University of AL-Qadisiyah Fourth stage

Engineering college First semester

Department of electronic and communication Engineering 2024-2025

Lecture 6
Compensators:
In control systems, compensators are additional components or circuits designed to modify the
behavior of a system to achieve desired performance characteristics. The primary goal of using
compensators is to improve the stability, accuracy, and response time of the system without
altering its fundamental structure.
A control system may exhibit undesirable properties such as poor steady-state accuracy, slow
response, or instability. Compensators help address these issues by modifying the system's transfer
function to meet specific design criteria.
Why Use Compensators?
1) Improve Stability : Many systems are inherently unstable or marginally stable.
Compensators can stabilize such systems.
2) Enhance Transient Response : Compensators can reduce overshoot, settling time, and
rise time.
3) Improve Steady-State Accuracy : Compensators can reduce steady-state errors, ensuring
the system output closely follows the input.
4) Meet Design Specifications : Compensators allow engineers to meet specific performance
requirements such as bandwidth, phase margin, and gain margin.

Types of Compensators
Compensators can be classified into three main types based on their placement in the control
system:

1) Series (Cascade) Compensation:

In series compensation, the compensator is placed in series with the plant (the system to be
controlled).
Purpose : To modify the open-loop transfer function of the system to achieve desired performance.
Implementation : Series compensators are typically implemented using passive components
(resistors, capacitors, inductors) or active components (operational amplifiers).

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

Subtypes of Series Compensators:

a) Lead Compensator :
Introduces a phase lead to the system, improving transient response and stability.
s+z
Transfer Function : G(s) = K where z  p
s+p

Applications : Used to increase phase margin and reduce settling time.

b) Lag Compensator :
Introduces a phase lag to the system, improving steady-state accuracy.
s+z
Transfer Function : G(s) = K where z  p
s+p

Applications : Used to reduce steady-state error without significantly affecting transient response.
c) Lead-Lag Compensator :
Combines the benefits of both lead and lag compensators, improving both transient response and
steady-state accuracy.
Transfer Function : A combination of lead and lag transfer functions.
Applications : Used when both transient and steady-state performance need improvement.

2) Feedback (Parallel) Compensation

In feedback compensation, the compensator is placed in the feedback path of the system to modify
the closed-loop transfer function of the system.
Advantages :
• Provides better noise rejection.
• Can improve stability margins without affecting the forward path dynamics significantly.
Applications : Commonly used in systems where robustness to disturbances and noise is critical.

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

3) Load (Output) Compensation

In load compensation, the compensator is placed at the output of the system.
Purpose : To modify the output characteristics of the system, such as reducing sensitivity to load
variations.
Applications : Used in systems where the load impedance varies significantly, such as in power
systems or motor drives.

Design Considerations for Compensators

When designing compensators, several factors must be considered to ensure optimal performance:

1) Stability Margins :
Ensure sufficient phase margin and gain margin to avoid instability.
2) Transient Response :
Minimize overshoot, settling time, and rise time to achieve a fast and smooth response.
3) Steady-State Error :
Reduce steady-state error to improve accuracy, especially for systems with step or ramp inputs.
4) Bandwidth :
Adjust the bandwidth to balance between speed of response and noise rejection.
5) Robustness :
Ensure the system remains stable and performs well under varying operating conditions and
parameter uncertainties.

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

Finally, Compensators play a crucial role in control systems by enhancing stability, improving
transient and steady-state performance, and meeting design specifications. The choice of
compensator type—series, feedback, or load—depends on the specific requirements of the system
and the nature of the problem being addressed. By carefully designing and implementing
compensators, engineers can achieve robust and efficient control systems that meet performance
goals.

