Performance Specifications

and Compensation Design

Chapter – 7
Prepared By: Radhika Kumari Sah
 Why Compensation??
To obtain the desired performance of the system, we use compensating
networks.
An unstable system is made stable by compensation.
To minimize overshoot.

Note:
These compensating networks increase the steady state accuracy of the
system. An important point to be noted here is that the increase in the
steady state accuracy brings instability to the system.
 How Compensation is done??
By introducing poles and zeros in the system thereby causes changes
in the transfer function of the system.
Due to this, performance specifications of the system change.
Types of compensation

Series/ cascade feedback

compensation load compensation
compensation:

A combination of series and

feedback compensator is
called load compensation
 Compensating Network
A compensating network is one which makes some adjustments in
order to make up for deficiencies in the system.

Compensating devices are may be in the form of electrical,

mechanical, hydraulic etc.

Most electrical compensator are RC filter.

The simplest network used for compensator are known as lead, lag
network.
 Lead Lag Compensation
𝑮𝒄 𝒔

A system which has one pole and one dominating zero (the zero which is closer to the
origin than all over zeros is known as dominating zero.) is known as lead network.
A system which has one zero and one dominating pole ( the pole which is closer to
origin that all other poles is known as dominating pole) is known as lag network.
 Phase Lead Compensation
Standard form of
Transfer function of
compensation

α = α α
=
α

α ( ) ( ) α )
G’ G(s) = = K’
( ) ( )

𝐺 𝑠 G(s)
 Role of lead compensation

 Phase is positive: might be able to increase phase margin (pm)

 Slope is positive: might be able to increase the cross-over frequency, (and the
bandwidth)
Role of lead compensation
 Phase Lag Compensation
Standard form of
Transfer function of
compensation

α= α α
=
α

α ( ) ( ) α )
G’ G(s) = = K’
( ) ( )
 Role of lag compensation
Larger gains at lower
frequencies; have the potential
to improve steady-state error
constants.
However, phase lag
characteristic could reduce
phase margin.

Add gain at low frequencies

to improve steady state error
constants and low-frequency
disturbance rejection without
changing (very much) the
crossover frequency nor the
phase margin
Role of lag compensation
Summary of Lead , Lag and Lead lag compensation
 Designing a Phase Lead Compensation
To design the Lead/Lag compensator by bode plot method we have given
two specifications
1. Velocity error constant
2. Phase margin
Velocity constant helps to find the gain of the compensated system.
Phase margin helps to find the poles and zeros location of compensator.

Step1:Find compensated gain of uncompensated system K’ from given

velocity constant K

 Note: If K K
 Designing a Phase Lead Compensation
Step2: Draw bode plot of given function and find phase margin φ.

Step3: Find φ = φ φ + ε where, φ - specified phase margin

φ - phase margin of uncompensated system
ε - error (generally ε =5)
°
(if φ > two compensator is used)
φ
Step4: Find α from α=
φ
Step5: Calculate ω
α
For this find -10logα, mark the frequency which coincide the magnitude -10logα in
magnitude plot
-10 α = -10 dB (say)

Step6: Find T ω =
√α

Step7: Put the values of T and

α in equation:

(s) =

G’(s) = G(s) (s)

Now, Draw bode plot of G’(s) ω = 2.5
rad/sec
 Example1: Design a lead compensation in cascade with a system whose transfer

function is : G(s) =
K
s(1+0.1s) (1+0.001s)
Such that It will full fill the following specifications
• Phase margin ≥ 45°
• Velocity constant K = 1000

Solution:
G(s) G(s) 𝐺 𝑠

α K
G’ G(s) =
s(1+0.1s) (1+0.001s)

K’ α )
=
s(1+0.1s) (1+0.001s)
 Velocity error Constant

 From we will find compensated gain of uncompensated system i.e. K’

K’ α )
G’
s(1+0.1s) (1+0.001s)

From this expression we will find gain K’

Step 1: First find K’ of G(s) from .
G’(s)

