Chapter 4

Controllers and Compensators

CHAPTER HIGHLIGHTS

☞ Compensators and Controllers ☞ Controllers

☞ Series Compensation ☞ Proportional Controller
☞ Feedback Compensation ☞ Proportional Plus Integral Controller
☞ Compensators ☞ Proportional Plus Derivative Controller
☞ Lag Compensator Proportional Plus Integral Plus Derivative
☞ 
☞ Lead Compensator Controller
☞ Lead – Lag Compensator

Compensators and Controllers R(s)

+ G1 + Plant G2
C(s)
– –
Every control system is designed for a specific application
and to meet certain performance parameters or specifica-
tions. System specifications in time domain and/or in fre- Compensator G3(s)

quency domain such as peak overshoot/ settling time, gain

margin, phase margin, and so on. A device inserted into Feedback H(s)
the system for the purpose of satisfying the specification is
called a compensator.
There are two types of compensation schemes as follows: Block diagram of feedback compensation

1. Series compensation
2. Feedback or parallel compensation Compensators
Series Compensation The different types of compensators are as follows:
In series compensation, a compensator is introduced in 1. Lag compensator
series with the plant to change the system behaviour and to 2. Lead compensator
meet the desired specifications. 3. Lead–lag compensator

R(s) C(s)
Compensator G1(s) Plant G2(s)
+
–
Lag Compensator
The low-pass filter is known as phase–lag compensator. The
ideas to filter and phase shift are useful if designs are car-
ried out in the frequency domain.
Feedback H(s)
The transfer function of a simple lag compensator is
1 + Ts
given by ⇒ Gc ( s) = ;a>1
Block diagram for series compensation 1 + aTs
Lag compensator improves the steady state behaviour of
Feedback Compensation a system, while transient behaviour remains unchanged.
In feedback compensation, a compensator is introduced in
the feedback path to meet the desired specifications.
3.316 | Part III • Unit 3 • Control Systems

R1
jw
+

s-plane
R2 Vo
Vi

1
×
1 s sC
1 −
− –
T aT

Figure 1 Pole zero configuration of electrical lag compensator.

|Gc (jw )| in dB Img

+1/T +1/aT
0 dB w
← – 30dB/dec
∠G(jw ) × Real
wm 1
0° w 1 −
− T
aT
– 45°

Figure 2 Bode plot of the lag compensator. Figure 4 Pole zero configuration of lead compensator.
The value of phase angle is maximum at a frequency of The value of phase angle is maximum at frequency of
1 1 1 1
w m = w c1 × w c 2 = × = w m = w c1 × w c 2 =
aT T T a T a
Therefore, maximum phase angle ⎛ 1− a ⎞
Maximum phase angle j m = tan −1 ⎜ .
∠G ( jw )|
⎛ 1− a ⎞
= j m = tan −1 ⎜ ⎝ 2 a ⎟⎠
w =w m ⎝ 2 a ⎟⎠
|G(jw )| in dB
⎛ 1− a ⎞
∠G ( jw )| = j m = sin −1 ⎜
w =w m ⎝ 1 + a ⎟⎠
1 w
The stability of the system relatively reduces with addition ∠G(jw)
1/T
of lag compensator. The gain crossover frequency of the aT
90o
system decreases and thus the bandwidth of the system is
reduced. The raise time and settling time of the system are 45o
usually longer, because the bandwidth is usually decreased.
The system is more sensitive to parameter variations. 0o w
wm
Lead Compensator
Figure 5 Bode plot of lead compensator.
The high-pass filter is known as phase–lead compensator.
These ideas to filter and phase shift are useful if designs are The lead compensator affects the transient response of the
carried in the frequency domain. The transfer function of a system. It adds damping to the system, and thus, the rise
simple lead compensator is given by time and settling time are reduced. The gain crossover fre-
1+ z s quency is increased and improves the phase margin of the
Gc ( s) = ; a <1 closed-loop system. The relative stability of the system is
1 + az s
improved with improvement in gain and phase margins.
1/sC
The bandwidth of the closed-loop system is increased
and results in fast response.
The steady-state error of the system is not effected.
R1 Lead–lag Compensator
Vi R2 Vo The combination of lag and lead compensators is used to
utilize the advantages of both the schemes. The transfer
function of a simple lead–lag compensator is given by
Figure 3 Electrical Lead Compensator.
 Chapter 4 • Controllers and Compensators | 3.317