Lead Compensator:
A lead compensator is a type of dynamic compensator that introduces a phase lead into the system,
improving its transient response and stability.
The electrical circuit of lead compensator is :

Vo R2 R2 (1 + R1SC )
= = =
Vi  1  R1 + R2 + R1R2 SC
R2 + R1  C 
S 

=
R2 (1 + R1SC )
R1 + R2  RR 
1 +  1 2  SC
 R1 + R2 

The transfer function is:

 1 + Ts  R2
G( s) =  
(1 + R1SC )   = R2  1; T = R C
;
 1 +  Ts  R1 + R2 1 +  R1R2  SC R1 + R2
1

 
 R1 + R2 

Lead compensators are widely used in control engineering because they enhance the system's
phase margin, reduce overshoot, and improve settling time without significantly affecting steady-
state accuracy.
A lead compensator is a first-order dynamic system that modifies the frequency response of a
control system by introducing a phase lead at certain frequencies. It increases the phase margin of
the system, thereby improving stability and transient response.

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

The lead compensator increases the bandwidth by increasing the gain crossover frequency. At the
same time, the phase diagram is raised at higher frequencies. The result is a larger phase margin
and a higher phase-margin frequency. In the time domain, lower percent overshoots (larger phase
margins) with smaller peak times(higher phase margin frequencies) are the results. The concepts
are shown in Figure:

• In Bode plots, we want to change the phase diagram, increasing the phase margin to reduce
the percent overshoot, and increasing the gain crossover to realize a faster transient
response.

−2 2 + 1 + 4 4 2 − ln ( %OS / 100 )

 M = 90 − tan −1 = tan −1 ; =
2  2 + ln 2 ( %OS / 100 )
−2 2 + 1 + 4 4

Note
In lead compensator z  p ;

Advantages of Lead Compensator:

1) Increase stability;
2) Increase bandwidth;
3) Decrease rise time;
4) Improved transient response (less);
5) Noise that enters the system at high freq.

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

The transfer function of a lead compensator is given by:

s+z
G c (s) = K where z  p
s+p

Where:
K- Gain factor (used to adjust the overall system gain), z- zero of the compensator (s = −z), p-
pole of the compensator (s = −p).
Since z < p, the zero is located closer to the origin than the pole in the s-plane. This results in a
phase lead in the frequency response.
Frequency Response of a Lead Compensator:
Magnitude Response
At low frequencies (ω→0), the magnitude is approximately constant.
At high frequencies (ω→∞), the magnitude decreases due to the pole.
The compensator provides a gain boost at intermediate frequencies.
Phase Response
The phase angle of the compensator increases as frequency increases, reaching a maximum value
between the zero and pole frequencies.
The phase lead introduced by the compensator improves the phase margin of the system, enhancing
stability.

Key Frequency Parameters

1) Maximum Phase Lead (ϕm ) :
The frequency at which the phase lead is maximized is given by:

ωm = z *p

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

The maximum phase lead is:

 p-z 
Φm = tan -1  
p+z
2) Gain Adjustment :
The compensator introduces a gain increase at ωm . To maintain the desired crossover frequency,
the overall system gain may need to be adjusted.
A lead compensator is typically represented by the following transfer function:

 
1  s+ T
1
Gc ( s ) =  ; β < 1............................... A
  s + 1 
 T 

In order to design a lead compensator and change both the phase margin and phase-margin
frequency, it is helpful to have an analytical expression for the maximum value of phase and the
frequency at which the maximum value of phase occurs, as shown in Figure :

From previous Eq. the phase angle of the lead compensator, c, is:

 c = tan −1 (T ) − tan −1 ( T )

Differentiating with respect to  , we obtain:

d c T T
= −
d 1 + (T ) 1 + ( T )2
2

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

Setting Eq. (11.8) equal to zero, we find that the frequency, max, at which the maximum phase
angle, max, occurs is:
1
ωmax =
T β

Substituting previous Eq. in the Eq. A with s = jmax :

1
  j +1
1  jmax + T
1 
Gc ( s) = = ;
  jmax + 1  j  + 1
 T 

Making use of tan ( 1 −  2 ) = ( tan 1 − tan  2 ) / (1 + tan 1 tan  2 ) , the maximum phase shift
of the compensator, max, is:

