control.matlab.rlocus

control.matlab.rlocus(sys[, klist, xlim, ylim, ...])[source]

Root locus diagram.

Calculate the root locus by finding the roots of 1 + k * G(s) where G is a linear system with transfer function num(s)/den(s) and each k is an element of kvect.

Parameters

  • sys (LTI object) – Linear input/output systems (SISO only, for now).

  • kvect (array_like, optional) – Gains to use in computing plot of closed-loop poles.

  • xlim (tuple or list, optional) – Set limits of x axis, normally with tuple (see matplotlib.axes).

  • ylim (tuple or list, optional) – Set limits of y axis, normally with tuple (see matplotlib.axes).

Returns

  • roots (ndarray) – Closed-loop root locations, arranged in which each row corresponds to a gain in gains.

  • gains (ndarray) – Gains used. Same as kvect keyword argument if provided.

Notes

This function is a wrapper for root_locus_plot(), with legacy return arguments.