Control System Synthesis by Root Locus Method

W. R. EVANS
MEMBER AIEE

T H E R O O T L O C U S method solves the problem of

finding the roots of the characteristic equation by a n
extension of concepts now associated with the frequency-
case, a n d then calculates the corresponding value of gain
K. Knowing the roots permits the over-all transfer function
of the system of Figure 1 to be expressed as:
response method. T h e roots describe the natural response ft, 1
of the system, a n d knowing them permits a solution for
Bt (l-*Ai)(l-*/r,)(l-#/r,)
any input. Consider a simple single-loop system, shown in
Figure 1, for convenience in developing a physical picture. For each root r a term of the form A^ ^ can exist in t h e
t
T

With the feedback loop open a n d a sinusoidal signal transient response. For a step input the amplitude A t

impressed a t 0 , the feedback, 0 is a similar sinusoid

/5
is given by transform theory in a form which corresponds,
shifted in phase angle a n d attenuated in amplitude as to a product of vectors from all other roots to the given
given by the open-loop transfer function KG(s) = A" G (s). M M
root. Similarly, the over-all frequency response c a n b e
0{8) for s =jco. If the frequency were of the value to

pictured as a product of vectors from all roots to points-
cause a 180-degree phase shift a n d the gain were then along the jco axis. I n a multiple loop system, the inner
selected for unity amplitude ratio, closing the feedback loop is solved first so that it m a y be replaced by a direct
loop would supply the error signal from the feedback signal function.
so that a natural oscillation would be sustained. Lowering Synthesis for a given control system can involve any one
the gain would cause the oscillation to d a m p out, during of four operations: selecting loop gain, changing given
which interval a damped sine wave e" e must be propa
vt jat
poles or zeroes, adding new poles or zeroes, or adding n e w
gating itself around the loop. A n extension of the transfer
function concept, admittedly n o t obvious, is that the phase
shift a n d attenuation of such a d a m p e d sine wave from
error to feedback is obtained simply by substituting the
complex number s = +7' into the function KG(s).
Thus one c a n find the natural response of the system by
finding the values of s which make KG(s) = 1.
T h e graphical technique for computing this function is
explained for the example by reference t o Figure 2.
(8)
=A*(l+ris)(l+r *)
2 (1)

1 (2)

T h e complex number s is itself a vector from the origin

to a point which is pictured moving freely over the complex
s plane. T h e phase angle of a vector 1 +ns is the same as Figure 2. Single-loop root l o c u s

that of the vector from the pole 1/ to the s point; the

amplitude is the ratio of line lengths from the pole to the
s point a n d the origin respectively. T h e locus of roots is
the p a t h of values of s which make the total phase shift
180 degrees; a point on the locus is a root if gain is selected
such that the amplitude ratio around the loop is unity.
Special parts of the locus such as intervals along the real
axis a n d the point of crossing the jco axis are found by in
spection a n d the remainder of the locus then sketched.
Note that the roots emerge from the open loop poles for
zero loop gain a n d move out along the locus as indicated
by the arrows as loop gain is increased. O n e usually selects
the desired position of the dominant roots, r a n d r in this
6& . the effect of each coupling successively.
1
* * tS)
loops. I n the root locus method, these operations a r e
achieved respectively by selecting the position of a root
along a locus, changing the position of given poles or zeroes,,
adding new poles or zeroes, a n d sketching a new root locus
plot. Other applications a n d development of the method
are believed to be great. Thus the classic problem of
finding the zeroes of n-th degree polynomial can be solved
by successively combining two terms into one, using the
root locus to find the values of the variable which make the
ratio of t h e terms equal t o 1 . Multicoupled systems
involve block diagrams in which intercoupling effects
x 2
appear as signals being transmitted between loops. Such
systems can be solved by isolation of loops or considering

Digest of paper 50-11, "Control System Synthesis by the Root Locus Method,*' recom
mended by the A I E E Committee on Feedback Control Systems and approved by the
Of AIEE Technical Program Committee for presentation at the AIEE Winter General
Figure 1. General
IT A (s) Meeting, N e w York, . Y., January 30-February 3, 1950. Scheduled for publication
block diagram of a in AIEE Transactions, volume 69, 1950.
single-loop system W. R. E v a n s is with North American Aviation, Inc., Downey, Calif.

MAY 1950 EvansControl System Synthesis by Root Locus Method 405