Step 2: Draw bode plot of G(s) ω ∠𝐺(jω)

1 -95.7
Corner frequencies 5 -116.5
ω = 10 10 -135.63
ω = 1000 50 -171.46
Starting frequency = 1/10 *10 = 1 100 179.9
Starting magnitude 20
ω 150 -184
Where, ω = 1 200 -188.4
500 -205.41
Phase plot
ω =- ° ω) - ω)
System Phase margin φ = °
,
Specified phase margin φ °

3. Find φ = φ φ+ε= °
-0+5= ° Note that: Gain of the compensated system K
= 1000 , so 1/7.51 should be cancelled from
lead compensation
φ
4. α = φ
Step 8: Overall Transfer Function:
α = 7.51

5. Finding ω from -10 α) = -8.75 dB

ω = 170 rad/sec
6. Find T from ω = Step 9:
√α Draw bode plot of overall
T = 0.00214 transfer function
HA: Design a lead compensation in cascade with a system whose transfer

function is : G(s) =
s(s )

Such that It will full fill the following specifications

• Phase margin ≥ 50°
• Velocity constant K = 20

Kc = 10
K’ = 40
PM = °

40(1+0.227s)
G’(S) = s(s = 41.7
)( . ) s(s )( . )
System Phase margin φ = °
, 7. Put the values of α an T in
Specified phase margin φ °
equation in

3. Find φ = φ φ+ε= °
- °
+5= °

G’(s) =
φ s(s ) )
4. α = φ
Step 8: Overall Transfer Function:
α = 4.2 Here G(s) = then,
s(s )

5. Finding ω from -10 α) = -6.23 dB

Gc(s) =
ω = 9 rad/sec )

6. Find T from ω = Step 9:

√α Draw bode plot of overall
T = 0.054 transfer function G’(S)
 Designing a Phase Lag Compensation

Step 1: Find compensated gain of uncompensated system K’.

Step 2: Draw bode plot and find phase margin φ

Step3: Find required phase margin (φ = φ + ε

where, φ - specified phase margin
ε - error (generally ε =5)

Step 4: Calculate ω φ
Step 5 : Calculate α φ
Mark the magnitude in dB at
frequency ω and

Find α from magnitude

-20 α) = 10 dB
( )/
α=

Step 6: Find T
(nearest zero = ( )th of ω )

ω
α
T=
ω = 1.1
rad/sec
 Designing a Phase Lead Compensation
Step 7: Put the value of α and T in
( ) (α )
G’ G(s) = K’
( )

Step 8: Draw bode plot of G’(s)

Example
Design a suitable lag compensating network for
K
G(s) = . To meet the following specifications
s(s+2) (s+20)
K = 20 sec-1
P.M≥ 35°

Given:
K
G(s) =
s(s+2) (s+20)
α = α
Let
K α K′ α
Overall Transfer function G’(s) = * = *
s(s+2) (s+20) s(s+2) (s+20)
1.

2. Draw Bode plot of = Phase margin

s(s+2) (s+20)

3. Find required phase margin (φ = φ + ε = 35° + 5° = 40°

4. Find ω from graph

 40° above
the -180° line i.e. from - 140°.
 Frequency where the line cuts phase plot
is ω
5. Calculate α
 Draw the vertical line from ω , and find
the magnitude (a) where it cuts magnitude
plot.

Here, magnitude = 20dB

20 dB = -20 α)
α = 0.1 φ = 40°
6. Calculate T
Zero is placed 1/10 of ω
7. Put the value of α and T in overall transfer function

20 α
G’(s) = *
s(10+.5s) (1+0.05s)

20 ( )
G’(s) =
s(1+0.5s) (1+0.05s)( )

8. Draw bode plot of G’(s)

HA: Design a lag compensation in cascade with a system whose transfer

function is : G(s) =
s(s )( . )

Such that It will full fill the following specifications

• Phase margin ≥ 40°
• Velocity constant K = 5

5(10s+1)
G’(s) =
s(s