Img axis
⎛ 1 + a1T1s ⎞ ⎛ 1 + a2T2 s ⎞
Gc ( s) = ⎜ ( a1 > 1, a2 < 1)
⎝ 1 + T1s ⎟⎠ ⎜⎝ 1 + T2 s ⎟⎠
↑ ↑ × × 0
Lead compensator Lag compensator 1 1 1 1 Real axis
− − − −
a 2T2 T2 T1 a1T1
Lag Lead

Figure 6 Pole-zero configuration of Lead–lag compensator.

|Gc(jω)| in db

+20 db / dec – 20 db / dec

ω
1 1 1 1
∠G(jω)
a1T1 T1 T2 a 2 T2
90o

45o

1 1 1 1
0o T2 a 2 T2 ω
aT1 T1

Figure 7 Bode plot of lead-lag compensator.

Controllers The different types of controllers available in control sys-

tem are given as follows:
The cascaded controllers are used to modify the transient
and the steady-state response of the system. 1. Proportional controller
2. Proportional plus integral controller (PI–controller)

error
i/p + Gc(s) G(s) o/p
–

3. Proportional plus derivative controller (PD– Proportional Plus Integral Controller (PI)
controller) This is a controller that produces output signal u(t) propor-
4. Proportional plus derivative plus integral controller tional to the input signal (error e(t)) and to the integral of
(PID–controller) input signal.
Proportional Controller \ u(t) = Kp e(t) + Ki ∫ e.dt
A controller that produces output proportional to the input Kp = Proportional controller gain
signal (error e(t)) Ki = Integral controller gain.
Therefore, u(t) = KP.e(t) The PI controller increases the order and type of the system.
where It acts as a low pass filter and reduces the steady-state error.
u(t) = input to the plant
e(t) = Input to the controller Proportional Plus Derivative
KP = Gain of the proportional controller Controller (PD)
The proportional controller improves the steady-
This is a controller that produces output signal u(t) propor-
state accuracy, disturbance signal rejection, and relative
tional to the input signal (error e(t) and derivative of the
stability.
It decreases the sensitivity of the system to parameter ⎛ de (t ) ⎞
input signal ⎜ .
variation. ⎝ dt ⎟⎠
The proportional controller is not used alone because it de(t )
u(t) = K p e(t ) + K d
produces a constant steady-state error. dt
3.318 | Part III • Unit 3 • Control Systems

The PD controller increases damping of the system For a lead compensator pole is dominating so
which results in reducing the peak overshoot.
1 −1 1 1
It acts as a high-pass filter and improves gain margin and − > ⇒ < ⇒a>b
phase margin. a b a b
The PD controller increases bandwidth, reduces rise
Example 3
time, and settling time; hence, system stability is improved.
The transfer function of PID controller is given by
Proportional Plus Integral Plus s K D s2 + K p s + K I
Derivative Controller (A) (B)
KI s + KD s + K p
2 s
This is a combination of proportional, integral, and deriva-
s KI s + KD s + KP
2
tive controllers. (C) (D)
de(t ) KD s2 + K ps + KI s
u(t ) = K p e(t ) + Ki ∫ e(t ) dt + K D
dt Solution
The PID controller decreases the steady state error and The relation between input and output of a PID controller
increases stability. is given by
de(t )
Solved Examples u(t) = KPe(t) + KI ∫ e(t ) + K D
dt
Apply Laplace transform on both sides
Example 1
⎛ K ⎞
The pole zero configuration of a phase lag compensator is u ( s ) = ⎜ K P + I + K D s⎟ E ( s )
⎝ S ⎠
given by
u( s) K D s 2 + K P s + K I
(A) jw (B) jω =
E ( s) S

