Introduction, Design with the PD Controller, Design with the PI Controller, Design with the PID

Controller, Design with Phase-Lead Controller, Design with Phase - Lag Controller, Design with Lead-
Lag Controller.∎ 10 Revised Bloom’s Taxonomy Level L1 – Remembering, L2 – Understand

Since α < 1, the output leads the input under steady state condition hence the name lead
compensator

The frequency at which maximum phase shift occurs ωm is given by the solution

ωm is the geometric mean of the two corner frequencies

The maximum phase lead φm is given by

Therefore

Cross multiplying and solving

Given a maximum φm expected from a lead compensator, the attenuation factor

The magnitude of Gc(jω) at ω=ωm is

Lag compensator

Since β>1 the steady state output lags w.r.t input

The maximum phase lag φm and corresponding frequency ωm

Lead lag compensator

The sinusoidal transfer function of a lead lag compensator is given by

Design of Lead compensator

Specifications: System error constant and Phase margin

STEP 1: Determine the open loop gain K required to satisfy the specified error constant
.
STEP 2: Using this value of K draw the magnitude and phase Bode plots.
Determine the phase margin, (φpm1) and gain crossover frequency (ωg1)
If phase margin is not satisfactory design lead compensator

STEP3: Determine the phase lead required

Where φs is the specified phase margin

ϵ-margin of safety

STEP 4: let φm=φl and determine the α parameter using

If φm required is more than 60 it is recommended to use two identical compensators contributing a

maximum lead of φl /2.

STEP 5: Calculate the DB gain . Locate the frequency at which the uncompensated system
has a gain of . This frequency ωg2=ωm of the compensated system.

STEP6: Compute the two corner frequencies of the compensator

The transfer function of the compensator

Step 7: Draw the magnitude and phase plot of the compensated system and check the phase margin.
If the phase margin is still low increase ϵ and go to step
Effect of Phase lead compensator
It adds a pole and a zero (with zero to the right of pole) to the forward path transfer function.
This adds more damping to the system.
The rise time and settling time reduces
Improves the phase margin and gain margin of the closed loop system
The band width of the closed loop system increases.
The steady state error is not affected

Design a lead compensator for a unity feedback system with an open loop transfer function

for the specifications of Kv=10 s-1 and φm=36 deg.

SOLUTION

Therefore the open loop transfer function

The sinusoidal transfer function is

The bode plot is shown.

The gain cross over frequency is 3.3 rad/sec

Phase margin is 17 deg

The magnitude contribution corresponding to ωm is

From the bode plot we find ωg2 corresponding to -3.75 dB as 4 rad/sec

Therefore

Therefore the compensator transfer function

The open loop Transfer function of lead compensated system is

The bode plot of compensated system shows the phase margin is 38 deg
Lag compensator Design

Lag network acts like a low pass filter attenuating high frequencies by

The phase lag is undesirable at the gain crossover frequency of the compensated system

Therefore the attenuation characteristic of the lag network is used for compensation
purpose.

STEP 1: Determine the open loop gain necessary to satisfy the specified error constant.

STEP 2: With this value of K draw the magnitude and phase Bode plot and determine the
phase margin φpm1 and the GCF ωg1 of the uncompensated system.
If the phase margin is not satisfactory go to step 3.
STEP 3: Find the frequency ωg2 at which the system makes a phase margin of

Where φpm2 is measured above -180o line φs is the specified phase margin and
ϵ =5o to 15o. Lag compensation is possible only if there exists a range of frequencies
in which the system has a phase angle less negative than -180o+φ.

STEP4: Measure the gain at ωg2 and equate it to required high frequency attenuation
20 log β. And calculate β.
STEP 5: choose the upper cut of frequency ω2=1/ꞇ of the lag network one octave to one
decade below ωg2.

so that phase lag contribution at this frequency is negligible.

STEP 6: With β and ꞇ determined the transfer function of lag compensator

STEP 7: draw the magnitude and phase bode plot of the compensated system and check
the resulting margin
Step 8: If there is any additional specifications check if it is satisfied.
If the specifications are not met redesign the compensator by choosing another value of ꞇ

Compensate the system with the open loop transfer function

to meet the following specifications.

