Dr.

PA Sastry- Lecture Notes- Control Systems –for BE (Prod/Mech)

 
Compensators
To improve the performance of a given plant or system Gf(s) it may be necessary to
use a compensator or controller Gc(s).
Compensator Plant
Gc (s)  Gf (s) 

The requirements of a plant may be expressed in terms of

(a) settling time (b) damping ratio (c) peak overshoot --- in time domain
(d) phase margin or (e) gain margin ---- in frequency domain.

If the given plant does not satisfy 2 or 3 conditions specified from the above, a
compensator circuit may be necessary to modify the overall plant characteristics (i.e
of Gc(s) Gf(s)) to satisfy the given specifications.

The controllers used are typically (other than P, I, D combination controllers)

Lead compensator – (to speed up transient response, margin of stability and
improve error constant in a limited way)
Lag compensator – (to improve error constant or steady-state behavior – while
retaining transient response)
Lead – Lag compensator – (A combination of the above two i.e. to improve
steady state as well as transient).
Lead Compensator:- is so called since it adds phase angle so that the phase
curve of the combined system is lifted above the – 1800 line so much as to provide
the necessary phase margin. A compensator
1
1
gives an angle Фc .
If 1, then Фc is positive. (or lead).
In pole - zero form, it is given as

Gc = = with = Zc / P c

= also gives a lead angle.

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                                                                Dr.PA Sastry- Lecture Notes- Control Systems –for BE (Prod/Mech)

 
Lead compensator can be realized with electrical or mechanical components

Gc(s)

Letting = R1 C; and = R2 /(R1 +R2) < 1

/
Gc(s) =
/

= = --- (1) with τ = B1 / K1

α = K1 /( K1 + K2)
Y(s)/X(s) = + 1) / 1)
The phase difference for Gc(s) given by eqn. (1). is Øc

or tan Ф = 1 / 1

dФ /d = 0 gives the frequency for maximum phase difference as ω -

√
which is the geometric mean of corner frequencies.

The max. phase lead is given as tan Ф or sin Ф

√
Ф
or
Ф
The maximum gain is 20 log 1/ at high
frequency,

and the gain at ω Gc(ω = =

√
or log Gc(ω =10 log , db
is the gain contribution by compensator at the
mean frequency.

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                                                                Dr.PA Sastry- Lecture Notes- Control Systems –for BE (Prod/Mech)

 
Design of Compensator for a system
Design can be carried on in frequency domain or in time domain using Root-locus
Both methods are explained – for lead & lag compensator cases.
Let us consider Frequency domain approach first in each case.
Lead Compensator :
Design procedure – steps
For the given plant – determine Kv or Ka based on specification
Draw Bode Plot and check whether adequate Ф is provided
If is specified, find the required phase margin from approx relation
0.01 Ф margin
Or Ф margin = 100 - becomes the specified phase margin
Determine the phase lead to be introduced by controller from Ф e = Ф s – Ф uc +
Where Ф s is the specified phase margin, Ф uc - phase margin of
uncompensated system, and to account for shift of cross-over frequency.
Ф
Let Ф m = Ф l , then determine from
Ф
(If Øm is more than 60 , it is desirable to provide two identical networks each
0

providing ½ the phase)

Draw a line 10 log1/ below 0, db on the uncompensated Bode plot and mark the
corresponding frequency 1 = 1/ = m √ ; 2 = 1/ = m /√ ;
/
Gc(s) = (= )
/

Compensated system is Gc(s) Gf(s) Gc   Gf    

Example (from Nagrath & Gopal) – Lead Compensator – in frequency domain
To design a compensator for a system
Gf(s) = so that Acceleration Error Const. Ka = 10, and phase margin = 350
.

Ka = s2 G(s)|s = K = 10. Hence choose K= 10

Draw Bode Plot for Gf(s) = .
.
Phase margin is -330, system quite unstable.
Phase lead to be introduced by network
= 350 – (-330) + .

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                                                                Dr.PA Sastry- Lecture Notes- Control Systems –for BE (Prod/Mech)

 
Chose 12 to 140 as gain slope in high.

Thus Ф e = 35+33+14 = 820.