× ×
Example 4
s σ
Maximum phase lead of the compensator D(s) is
0.4 s + 1
D ( s) =
0.04 s + 1
jw
(C) jw (D) (A) 50° (B) 55°
(C) 60° (D) None of the above
× Solution
× × s s
0.4 s + 1 1 + aTs
Compensator D( s) = =
0.04 s + 1 1 + Ts
aT = 0.4; 0.04 = T
Therefore, a = 10
Solution ⎛ a − 1⎞
Maximum phase angle j m = sin −1 ⎜ = 55°
⎝ a + 1⎟⎠
Lag compensator has a dominant pole with a single pole
zero configuration. Example 5
Example 2 Phase angle of the PID controller at high frequencies is (as
frequency tends to infinity)
A lead compensator used for a closed-loop controller has (A) ∞ (B) 90° (C) −90° (D) 180°
the following transfer function:
k (1 + as) Solution
(1 + bs) Transfer function of the PID controller
For such a lead compensator, K D s2 + K P s + K I
(A) a < b (B) a > b (C) a > kb (D) a < kb =
s
Solution Phase angle of controller
Pole zero value of given compensator are ⎛ wK P ⎞
= tan −1 ⎜ − tan −1 ( w /∞)
1 −1 ⎝ ( K I − w K D ) ⎟⎠
2
− and
a b ∅ = 180° − 90° = 90° (as w → ∞)
 Chapter 4 • Controllers and Compensators | 3.319

Example 6 (A) A lag–lead compensator that provides an amplification

The transfer function of two compensators is given by of 20 db and a phase lead of 45° at the frequency of
20(1 + s) s + 10 3 rad/sec.
C1 = , C2 = (B) A lag–lead compensator that provides an attenuation of
( 20 + s) 10( s + 1)
20 db and phase lead of 45° at a frequency of 3 rad/s.
Which of the following statements is correct? (C) A lag compensator that provides an attenuation of 20db
(A) C1 is a lag compensator and C2 is a lead compensator. and a phase angle of 45° at the frequency of 3 3 rad/s.
(B) C1 is a lead compensator and C2 is a lag compensator. (D) A lead compensator that provides an amplification of
(C) Both C1 and C2 are lead compensators. 20db and a phase lead of 45° at the frequency of 3
(D) Both C1 and C2 are lag compensators. rad/s.
Solution
Solution
10( s + 1)
Compensator C1 = Phase crossover frequency of the system can be calculated
( s + 10) as
From pole zero configuration, C1 is lead compensator.
jw
∠G ( jw )| = − 180
w =w pc

1 1
w pc = = = 3 rad/sec
T1T2 1
O s 1×
–10 –1 9
Gain margin of the system (GM)
1
= 20 log
G ( jw pc ) H ( jw pc )
s + 10
Compensator C2 =
10( s + 1) 900
G ( jw pc ) H ( jw pc ) =
jw s( s + 1)( s + 9)

900 = 10
× s w (w 2 + 1) w 2 + 92
–10 –1
1
Gain margin (GM) = 20log = 20db
G ( jw ) H ( jw )
From the given data phase, crossover frequency is equal
From the above pole zero, to gain crossover frequency. For this, we need to make the
Configuration C2 is lag compensator. magnitude of the system at w = wpc equal to zero. A lag
compensator is used to reduce the gain of the system by
Example 7 20db at w = wpc.
900
The system is to be such that its gain To provide phase margin of 45°, we need to increase the
s( s + 1)( s + 9)
phase angle of the system by 45° which is 0o at w = wpc
crossover frequency becomes same as its uncompensated
3 rad/s. A lead compensator is used to obtain 45° of phase
phase crossover frequency and provides 45° phase margin.
margin at w = wpc = 3 rad/s.
To achieve this, one may use

