher-ordered system in graphical
approach. The use of computer-aided tools such as MATLAB and LabVIEW will also simplify the analysis
and design process, since these tools will take away the laborious mathematics and have the designer
focus more on interpreting the results.
4. Resources:
To perform this activity, a computer workstation with MATLAB R2012a or higher and LabVIEW 8.6 or
higher installed is required. For MATLAB, the control systems toolbox is required and for LabVIEW, the
control design and simulation module.
5. Procedure:
Note: The following steps can be accomplished either in MATLAB or LabVIEW. In LabVIEW, the
MathScript tool can be accessed via the Welcome window on the Tools menu, then choose MathScript
Window. The Command Window of this tool works in the same manner as that of the MATLAB command
window.
1. The unity feedback system shown below will be analyzed using root locus techniques. Note that the
root locus is the plot of the open-loop transfer function KG(s)H(s) as K or the gain is varied.

In this case, G(s) =

K(s3)(s5)
(s+1)(s+2)

LabVIEW using the commands

and H(s) = 1. Define these transfer function in MATLAB or

>> Gnum = poly([3 5]); Gden = poly([-1 -2]);Hnum = [1];Hden = [1];

>> G = tf(Gnum,Gden); H = tf(Hnum,Hden);
Note that the variable K is not included in the transfer function G(s). This is because the root locus
command of MATLAB and LabVIEW automatically assigns K as being multiplied to G(s).
2. The rlocus() command plots KG(s)H(s) as the function of K. To get more information about the
command, type in help rlocus on the command window. In this case, use the command
>> rlocus(G*H,0:0.01:1000);
which plots the root locus of the open-loop transfer function KG(s)H(s) from 0 < K < 1000 with
increments of 0.01 per point.
Q1.2(a) Sketch the root locus as shown in the plot generated by MATLAB or LabVIEW. Indicate the
location of the open-loop poles and zeros as applicable.
Q1.2(b) Based on the root locus, will the system break into oscillation at some gain ? Will it also
be unstable? Label on the sketch above these regions.
3. The root locus sketch contains important points and information. Use the command rlocfind()to
locate important points in the root locus. (Tip: you might want to zoom into the point of interest first
before using the rlocfind()command for better accuracy.) The format of the command is
>> [K p] = rlocfind(G*H)
where G and H are the objects that represent the forward and the feedback transfer functions
respectively and K will contain the value of the gain at the selected point and p the location of the
closed-loop poles at that gain K.
Note: The command rlocfind()produces an interactive root locus graph for both MATLAB and
LabVIEW. In MATLAB, you will be allowed to choose a point on the root locus, and the value of the
gain and the closed-loop poles are returned by the command. In LabVIEW, you are allowed to select a
particular gain or drag the closed-loop poles (represented by red xs) into your desired location. Still the
command returns the gain at the chosen point and the closed-loop poles at that particular gain.
Q1.3(a) Using the rlocfind()command, find the following points as indicated in the table
below. Verify the values using manual calculations.
Q1.3(b) What is the range of gain so that the system is stable? Discuss how this can be obtained
in the root locus.
Q1.3(c) What are the rules for sketching the root locus that can be observed from the sketch?
Discuss each and how these rules are manifested in the sketch.
4. Sketch the root locus of the system shown below. This system is to be analyzed for transient response
and steady-state error. The system is to operate with a 1.52% overshoot.

Q1.4(a) What is the damping ratio that corresponds to the operating overshoot of the system
above? This will be your
MATLAB. Superimpose the dr line that corresponds to the operating overshoot of the system using
the command sgrid(dr,wn) where dr is the one computed above, and wn equals zero, so that
the n circle will be suppressed.
LabVIEW. With the rlocfind() called, the complex s-plane grid is automatically displayed. You
might have to zoom and drag repeatedly to find the dr line.
Once the dr line is drawn, locate the intersection of the line to the root locus.
Q1.4(b) The root locus and the line will intersect at three points. Find each of those points, then
determine the gain and the closed-loop and open-loop poles for each case. Fill up the table below.
Q1.4(c) In each cases, explain which case has a valid second-order approximation.
5. With the gain in each case known, the closed-loop transfer function can now be computed. From here,
the step response parameters and the steady-state error can now be obtained.
Q1.5(a) Use MATLAB or LabVIEW to complete the table below. The programs and techniques
deployed in the previous activities can be used to complete the table.
Q1.5(b) Use the control design and simulation module of LabVIEW to simulate each of the cases
above and plot their step responses on separate sheets of paper.
Course:
Experiment No.:
Group No.:
Section:
Group Members:
Date Performed:
Date Submitted:
Instructor:
6. Data and Results:
Q1.2(a) Sketch the root locus as shown in the plot generated by MATLAB or LabVIEW. Indicate the
location of the open-loop poles and zeros as applicable.

Q1.2(b) Based on the root locus, will the system break into oscillation at some gain ? Will it also

be unstable? Label on the sketch above these regions.