Being high, two networks in tandem are
required
With Ф m + 410.
= (1-sin 410)/(1+sin 410) = 0.2
10 log 1/ for lead network
occurs at the frequency where Ф is
maximum. Hence check the frequency
c2 where the gain of UC system is
-10 log 1/ (actually 2 x -10log 1/ in this case as 2 networks are used).
c2 = 6.3 rad/sec (at -13.2 db) = m

c2 = 6.3 rad/sec should be designed as the mean frequency ( m)

Thus 1 = m√ = 2.8 r/sec ; 2 = m√ = 14.0 r/sec ;

.
Thus Ge(s) = .
= and
.
.
.
the compensated plant is ( 2
. .
---------------------------------------------------------------------------------------------------------

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                                                                Dr.PA Sastry- Lecture Notes- Control Systems –for BE (Prod/Mech)

 
Lag Compensator can be realized as shown

Letting = R2 C ; = (R1 + R2) /R2 > 1 where

The transfer function becomes Gc(s) = ( ρ = (K1+K2)/K1 >1

(also 1)
Øc which is – ve as >1
Hence the contribution to phase angle of Gf(c) is negative

Note: Relations for Ф max (at the geometric mean of = & = ) etc. are similar to lead
compensator. However, lag (or decreasing the phase difference further is
undesirable).
The characteristic taken advantage is high frequency gain attenuation (reduction –
by 20log decibels) with very little decrease in phase.

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                                                                Dr.PA Sastry- Lecture Notes- Control Systems –for BE (Prod/Mech)

 
Lag Compensator Design procedure
This can be used only when there is a range of Ф more than -1800 in Gf(s), since
phase lag increases due to lag compensator. The Compensator relies on reducing
the gain of the compensated plant in the critical region to make it adequately
stable.
Find the open-loop gain necessary to satisfy the required condition
Find the frequency ωc2 when uncompensated system makes
Ø2 =Øs + where is 50 to 150 to account for phase lag due to network
Measure the gain of UC system at ωc2, and equate it to 20 log and find .
Choose upper corner frequency ω2 (= 1/ ) of network one octave or decade
below ωc2,
(ω2 = ωc2 /2 ie. Octave or ωc2 /10 for decade)

Knowing & , ω 2 (= 1/ ); w1 (= 1/ ); Gc = (

Following example will clarify:

Example: Design a lag compensator so that the plant Gf(s) = meets

the specifications: ξ = 0.4, ts = 1.0 sec; Kv= 5;

Solution: Kv = s G(s)|s o = k/4 => K=20 ;

Using approximation Øs = ξ/0.01
= 0.4/0.01 = 400

(Bode plot for the system)

Gf(s) = is as shown.

When amplitude ratio, in log terms |Gf(jω)|

is zero,
the Ф curve is 40 below -1800, Ф 2 < -1800
Hence the system is unstable.
To the requiredФ s = 400, add = 100 to
compensate for negative Ф s.
Ф = 40+10 = 500

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                                                                Dr.PA Sastry- Lecture Notes- Control Systems –for BE (Prod/Mech)

 
Frequency where Ф = -1300 is 0.6 rad/sec (ωc2 ) choose ω 2 at 2 octaves less than
ωc2
ω2 = 0.6/22 = 0.15 rad/sec
Also the gain at A has to be brought down to 0 when Ф = -1300
Hence 20 log = 19, or = 8.91
1 = 1/ = 0.15/8.91 = 0.0168
Hence the compensator to be implemented is
.
Gc(s) = ( =
. .

The compensated plant is Gc(s) Gf(s)Type equation here.

.
=
. .

-------------------------------------------------------------------

Compensator Design – Root Locus Approach (Time-domain)

Lead Compensator design procedure::

Translate the desired specifications into a dominant pair of complex poles in the
Root Locus. (complex plane). If the given system Gf(s) is such that
Gf(s) 1800 at Sd then a compensator needs to be designed
such that
Gf(s) Gc(s) 1800 at Sd or Gc(s)d 1800 - Gf(s)d = Φ ------ (A)
ie. the pole-zero pair of compensator
have to contribute Φ.
From the above figure, we have from
properties of ∆s,
zc / n= and pc/ n=
Φ
Φ
Φ
So that zc /pc =
Φ