Exercises
Practice Problems 1 (C) Derivative output compensation
(D) Derivative error compensation
Direction for questions 1 to 9: Select the correct alterna-
List–II
tive from the given choices.
(1) Improvement in transient response
1. Match List–I with List–II and select the correct answer (2) Reduction in steady-state error
using the codes given below the lists: (3) Reduction in settling time
List–I (4) Increase in damping constant
(A) Phase lag controller
(B) Addition of zero at origin
3.320 | Part III • Unit 3 • Control Systems

codes 4. List–I
     A B C D U(s)
(a) 4 3 1 2
Gc(s)
(b) 2 1 3 4
(c) 4 1 3 2 R(s) +
+– G1(s) ++ G2(s)
(d) 2 3 1 4
2. The effect of phase lead compensator on gain crossover H(s)
frequency (wgc) and on bandwidth (wb) is that
Figure A
(A) both increase
(B) wgc increases but wb decreases C(s)
R(s) +– Gc(s) G(s)
(C) wgc decreases but wb increases
(D) both decrease
Match List–I (circuits) with List–II and select the cor- H(s)
rect answer using the codes given below the lists for Figure B
questions (3) and (4).
C(s)
3. List–I
R1 R(s) +– G 1(s) +– G 2(s)
A.
G c(s)
R2
Ei (s) E0(s) H(s)
1
Cs Figure C

Figure A List–II
1. Cascade compensation
B. R1 2. Feedback compensation
1 3. Feedforward compensation
C1s A B C
(A)  1 2 3
R2 (B)  2 1 3
Ei (s) E0(s)
1 (C)  2 3 1
C2 s (D)  3 1 2
Figure B 5. Which of the following statements are true?
(i) Adding a zero to the loop transfer function will always
C. 1 decrease the bandwidth of the closed-loop system.
Cs
(ii) Adding a pole to the loop transfer function makes
the system less stable while decreasing the band
width.
R1
R2 (iii) The resonant peak ‘Mr’ indicates the relative stability
E i (s) E 0(s)
of a stable closed-loop system.
(iv) The slope of a magnitude curve of the Bode plot at
the gain crossover indicates the relative stability of the
Figure C
closed-loop system.
List–II (A) i and ii (B) ii, iii, and iv
1. Lag network (C) i and iii (D) ii and iv
2. Lead network 6. Which of the following are effects of phase–lead
3. Lag–lead network compensation?
A B C (i) Improves the phase margin of the closed-loop s­ ystem
(A) 1 2 3 (ii) Steady-state error is reduced
(B) 1 3 2 (iii) Improves the relative stability
(C) 2 3 1 (iv) The rise and settling times are increased
(D) 2 1 3 (A) i and ii (B) ii and iii
(C) i, iii, and iv (D) i and iii
 Chapter 4 • Controllers and Compensators | 3.321