_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
Q1.3(a) Using the rlocfind()command, find the following points as indicated in the table
below. Verify the values using manual calculations.
Closed-loop poles
Gain at the point of
Point of interest
at the point of
interest
interest
Breakaway point from
the real axis
Break-in point into the
real axis
The point at which the
system is oscillating
Q1.3(b) What is the range of gain so that the system is stable? Discuss how this can be obtained
in the root locus.
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
Q1.3(c) What are the rules for sketching the root locus that can be observed from the sketch?
Discuss each and how these rules are manifested in the sketch.
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________

_____________________________________________________________________________________
Q1.4(a) What is the damping ratio that corresponds to the operating overshoot of the system
above? This will be your

Q1.4(b) The root locus and the line will intersect at three points. Find each of those points, then
determine the gain and the closed-loop and open-loop poles for each case. Fill up the table below.
Dominant
Third-order
Gain
complex closedClosed-loop zero
closed-loop pole
loop poles
Case 1
Case 2
Case 3
Q1.4(c) In each cases, explain which case has a valid second-order approximation.
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
_____________________________________________________________________________________
Q1.5(a) Use MATLAB or LabVIEW to complete the table below. The programs and techniques
deployed in the previous activities can be used to complete the table.
Case 1
Case 2
Case 3
Dominant complex closed-loop
poles
Third-order closed-loop pole
Closed-loop zero
Second-order approximation
ok?
Gain
Percent overshoot
Settling time
Peak time
Rise time
Static error constant
Error
Q1.5(b) Use the control design and simulation module of LabVIEW to simulate each of the cases

above and plot their step responses on separate sheets of paper.

7. Conclusion:

8. Assessment:
1. The block diagram of a six-degree of freedom industrial robots swing motion system is shown below. If
K = 64,510, use the root locus to predict the time response and steady-state error parameters of this
system (Hardy, 1967).

2. It is important to precisely control the amount of organic fertilizer applied to a specific crop area in order
to provide specific nutrient quantities and to avoid unnecessary environmental pollution. A precise
delivery liquid manure machine has been developed for this purpose (Saeys, 2008). The system
consists of a pressurized tank, a valve and a rheo-logical flow sensor. After simplification, the system
can be modeled as a closed-loop negative feedback system with a forward-path transfer function
2057.38K(s 2 120s + 4800)
G(s) =
s(s + 13.17)(s2 + 120s + 4800)
consisting of an electrohydraulic system in cascade with the gain of the manue flow valve and a
variable gain K. The feedback path is comprised of
10(s 2 4s + 5.333)
H(s) =
(s + 10)(s2 + 4s + 5.333)
(a) Sketch the root locus of the system.

(b) Find the range of the gain K for closed-loop stability.

(c) Find the value of K that will result in the smallest settling time for this system.
(d) For the value of the gain K found in part (c), determine the time response and steady-state error
specifications of the system.
Assessment rubric for the activitys intended learning outcomes
INTENDED
LEARNING
OUTCOMES
Obtain transient
response,
steady-state
error and
stability
information on
feedback control
systems using
the root locus
approach. (MP 1)
Obtain transient
response,
steady-state
error and
stability
information on
feedback control
systems using
the root locus
approach. (MP 2)

Points

The student was

not able to sketch
the root locus of
the system

The student was

The student was
able to obtain
able to use the
The student was some parameters
root locus of the
able to sketch the of the system from
system to obtain
root locus but
its root locus but
its transient
cannot obtain any some of them are
response, steadyparameters from
incorrect and the
state error and
it.
student was not
stability
able to interpret
information.
them.

The student was

not able to sketch
the root locus of
the system

The student was

The student was
able to obtain
able to use the
The student was some parameters
root locus of the
able to sketch the of the system from
system to obtain
root locus but
its root locus but
its transient
cannot obtain any some of them are
response, steadyparameters from
incorrect and the
state error and
it.
student was not
stability
able to interpret
information.
them.
Total Score

Mean Score = (Total Score /2)

Percentage Score = (Total Score / 6) x 100%

Assessment rubric for the conduct of laboratory experiments

Performance Indicators
Conduct experiments in
accordance with good and
safe laboratory practice.

Members follow good

Members do not follow
and safe laboratory
good and safe laboratory
practice most of the time
practice in the conduct
in the conduct of
of experiments.
experiments.

3
Members follow good
and safe laboratory
practice at all times in
the conduct of
experiments.

Points

Operate equipment and

instruments with ease

Analyze data, validate

experimental values against
theoretical values to
determine possible
experimental errors, and
provide valid conclusions.

Members are unable to

operate the equipment
and instruments.

The group has

incomplete data.

Members are able to

operate equipment and
instrument with
supervision.

Members are able to

operate the equipment
and instruments with
ease and with minimum
supervision.

The group has complete

data, validates
The group has complete
experimental values
data but has no analysis
against theoretical
and valid conclusion.
values, and provides
valid conclusion.
Total Score
Mean Score = (Total Score /3)
Percentage Score = (Total Score / 9) x 100%