Φ and d /d = zc /p = sin

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                                                                Dr.PA Sastry- Lecture Notes- Control Systems –for BE (Prod/Mech)

 
(to reduce the effect of gain due to compensator, it is desirable to have large ).
which leads to =½( Φ --------(B)
Thus after locating Sd in the complex plane, knowing = Cos-1 ξ, and Ø from (A),
locate zc from (B), as well as pc
Knowing zc and pc , the compensator is (s+zc)/(s+pc)

Example – Lead Compensator design - Time domain

Design a compensator is give ξ = 0.5 and n= 2 for the system Gf(s) =

Solution: Given the damping ratio ξ = 0.5(=Cos-1 ) and n of the dominant complex
pole pair, the point Sd to pass through the root locus of the compensated plant is
Sd= - ξ n j n 1 ξ2) = -1 j 1.73
= Cos-1 0.5 = 600
Φ = -180 – Gf(Sd)
= -1800 – (120-90-60) = 600
ν= ½ ( Φ) = ( 60 60 /2= 300

However, locating oz so that ν =300

makes Zc coincide
with the pole of (-1,0) of the given
system.
Hence choose Zc = -1.2 close to -1
Now draw OPc so that angle Zc O
Pc = Φ = 600
Pc cuts the real axis at -4.95 so that
.
Gc = =
.
Also the gain at Sd(= 1+ j 1.73) for
the compensated system is
K = |s|. |s+1| . |s+4| . |s+ 4.95|/|s+1.2| ==30, in which |s|, |s+1| etc are the lengths of
vectors which can be measured and substituted.

Hence compensated system = Gf Gc = 30(s +1.2) / s(s+1) (s+4) (s+4.95)

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                                                                Dr.PA Sastry- Lecture Notes- Control Systems –for BE (Prod/Mech)

 
Lag Compensator – Time Domain

Method: Lag compensator is designed when the steady – state response needs
improvement, while transient performance is satisfactory.

As the transient performance is satisfactory, the technique lies in ensuring that the
root locus passes through the same Sd as for the uncompensated system while the
error constant is improved.
Therefore pole P is chosen close to origin and zero to its left so that β =Zc /Pc >1
where Φ = PSZ is 2 to 50
and OSZ < 100,
We can establish value of β using the following
reasoning:
Gain of UC system at Sd
| | .| |.| |…..
= Kuc (Sd) =
| |.| |…

| | .| |.| |…..
Similarly Kc (Sd) =
| |.| |…
X

Since a b, we have Kuc (Sd) = Kc (Sd)

Now, Error Constant Kec = Kc (Sd) x

= Kuc (Sd) x

Ke uc .
Hence β = = Ke c /Ke uc

Thus β can be chosen as the ratio of the expected Error Constant to the Error
Constant of the given system

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                                                                Dr.PA Sastry- Lecture Notes- Control Systems –for BE (Prod/Mech)

 
Example: Design a lag compensator for the system
Gf (s) = to meet the following specs:

Damping ratio = ζ = 0.5; settling time ts =10 secs & Kv 5 sec-1

Solution: From ts = 10 = 4/ζ n n = 4/ 10 x 0.5 = 0.8

Thus Sd = - ζ n + j √1 ζ2 n = - 0.4 j 0.7
Sd lies on the uncompensated system as
well.
At Sd, gain of the UC system is
Kuc = OS x SA x SB = 0.8 x 0.9 x 3.7 = 2.66
Velocity Error Constant of UC system
Kvuc = | s Gf (s) |= 2.66/(1 x 4) = 0.666
s o
Thus β = Kv desired / Kv existing

= 5/0.666 = 7.5
Say β = 10 to counter the effect of negative
phase difference due to lag compensator.
Now to locate the pole and zero,
Draw a line from S to Zc so that OSZc = 60 . (small value)
Determine OZe = 0.1 (measure)
Since β = Zc/Pc, Pc = Z/10 = 0.1/10 = 0.01

Also as the gain compensated system may be treated as the same as of UC system
– in which case
. .
Gf Gc = , which is the Compensated plant transfer function
.

| |.| |.| |.| |

Or get K = = 2.2 instead of 2.66,
| |
by measuring the line lengths from the figure.

** ** **

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