7. The compensator has the transfer function ⎛ a + 1⎞

⎛ a − 1⎞
(A) tan−1 ⎜ (B) tan−1 ⎜
Gc(s) =
10(1 + 0 . 0 4 s)
the maximum phase–angle lead ⎝ a + 1⎟⎠ ⎝ a − 1⎟⎠
(1 + 0 . 01 s)
⎛ a − 1⎞ ⎛ a + 1⎞
provided by this compensator will occur at a frequency (C) sin−1 ⎜ (D) sin−1 ⎜
⎝ a + 1⎟⎠ ⎝ a − 1⎟⎠
wn equal to
(A) 25 rad/s (B) 50 rad/s 13. Which one of the following is the correct expression
(C) 4 rad/s (D) 10 rad/s for the transfer function of an electrical RC phase–lead
compensating network?
8. Indicate which one of the following transfer functions
represent phase–lead compensator? (1 + sT ) a (1 + sT )
(A) ;a < 1 (B) ;a < 1
1+ 0 . 5 s s +1 a (1 + saT ) (1 + saT )
(A) (B)
1+ s s+2 b (1 + sT ) (1 + sT )
(C) ;b < 1 (D) ; b >1
6s + 3 s+5 (1 + sbT ) (1 + sT b )
(C) (D)
6s + 2 3s + 2 14. Maximum phase lead of the compensation D(s) =
9. A control system with a PD controller is shown in the (0.5 s + 1)
is
figure. If the velocity error constant Kv = 1000 and the (0.05 s + 1)
damping ratio z = 0.5 then the value of KP and KD are
(A) 55° at 12 rad/s (B) 35° at 10 rad/s
(A) KP = 100, KD = 0.09.
(C) 45° at 4 rad/s (D) 55° at 6.3 rad/s
(B) KP = 100, KD = 0.9.
(C) KP = 10, KD = 0.09. 15. The transfer function of a phase lag compensator is
(D) KP = 10, KD = 0.9. s + Z1
found to be of the form and that of a lead com-
+ y s + P1
r Σ Kp+ KDs 100
s(s +10) s + Z2
– pensator to be of the form . Which of the fol-
s + P2
lowing conditions must be satisfied?
Direction for question 10: The following questions con- (A) Z1 > P1 and Z2 > P2
sists of two statements—one assertion and the other reason- (B) Z1 > P1 and Z2 < P2
ing. Select your answer to these questions using the codes (C) Z1 < P1 and Z2 > P2
given below. (D) Z1 < P1 and Z2 < P2
Codes:
16. A system gain crossover frequency is less than its phase
10. Assertion(A) Stability of a system deteriorates when
crossover frequency then
integral control is incorporated in it.
(A) lag–lead compensator which will decrease the
Reason (R) With integral control action order of the
gain and increase the phase angle can be used to
system increases, and higher the order of the system,
stabilize the system
the more the system tends to become unstable.
(B) lead–lag compensator which will increase the gain
(A) Both A and R are true and R is the correct explana-
and decrease the phase angle can be used to stabi-
tion of A.
lize the system
(B) Both A and R are true but R is not the correct ex-
(C) lead compensator which will increase the gain can
planation of A.
stabilize the system
(C) A is true but R is false.
(D) None of the above
(D) A is false but R is true.
17. Match the following:
Direction for questions 11 to 18: Select the correct alter-
native from the given choices.
Transfer function Type of damping
1 + 0.4 s
11. The transfer function represents a 1. PI controller P.    Improves damping of
1+ s the system
(A) lag network (B) lead network
(C) lead–lag network (D) None of these 2. PD controller Q. Increases band width

12. The transfer function of a phase–lead compensator is 3. Lead compensator R. Decreases band width
1 + aTs 4. Lag compensator S.   Decreases steady state
given by . When a > 1 and T > 0. The maximum error
1 + Ts
phase shift provided by such a compensator is
3.322 | Part III • Unit 3 • Control Systems

Codes: 18. Transfer function of a compensator is given by

P Q R S 10(s + .001)
. The compensator offers maximum fre-
(A) 2 4 1 3 (s + 0.1)
(B) 3 2 4 1 quency at
(C) 2 3 4 1 (A) 0.01 rad/s (B) 1 rad/s
(D) 3 4 1 2 (C) 10 rad/s (D) 100 rad/s

