Exp No: 8 DESIGN OF COMPENSATION NETWORKS

Aim:

To design the lead compensator and lag compensator for the given system transfer
function in order to meet the desired specifications.

Software Used:

MATLAB
Multisim

Theory:

A compensation network, also known as a compensation circuit or a feedback

network, is a type of electronic circuit used to improve the performance of a system by
controlling its frequency response.

In electronics, compensation networks are commonly used in feedback systems to

improve the stability and transient response of amplifiers, filters, and other signal processing
circuits. The purpose of the compensation network is to modify the gain and phase
characteristics of the circuit in such a way that it meetsthe required specifications, such as

gain margin, phase margin, and bandwidth. Compensation networks are typically designed
using passive components such as resistors, capacitors, and inductors, or active components
such as operational amplifiers. The specific design of a compensation network depends on
the type ofcircuit and the desired performance criteria.

The design of a compensator network involves determining the appropriate type of

compensator and selecting the component values to achieve the desired performance criteria.
There are different types of compensators, including lead, lag, and lead-lag compensators.
The selection of the appropriate compensator type depends on the specific requirements
of the system, such as the desiredgain margin, phase margin, and bandwidth.

(i) Lead compensator:

A lead compensator is a type of electronic circuit used in control systems to improve the
stability and transient response of the system. It is a type of phase-lead compensator that
introduces a phase shift in the system that can increase the phase margin, which is a measure

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Fig.1 Lead compensator circuit

Fig. 2 Lag compensator circuit

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of the system's stability. The lead compensator is designed to boost the system's gain at high
frequencies while also introducing a phase shift. The boost in gain at high frequencies can
help to improve the system’s transient response, while the phase shift can help to improve the
stability of the system by increasing the phase margin.
A lead compensator is typically implemented using a network of resistors, capacitors,
and/or inductors. The transfer function of a lead compensator is characterized by a pole and a
zero, which determines the frequency response of the compensator. The pole is typically
located at a higher frequency than the zero, which results in a phase shift that increases the
phase margin. Lead compensators are commonly used in control systems to improve the
performance of servo systems, such as position control systems in robotics and industrial
automation. They are also used in power electronics applications to improve the stability of
voltage regulators and other power control systems.

The lead compensator is an electrical network which produces a sinusoidal output

having phase lead when a sinusoidal input is applied. The lead compensator circuit in the ‘s’
domain is shown in Fig.1.

(ii) Lag compensator:

A lag compensator is a type of control system that is used to improve the performance
of a feedback loop by reducing the steady-state error and improving the stability of the system.
It is a type of compensator that is commonly used in engineering, particularly in the control of
dynamic systems such as electronic circuits, mechanical systems, and chemical processes. The
idea behind a lag compensator is to introduce a phase lag into the feedback loop. This phase lag
can be introduced by adding a low-pass filter to the system. The low-pass filter will cause a
delay in the output signal, which will effectively introduce a phase lag in the feedback loop.

The lag compensator is used to improve the steady-state response of a system. It can
help to reduce the steady-state error of the system by increasing the gain at low frequencies.
The lag compensator can also improve the stability of the system by reducing the gain at high
frequencies. Overall, the lag compensator is an important tool for controlling dynamic systems.
The lag compensator is an electrical network which produces a sinusoidal output having
the phase lag when a sinusoidal input is applied. The lag compensator circuit in the ‘s’ domain
is shown in Fig. 2.

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Procedure:

(i) Lead compensator:

1. Determine the gain K for the given transfer function from the specified error constants.
2. Obtain the bode plot.
3. Determine the phase margin γ.
4. The amount of phase angle to be contributed by lead network is ϕm = γd-γ+ε where
γd is the required phase margin. If the angle is greater than 60 then we have to
design the compensator as 2 cascade compensator with lead angle as ϕm/2.

1−sin(ϕ )
5. Calculate α = from bode plot and then find ωm such that it is the
1+sin(ϕm )
1
frequency corresponding to the gain −20 log ( ).
√α
1
6. Calculate 𝑇 =
ω𝑚 √α
1
(𝑠+ )
𝑇
7. A lead compensator has the form 1
(𝑠+ )
∝𝑇
8. Form the complete transfer function with the lead compensator added in series
to the original system.
9. Plot the new Bode plot and determine phase margin and observe whether the desired
specifications are met.
10. If not satisfactory, repeat steps from step 4 by changing value of ϵ by 5.

(ii) Lag compensator:

1. Determine the gain K for the given transfer function from the specified error constants.
2. Obtain the bode plot.
3. Determine phase margin γ.
4. Take γd as the required phase margin and add a tolerance of 5 so that the new phase
margin is γn = γd +5.

5. Find new gain crossover frequency ωgcm which is the frequency corresponding to γn of

previous step for that find ϕgcn = γn -180, from the bode plot determine ωgcn

corresponding to ϕgcn.

6. Determine gain corresponding to ωgcn from bode plot and let it be A db.
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 𝐴
7. Calculate 𝛽 = 1020 since A=20log 𝛽
10
8. Calculate 𝑇 =
ω𝑔𝑐𝑛
1
(𝑠+ )
𝑇
9. A lag compensator has the form 1
(𝑠+ )
𝛽𝑇
10. Form the complete transfer function with the lag compensator added in series to the
original system.
11. Plot the new Bode plot and determine phase margin and observe whether the desired
specifications are met.
12. If not satisfactory, repeat steps from step 4 by increasing the value of tolerance by 5.

Result:

Thus the lag and lead compensators for the given systems are designed and the frequency
responses of both uncompensated and compensated systems are plotted.

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Pre Lab Questions

1. How would you validate the performance of a compensator in a system after it has been
designed? What tools or techniques would you use for analysis?

2. What are the key parameters (resistor and capacitor values) you need to calculate when
designing a lag compensator using an RC network?

3. Given a transfer function for a system, how would you determine the specifications such as
time constant, phase margin, or steady-state error that need to be modified in the design of a
compensator?

4. What is the purpose of a compensator in a control system, and how does it affect the stability
and performance of the system?

5. Explain the difference between lag, lead, and lag-lead compensators. When would each be
most appropriate to use in a system design?