root locus when k assume positive values: that is 0 k

Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800


k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of


k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j


GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: K K
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14


Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
 Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: K K
GsHs
ss44
134j124j



GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j


GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: K K
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14


Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
 Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: K K
GsHs
ss44
134j124j



GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j


GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: K K
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14

Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)
root locus when k assume positive values: that is 0 k
Complementary Root loci: The portion of root loci k assumes negative value, that is
k 0
Root contours: Root loci of when more than one system parameter varies.
Criterion for Root Loci
Angle condition: It is used for checking whether any point is lying on root locus or not &
also the validity of root locus shape for closed loop poles.
For negative feedback systems, the closed loop poles are roots of Characteristic Equation
1GsHs0
GsHs1

GsHs 1800 tan1 01800 1800 2q11800
Control Systems (Root Locus Diagram)
Kreatryx. All Rights Reserved. 2 www.kreatryx.com
Angle condition may be started as, for a point to lie on root locus, the angle evaluated at
that point must be an odd multiple of
0180
Magnitude condition: It is used for finding the magnitude of system gain k at any point on
the root locus.
1 G s H s 0
G s H s 1
GsHs1
Solved Examples
Problem: Determine whether the points s 3 4 j & s 3 2j
12
lie on the root locus of

k
GsHs
s14


Solution: KK
GsHs
ss44
134j124j

GsHs 00 4 1800 63.430 4640 Not an odd multiple of 1800

k k
GsHs
ss44
2 3 2j 1 2 2j

GsHs 00 1350 4 5400 3 1800

=Odd multiple of
1800 .
Control Systems (Root Locus Diagram)