Practice Problems 2
Direction for questions 1 to 15: Select the correct alterna- (A) proportional type
tive from the given choices. (B) integral type
1. Which of the following are the effects of PD control? (C) derivative type
(i) Increases rise time and setting time (D) PD type
(ii) Improves GM, PM, and Mr 6. The transfer function of a simple RC network function-
(iii) Decreases bandwidth s + z1
ing as a controller GC(s) = the condition of RC
(iv) Improves damping and reduces maximum over s + P1
shoot. network to act as a phase–lead controller is
(A) i, ii, and iii (B) ii and iv (A) P1< z1 (B) P1 = 0
(C) i, iii, and iv (D) i, and iv (C) P1 = z1 (D) P1>z1
2. Which of the following are effects of PI control? 7. For a given phase–lead network, the maximum possible
(i) Filters out high–frequency noise phase–lead is
(ii) Increases bandwidth IF
(iii) Improves damping and reduces maximum over
shoot
2Ω
(iv) By proper design PI control can improve transient 1Ω
and the steady-state performances
(A) i, ii, and iii (B) ii and iii (A) 90° (B) 45° (C) 30° (D) 15°
(C) iii and iv (D) i, iii, and iv
8. Consider the following statements: In a feedback con-
3. Phase–lag compensation results in trol system, lead compensator
(i) increase in gain–crossover frequency (1) speed up the transient response
(ii) reduction of bandwidth (2) high-frequency gain increases
(iii) more sensitivity (3) bandwidth increases of these statements, which
(iv) improvement of the relative stability one is correct?
(A) i, ii, and iv (B) ii and iv (A) (1) and (2) (B) (1) and (3)
(C) ii, iii, and iv (D) iii and iv (C) (2) and (3) (D) (1), (2), and (3)
k 9. The effect of cascade lag compensation on the transient
4. A double integrator plant G(s) = , H(s) = 1 is to be
s2 response of a control system can be neutralized by
compensated to achieve the damping ratio z = 0.5 and choosing
an undamped natural frequency wn = 5rad/s. Which one (A) a slightly higher value of the static position error
of the following compensator GC(s) will be suitable? constant
( s + 3) ( s + 9.9) (B) a slightly higher value of the static velocity error
(A) (B) constant
( s + 9.9) ( s + 3)
(C) a slightly higher value of damping ratio
( s − 6) ( s + 6) (D) a slightly higher value of undamped natural fre-
(C) (D) quency
( s + 8.33) ( s + 9.99)
10. Select the statements regarding the properties of phase–
5. In the control system shown in the given figure, the
lead compensation.
controller which can give zero steady–state error to a
(1) It improves phase margin of the closed loop system
ramp input, with k = 9 is
(2) It increases band width of the closed loop system
+ controller K (3) It gives slow response.
– s(s + a) Among these, which one is correct?
(A) (1) and (2) (B) (1) and (3)
(C) (2) and (3) (D) (1), (2), and (3)
 Chapter 4 • Controllers and Compensators | 3.323

4(1 + 0.15s) 14. The open loop transfer function of a plant is given as
11. Maximum phase lead of is 1
(1 + 0.05s) G ( s) = 2 . If the plant is operated in a unity feed-
s −1
(A) 45° (B)60° (C) 30° (D) 90° back configuration, then the lead compensator that can
12. The maximum value of phase lead for which a single stabilize this control system is
stage cascade lead compensator should be designed is 10 ( s − 1) 10 ( s + 4)
(A) 90° (B) 65° (C) 135° (D) 180° (A) (B)
s+2 s+2
1 + 6s
13. For Gc(s) = K . 10 ( s + 2) 10 ( s + 10)
1 + 2s (C) (D)
s + 10 s+2
The minimum phase lead and corresponding frequen-
cies are 15. The transfer function of a phase–lead compensator is
1 1 1 + 3Ts
(A) 45°, (B) 30°, . The maximum value of phase provided by this
2 3 2 1 + Ts
compensator is
1 1
(C) 30°, (D) 45°, (A) 90° (B) 60° (C) 45° (D) 30°
2 3 2

