Table of Contents

1. Introduction:.....................................................................................................................................2
2. Solutions:.........................................................................................................................................2
2.1. Problem 1.................................................................................................................................2
2.2. Problem 2:................................................................................................................................7
2.3. Problem 3:..............................................................................................................................10
3. Conclusion:....................................................................................................................................14
4. References:.....................................................................................................................................14
4.1. Tutorialspoint:........................................................................................................................14
4.2. Swarthmore College - LPSA:................................................................................................15
4.3. University of Michigan - CTMS:...........................................................................................15
1. Introduction:
Root Locus is a mapping tool used in the control systems domain that facilitates the
exploration of change. The main goal of this report is to use Root Locus to determine how
various system components affect a system's stability and performance. In addition to delving
into the graphical depiction of these changes on a map with imaginary numbers, there will be
solutions to some of the exemplary problems. The addressed problems include the sketch of
root locus of a system by varying the time constant of the system poles and zeros, the affect
of change in the controller time constant as well as different parameters that are involved in
the root locus.

2. Solutions:
2.1. Problem 1
For the transfer function as given in the following as:

a. When the time constant of the zero is greater that the time constant of the poles the root
locus of the system is given in the figure.

The Matlab results are as follows:

Matlab Script
k = 10;
gamma = 0.4;
t1 = 0.3;
t2 = 0.2;
t3 = 0.1;

s = tf('s');
numerator = k * (gamma*s + 1);
denominator = s * (t1*s + 1) * (t2*s + 1) * (t3*s + 1);

sys = numerator / denominator;

 rlocus(sys)

Root Locus Sketch

b. When the time constant of one of the poles is greater that the time constant of the zero of
the system, the following is the system response.

Here is the Matlab representation of the system

Matlab Script
k = 10;
gamma = 0.3;
t1 = 0.4;
t2 = 0.2;
t3 = 0.1;

s = tf('s');
numerator = k * (gamma*s + 1);
denominator = s * (t1*s + 1) * (t2*s + 1) * (t3*s + 1);

sys = numerator / denominator;

 rlocus(sys)
Root Locus Sketch

c. Now when two of the system poles have larger time constant than the zero of the system,
here is the root locus of the system.

Matlab Script
k = 10;
gamma = 0.2;
t1 = 0.4;
t2 = 0.3;
t3 = 0.1;

s = tf('s');
numerator = k * (gamma*s + 1);
denominator = s * (t1*s + 1) * (t2*s + 1) * (t3*s + 1);
 sys = numerator / denominator;

rlocus(sys)
Root Locus Sketch

d. When there are no zeros in the system, the root locus of the system is as given in the
figure.

Matlab Script
k = 10;
gamma = 0;
t1 = 0.3;
t2 = 0.2;
t3 = 0.1;

s = tf('s');
numerator = k * (gamma*s + 1);
denominator = s * (t1*s + 1) * (t2*s + 1) * (t3*s + 1);
 sys = numerator / denominator;

rlocus(sys)
Root Locus Sketch

e. Finally, the root locus of the system is as in the given figure, if the zero of the system in
on the positive real axis.

The Matlab response is as follows

Matlab Script
k = 10;
gamma = -0.2;
t1 = 0.4;
t2 = 0.3;
t3 = 0.1;

s = tf('s');
numerator = k * (gamma*s + 1);
 denominator = s * (t1*s + 1) * (t2*s + 1) * (t3*s + 1);

sys = numerator / denominator;

rlocus(sys)

Root Locus Sketch

f. In the above steps, a through e, what can be concluded is that not only the position of the
poles and zeros but also the number of these matter in a system. If either a pole or a zero
is places in the right-hand side of the real axis, the system comes out to be unstable and
when there are no poles in the system, the branches just emerge from the closed loop
poles and goes towards infinity. And lastly and most importantly, the time constant of the
poles and zeros can be adjusted so that the system closed loop poles respond in a specific
way as in a through c.
2.2. Problem 2:
For the given transfer function,

Now the characteristic equation of the system is given as follows

s4+5s3+12s2-18s+k(s+1) = 0
a. Since the number of branches for a system, where the number of poles are greater than
the number of zeros, is equal to the number of poles, so there are 4 branches in the root
locus of the system with the system poles at -3+3j, -3-3j, 0, 1.
b. Since the angle of asymptotes as given in the following as:
(2q +1)180 °
∅=
P−Z
So, the angles for the asymptotes are found out to be +60, -60, +180, -180, with the
asymptotes at -1.33 as given the following root locus

c. The locus of points on the real axis is given in the following figure.

