Introduction to Design

Refer Textbook
Control Systems Engineering by
Nagrath , Gopal
Control System Design Problem
• The control systems are designed for specific application should to meet certain
performance specifications.

Figure 1: Antenna Tracking Control System

Continued…
• In addition to the performance
specifications, some other constraints are
also imposed on the control system design.
• For the example considered , the system as
to drive large size antenna.
• Proper actuator as to be selected based on
the size of the antenna.
• While selecting motor size we need to
consider the performance specifications,
available power supply, cost and space
constraints. Figure 1: Block Diagram of the experimental
setup of antenna tracking control system
Continued…
• The plant alone in the system cannot achieve the specifications.
• A corrective subsystem is used which forces the plant to meet the requirements,
such subsystems are called compensators.
• Role of the compensator is to compensate the deficiency in the performance of the
plant.

Given a plant and set of specifications , design a suitable compensators so that the
overall system will meet the required specifications
Continued…
•What
  a control engineer will have in hand when he starts the design??

• Set of performance specifications,

• Time domain specifications or,
• Frequency domain specifications

Next what should he decide??

• Select the system configuration (compensation techniques)
Compensators
• Compensators are subsystems introduced into the system to meet design
specifications.
• The compensator may be electrical, mechanical, hydraulic, pneumatic or other
types.
• Electrical compensators are widely used in many control systems.
Electrical Lag
Compensator

Pneumatic Lag
Compensator

Mechanical Lag
Compensator
Necessities of compensation

• A system may be unsatisfactory in ：

Stability.
Speed of response.
Steady-state error.
• Thus the design of a system is concerned with the alteration of the frequency
response or the root locus of the system in order to obtain a suitable system
performance.
Compensator Configurations
• Compensation schemes commonly used for feedback control systems are:
• Series (cascade)Compensation

• Parallel (feedback) Compensation

Commonly Used Compensators
• Lead compensators

• If a sinusoidal input is applied to the input of a network, and the steady-state output
(which is also sinusoidal) has a phase lead, then the network is called a lead network.
• Lag compensators

• If the steady-state output has a phase lag, then the network is called a lag network.

• Lag–lead compensators
• In a lag–lead network, both phase lag and phase lead occur in the output but in different
frequency regions.

• Phase lag occurs in the low-frequency region and phase lead occurs in the high-frequency
region.
Commonly Used Compensators
• Lead compensators: (to speed up transient response, margin of stability)

• Lag compensators:(to improve error constant or steady-state behavior –

while retaining transient response)
• Lag–lead compensators: (A combination of the above two i.e. to improve
steady state as well as transient).
Lead Compensator
• Lead
  compensators have a transfer function of
the form

(1)

• It has zero at & a pole at

• Zero closer to the origin, thus we can say in
the lead compensator zero is more dominating
than the pole and because of this lead network
introduces positive phase angle to the system
when connected in series.
Continued…
•  Lead compensator can be realized by an electrical network
(2)

• Where & are time constant and attenuation constant

respectively.

Figure: Electrical Lead Network

Continued…
•  Consider the sinusoidal transfer function of from equ (1)

• At the network has gain of , let us cancel this dc attenuation of the network with
an amplification factor of

Figure: Phase Lead Network with Amplifier

Continued…
•  Connecting amplifier in series with the electrical network we get,
(3)

• Finding the phase angle function for the transfer function in equation (3) we have

(4)

(5)
• Using for equ (4), we find the maximum phase lead occurring frequency,
•  geometric mean of two corner frequencies
Continued…
•  The maximum phase lead is obtained by substituting in equation (5),

• Equation (6) gives in terms of ,

• The magnitude of at is (6)
Continued…
•  The magnitude of at in decibels is,

• As , the magnitude of in decibels becomes,

Lag Compensator
• Lag
  compensators have a transfer function of the
form,

(7)
• A system which has one zero and one dominating
pole ( the pole which is closer to origin) is known
as lag network.
• If we want to add a dominating pole for
compensation in control system then, we have to
select a lag compensation network.
 Electrical Lag Network
• The
  lag compensator can be realized by the following electrical
network

(8)
• Comparing eqns. (7) & (8) we get, ,
• Where, and β are respectively the time constant and DC gain

• In this lag network realization we have factor

Figure : Electric Lag Network
(9)
Phase function
• The
  sinusoidal transfer function of lag compensator can be obtained by
substituting in eqn (9) ,
• Lag network has a DC gain of unity.
• It offers high frequency gain of , since the high frequency noise is
attenuated as it passes through the network and signal to noise ratio is
improved, typical choice for is 10 .
• The phase function is , , since >1 steady state output lags the input sinusoidal
input.
• The tangent of the phase is,
Maximum Phase Lag
• The
  frequency () at which maximum phase lag can be obtained by ,
• , we get
• The maximum phase-lead is given by,
Bode plot of Phase Lag Network

  network acts like a low

Lag
pass filter attenuating high
frequencies by
Lag-Lead Compensator
• Lag-lead
  compensator is a combination of lag
compensator & lead compensator.
• The lag section has one real pole & one real
zero with pole to the right of zero.
• The lead section also has one real pole & one
real zero but the zero is to the right of the
pole.
• The transfer function of lag-lead compensator
is ,