Previous Years’ Questions

K
1. Which one of the following polar diagrams corre- 2. A double integrator plant, G ( s) = , H ( S ) = 1 is
sponds to a lag network? [2005] s2
to be compensated to achieve the damping ratio x =
(A) Im
0.5, and an undamped natural frequency, wn = 5 rad/s.
which one of the following compensator Gc(s) will be
suitable?[2005]
w=0 w=∞ s+3 s + 9.9
(A) (B)
s + 9.9 s+3
Re
s−6 s+6
(C) (D)
(B) Im s + 8.33 s
3. A control system with a PD controller is shown in the
figure, if the velocity error constant KV = 1000
w=0 w=∞ y
r + 100
Σ Kp+ KDs
Re s(s +10)
–

and the damping ratio x= 0.5 , then the values of KP

(C) Im and KD are [2007]
(A) KP = 100, KD = 0.09 (B) KP = 100, KD = 0.9
(C) KP = 10, KD = 0.09 (D) KP = 10, KD = 0.9
w=∞ w=0
4. The open–loop transfer function of a plant is given
Re 1
as G(s) = 2 . If the plant is operated in a unity
s −1
(D) Im feedback configuration, then the lead compensator
that can stabilize this control system is [2007]
w=∞ w=0 10( s − 1) 10( s + 4)
(A) (B)
Re s+2 s+2
10( s + 2) 2( s + 2)
(C) (D)
s + 10 s + 10
3.324 | Part III • Unit 3 • Control Systems

5. The pole-zero plot given below corresponds to a: (A) Lead compensator
 [2008] (B) Lag compensator
jω (C) PID compensator
o (D) Lead–lag compensator

Direction for questions 8 and 9:

x x
σ
The transfer function of a compensator is given as
s+a
Gc(s) =
o s+b

(A) Low-pass filter (B) High-pass filter 8. Gc(s) is a lead compensator if [2012]
(C) Band-pass filter (D) Notch filter (A) a = 1, b = 2
6. Group 1 gives two possible choices for the imped- (B) a = 3, b = 2
ance Z in the diagram. The circuit elements in Z sat- (C) a = −3, b = −1
isfy the condition R2C2 > R1C1. The transfer function (D) a = 3, b = 1
V0 9. The phase of the above lead compensator is maxi-
represents a kind of controller. Match the im-
V1 mum at [2012]
pedances in Group I with the types of controllers in (A) 2 rad/s (B) 3 rad/s
Group II.  [2008]
C1
(C) 6 rad/s (D) 1 3 rad/s
Z 10. The Bode asymptotic magnitude plot of a minimum
− phase system is shown in the figure.
V1 R1 + Vo

Group I Group II 26.02

Q |G(jw)|
(dB) 6.02
R2 C2 0
0.1 1 2 10 20
1. PID controller −6.02
2. Lead compensator
w (rad s) in log scale
R 3. Lag compensator
C2
If the system is connected in a unity negative
feedback configuration, the steady-state error of
R2 the closed loop system, to a unit ramp input, is
___________. [2014]
(A) Q−1, R−2 (B) Q−1, R−3
(C) Q−2, R−3 (D) Q−3, R−2 11. The transfer function of a first-order controller is
given as
7. The magnitude plot of a rational transfer function
G(s) with real coefficients is shown below. Which of K ( s + a)
Gc(s) =
the following compensators has such a magnitude s+b
plot? [2009] where K, a, and b are positive real numbers. The con-
|G(jw)| dition for this controller to act as a phase lead com-
20 dB pensator is [2015]
(A) a < b (B) a > b
(C) K < ab (D) K > ab
log w

−40 dB
 Chapter 4 • Controllers and Compensators | 3.325

Answer Keys
Exercises
Practice Problems 1
1. B 2. A 3. B 4. D 5. B 6. D 7. B 8. B 9. B 10. A
11. A 12. C 13. B 14. D 15. B 16. A 17. C 18. A

Practice Problems 2
1. B 2. D 3. C 4. A 5. B 6. D 7. C 8. D 9. D 10. A
11. C 12. B 13. C 14. A 15. D

Previous Years’ Questions

1. D 2. A 3. B 4. A 5. D 6. B 7. C 8. A 9. A
10. 0.49 to 0.51 11. A