d. The angle of departure for the pole -3+3j calculated in following figure is found to be -64
degrees.
The final root locus of the system is given in the following figure

The root locus of the system as calculated using the Matlab Script is as in the following:
Matlab Script
K = 1;
s = tf('s');

num = k * (s + 1);
den = s * (s - 1) * (s^2 + 6*s + 18);

sys = num/den;
rlocus(sys)

Root Locus Sketch

e. As the closed loop poles lie on the same position as the open loop poles for when the gain
of the system is zero and as the system gain is increased towards the infinity, the poles
emerge from the closed loop poles and start to move toward the zeros, and since there is a
 single zero in the system, the rest of the closed loop poles goes towards imaginary zeros
at infinity.
2.3. Problem 3:
Given the transfer function as

The calculations for the transfer function of the system as well as the controller are in the
following figure.

The root locus of the system as manually calculated is given in the following figure

By the use of Matlab, here is the root locus of the system

Matlab Script
K = 4/15;
s = tf('s');
 num = k * (s + 1/4);
den = s * (s + 1/5) * (s + 1/2);

sys = num/den;
rlocus(sys)

Root Locus Sketch

a. For the time constant of the Integral controller greater than process time constant the root
locus of the system as drawn manually is in the following figure.
Using Matlab, the following results can be obtained:
Matlab Script
K = 4/15;
s = tf('s');
tau = 16;

num = k * (s + 1/4) * (s + 1/tau);

den = s^2 * (s + 1/5) * (s + 1/2);

sys = num/den;
rlocus(sys)

Root Locus Sketch

b. For the root locus for integral time constant to be in the range of the process time
constant, is manually drawn in the following:

The following results can be obtained using the Matlab:

 Matlab Script
tau = 16; % at 4, 5 and 2
Root Locus Sketch
For tau = 4 For tau = 5

For tau = 2

c. Lastly the root locus for the time constant of the Integral Controller, to be less than the
time constant of the process, the root locus is manually calculated as given in the
following figure.

The system root locus can be compared with the Matlab as in the following:
 Matlab Script
tau = 1;
Root Locus Sketch

Now in the system, as the time constant of the system is increased beyond the process time
constant, the system closed loop poles are shifted more towards the left half plane. And when
the time constant of the controller decreased so the in goes below the process time constant
the closed loop response of the system comes out to be unstable, as these move more towards
the right.

3. Conclusion:
Finally, a few important findings from the Root Locus analysis of system dynamics are
discussed. First, the arrangement and number of zeros and poles have a significant effect on
how stable a system is. Instability results from positioning a pole or zero to the right of the
real axis; if there aren't enough zeros in the system, branches continue forever.
Specific control over the closed-loop responses can be achieved by carefully adjusting the
time constants of poles and zeros.
Furthermore, since the gain of the system affects the closed-loop poles, there is a dynamic
relation between the open and closed-loop poles. Closed-loop and open-loop poles line up at
zero gain. With increased gain of the system the closed loop poles of the system end up at
zero or infinity. Moreover, the temporal features of the system are extremely significant.
Closed loop poles are shifted left as the time constant is increased above the process time
constant, indicating improved stability. On the other hand, instability results from a decrease
in the controller's time constant that is less than the process time constant, which causes the
closed loop poles to move to the right.
In summary, this report clarifies the complex links between system characteristics and
behavior. It is also emphasized how flexible and effective Root Locus is at understanding and
controlling system dynamics.

4. References:
4.1. Tutorialspoint:
Year: 2024
Title: Control Systems - Construction of Root Locus
Website: TutorialsPoint
 URL:
https://www.tutorialspoint.com/control_systems/control_systems_construction_root_l
ocus.htm
4.2. Swarthmore College - LPSA:
Year: 2024
Title: Root Locus Tutorial
Website: Swarthmore College - LPSA
URL: https://lpsa.swarthmore.edu/Root_Locus/RLDraw.html
4.3. University of Michigan - CTMS:
Year: 2024
Title: Introduction to Control - Root Locus
Website: University of Michigan - CTMS
URL: https://ctms.engin.umich.edu/CTMS/index.php?
example=Introduction&section=ControlRootLocus