(9)
Continued…
•  Equation (9) can be realized by single electrical network

• Comparing eqns. (10) & (9) , we have

(10)
•,
Figure : Electrical Lag-lead
•, Network
(11)
(12)
(13)
Continued…
• From
  eqns. (11), (12) & (13) we get , single lag-lead network does not allow to
independently select
• Keep this in mind the eqn. (9) can be rewritten as,

• The sinusoidal transfer function of lag-lead network,

Continued…
• s-plane representation of lag-lead network,
Bode plot of lag-lead network
Problem 1- Lead Compensator
•Design
  a lead compensator for a unity feedback system with an open loop transfer
function for specifications & PM=36 degrees
Steps- Design of Lead Compensator
• Specifications
  – System error & Phase Margin ().
• STEP1: Determine the open loop gain K required to satisfy the specified error
constant
• STEP2: Using this value of K draw the magnitude and phase Bode plots.
• Determine the phase margin, () and gain crossover frequency ()
• Phase margin of uncompensated network falls short of specified phase margin .
• STEP3:Determine the phase lead required

• , margin of safety to account for the reduction in the phase angle of

uncompensated network
• for slope -40dB/dec , for slope -60dB/dec
Steps- Design of Lead Compensator
• STEP4:
  the new gain cross over frequency will shift to right to provide addition
phase shift
• This additional phase is the maximum phase lead provided by lead
compensator
• Frequency of maximum phase lead coincide with
• STEP5: Determine the parameter

• The new cross over frequency can be determined as the frequency at which
uncompensated network has a dB gain of
• STEP6: Two corner frequencies ,
Steps- Design of Lead Compensator
•  STEP7:The transfer function of the compensator

• STEP8: check the phase margin of compensated network, If the phase margin is
still low increase ϵ and go to step 3.
Overall Observations
• It adds a pole and a zero (with zero to the right of pole) to the forward path
transfer function.
• Cross over frequency is increased.
• Bandwidth of closed loop system is increased, hence an improvement in the speed
of response of the system results.
• The rise time and settling time reduces
• Improves the phase margin and gain margin of the closed loop system
Assignment
•Design
  a lead compensator for a unity feedback system with an open loop transfer
function for specifications & PM=40 degrees
Problem 1- Lag Compensator
• Consider
  a unity feedback network , design a suitable lag compensator to give
velocity error constant, and phase margin .

STEP1:

• K=800
• draw Bode plot
Problem 1- Lag Compensator
•STEP2:
  Magnitude Plot- factors
• K  20logK=26dB
• , pole at the origin – straight line with -20dB/dec slope
• , simple pole ,
• , simple pole ,
Problem 1- Lag Compensator
•STEP2:
  Phase angle table of G()
•
Uncompensated
Bode plot
 Problem 1- Lag Compensator
• The
  phase margin is , uncompensated system is unstable.
• Pull the low frequency region of the uncompensated Bode plot down so that the
phase margin increases. (bandwidth decreases)
• For this purpose we use lag compensator to provide attenuation 20log
STEP3: Let specified phase margin be +, compensates for the lag caused by the
lag compensator network. Let , therefore

STEP4: From Bode plot , provides the phase margin of

Problem 1- Lag Compensator
•STEP5:
  This frequency , so the magnitude plot as to be shifted down by 23dB
• 20log

STEP6: To select the corner frequencies of lag compensator ,

• Choose
•,
Problem 1- Lag Compensator
•STEP7:
  Find the transfer function of the lag compensator

The transfer function of compensated system

Magnitude plot
• To check the findings draw the Bode plot for the compensated function
Phase angle table
• Phase table for compensated network
Result
• The various specifications of the compensated system are,

Note: The primary function of Lag compensator is to provide attenuation in the high
frequency range to give system sufficient phase margin.
The phase lag angle does not play a role in the lag compensation.
Various Effects & Limitations of Lag
Compensator
• Acts as a low pass filter, provides high gain at low frequencies.
• In lag compensation, the attenuation characteristics is used for the compensation.
(Phase lag characteristics is of no use in the compensation)
• The attenuation due to lag compensator shifts the gain cross over frequency to a
lower frequency point. Thus the BW of the system gets reduced.
• Reduced BW leads to slower response. Thus rise & settling time are usually
longer.
• The transient response lasts longer.
Various Effects & Limitations of Lead
Compensator
Effects
• Lead compensator adds dominant zero and pole. This increases damping of the
closed loop system.
• Increased damping causes less overshoot, low rise & settling time. Thus it
improves the transient response.
• It improves the phase margin of closed loop system.
• The gain cross over frequency is increased & hence the BW increases.
• More BW faster is the response.
• The steady state error is not affected
Various Effects & Limitations of Lead
Compensator
Limitations:
• Larger gain is required, this increases number of components, space & cost.
• More BW sometimes may be undesirable, because noise may entering into the
system may become objectionable.