Damping ratio
Settling time
Velocity error constant

SOLUTION
The given time domain specifications are converted in to frequency domain specifications,

We know

The open loop transfer function of an uncompensated system may be written

as

The bode plot of uncompensated system shows that

GCF=2.25.rad/sec and phase margin= -4deg

The phase margin(desired)

The frequency corresponding to this phase angle

Placing the upper corner frequency of the compensator two octave below, wehave

The log magnitude at ωc2 =20 dB

Therefore

Therefore the lower corner frequency

The transfer function of the lag network is

The open loop transfer function of compensated system

The phase margin of compensated system is found to be 42 deg.

The step response of the uncompensated system shows
Peak overshoot as 32% and settling time as 2 sec

Comparison of Phase lag and phase lead network

Phase Lead network Phase Lag network

Band width Increases, High frequency gain Band width decreases
increases
Dynamic response becomes faster Dynamic response slows down
Susceptible to high frequency noise High frequency noise suppressed
No significant decreases in steady state errorSteady state error is reduced
Application : When fast dynamic response is Application : Whenlow steady state error is
required required
Cannot be applied when phase angle of Cannot be applied when uncompensated
uncompensated system is decreasing rapidly system phase angle in low frequency region
near Gain cross over frequency is not sufficient to provide requisite phase
margin
Compensated system is generally satisfactory when the db slope at gain cross over
frequency is -20 db/decade

Lead compensation is applied to system to achieve desired error constant and any phase
margin, even though the uncompensated system may be absolutely unstable.
Lead compensation results in increased bandwidth and faster response.

For higher order systems and systems with large error constants, large leads are required
resulting in excessively large bandwidth which is undesirable from noise point of view. For
such systems lag compensation is desired provided the uncompensated system is
absolutely stable.
Lag compensation reduces bandwidth and slows down the response.

For large specified error constant and moderately large bandwidth it is not possible to meet
the specifications through either lead or lag compensation.
Under such circumstances lag-lead compensator is used wherein for specified error constant
the lag section is used provide part of the phase margin and the lead section provides rest of
the phase margin as well as gives desired band width.

Design procedure for lag-lead compensator

STEP1: For the specified error constant determine the open loop gain necessary

STEP 2: With this value of K draw the magnitude and phase Bode plot and determine the
phase margin and the GCF of the uncompensated system.

STEP 3: first design the lag section to provide only partial compensation of phase margin.
Choose GCF such that it is higher than the GCF if the system is fully lag compensated.

STEP 4: determine the value of β, such that the high frequency attenuation provided by the
Lag network is equal to the magnitude of the uncompensated system at this frequency.

STEP 5: calculate the value of ꞇ1such that the upper cut off frequency of lag network is
below the gain crossover frequency

STEP 6: calculate the lower cut-off frequency ω1=1/βꞇ

So the lag network design is over. Find the transfer function,
Draw the magnitude and phase bode plot of the lag compensated system and determine the
GCF and phase margin,

STEP 7: For the lead section independent value of α cannot be chosen. So select α=1/β and
calculate the maximum lead provided by the lead section by

STEP 8: choose the compensated cross over frequency to coinside with ωm. This is the
frequency where lag section has a gain of -10 log β db.

Calculate ꞇ2 and αꞇ2 and write the lead compensator transfer function.

STEP 9: combine the transfer function of the lag and lead sections to get the lag-lead
compensator transfer function. Draw the bode plot and determine the phase margin.

Step 10: If the specifications are not met , redesign the system by modifying the values of β
and ꞇ .
Lead lag compensator design
The open loop transfer function of a unity feedback system is given by

Compensate the system to meet the following specifications

Velocity error constant Kv >= 25 s-1
Phase margin >= 60o
Bandwidth ωb=10 rad/sec

Solution

The sinusoidal transfer function is

The bode plot of uncompensated system shows that the GCF=6.5 rad/sec
And phase margin is -16o
Therefore the uncompensated system is unstable for the given value of K
It is stable only for limited valve of K. so lead lag network is used for compensation.

First lag compensator is used to partially compensate phase margin.

Let it provide 36o so that the new crossover frequency is 2rad/sec
The magnitude at 2 rad/sec is 18 dB therefore

The upper cut off frequency of the lag network is teo octaves below this GCF

The lower cut off frequency

therefore the T. F of lag compensator

The lag compensated network

The magnitude and phase bode plot of the above system shows
that the GCF=2.25 rad/sec and the phase margin is 18o
For the design of lead section

Therefore

To utilize this phase lead ,at ωm the magnitude must be

From the lag compensated system we can find that the magnitude -9 db occurs at frequency
ωm =3.8 rad/sec
Therefore

The lead compensator T.f is