 1−   -1  1-   -1  1 - β 
 max = tan −1   = sin    Φmax = sin  
2   1+   1+β 
 

and the compensator’s magnitude at max is:

1
G c ( jωmax ) =
β

Design of a Lead Compensator

1) Check system type, then find the closed-loop bandwidth required to meet the settling time,
peak time, or rise time requirement :

ωBW = ωn (1 - 2ξ ) + 4ξ - 4ξ + 2 ;
2 4 2

ωBW =
4
T *ξ
(1 - 2ξ ) + 4ξ - 4ξ + 2 ;
2 4 2
ω BW =
π
2
(1 - 2ξ ) +
2
4ξ 4 - 4ξ 2 + 2
s Tp 1 - ξ

Design Procedure
1) Determine the dominant close loop pole from the given information.

2) Assume the lead compensator as:

 1 
1 s+ T 
Gc ( s ) = 
  s + 1 
 T 

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

Find the value of K that satisfy the given requirements using static error constant.

3) Putting the value of K and substituting it in OLTF , then draw Bode plot to determine
phase gain  of the uncompensated system.

4) Determine the phase lead angle that will be added to the system. Add additional angle
( = 50-120) to the phase lead angle because the lead compensator shift the cross over
freq. to the right and decrease the phase margin :
m = r −  + 
5) Determine  using equation:
 1−  
 m = sin −1   =?
 1+  

6) Determine the m where the magnitude of the uncompensated system G1(s) is equal to
 1 
( )
20 log G ( jm ) = 20 log 
  
. Select the new gain cross over freq.:
 
1 1
m = 
T  T

7) Determine the cross over freq. :

1
 zero of lead compensator ;
T
1
 pole of lead compensator
T

8) Determine Kc :
K
Kc =

ess Type 0 Type 1 Type 2
1
Unit step 1+ Kp 0 0

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

1
Ramp input ∞ 0
Kv
parabolic ∞ ∞ 1
Ka

Example
Design a compensator for the system:

To satisfy the following :

a) Kv = 24 ?
b) M = 550 ?
c) GM ≥ 13dB ?
1) z  p  Lead compensator

12
OLTF: G ( s) =  second order sytem , type 1
s ( s + 2)

The velocity error constant is defined as:

12
K v = lim s * G ( s) = lim s * = 6  24
s →0 s →0 s ( s + 2)

This is less than the desired Kv=24. To achieve Kv=24, we need to increase the overall system
gain using the lead compensator.
To achieve Kv=24, the total system gain must satisfy:
12
K v = lim s * G ( s ) * Gc ( s ); * K = 6 K  24 = 6 K  K = 4
Gc (0)=
s →0 2
·The lead compensator must include a gain of K = 4.
12 48
G1 ( s) = 4* =
s ( s + 2) s ( s + 2)

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

48  
From Bode plot : G ( j ) = ; uncomp = −900 − tan −1  
 ( 2 + 4 ) 2

 ( rad / s ) 1 2 20
/G(jw)/dB 26.635 18.573 -18.459
 ( deg ree ) -116.565 -135 -174.289

 = 1800 − 1620 = 180 ;

 m = 550 − 180 + 50 = 420
1−  1− 
sin( M ) =  sin(420 ) =   = 0.1982
1+  1+ 
 1 
G ( jM ) = 20 log   −7.028 dB;
  
 
OR:
n2
s + 2n s +n2
2

48
G1 ( s) =  n = 48 = 6.928rad / s; 2n = 2   = 0.144
s + 2s2

A second order system have a cross over freq. :

gc =n −2 2 + 4 4 + 1 = 6.928 −2 ( 0.144 ) + 4 ( 0.144 ) + 1 = 6.786rad / s

2 4

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

 
−1 2  = 16.38520 ; G = 
 = tan
  M
 −2 + 4 + 1 
2 4

 r = 550 ;  M =  r −  +    M = 550 − 16.38520 + 50 = 43.60

1−  1− 
sin( M ) =  sin(43.60 ) =   = 0.1837
1+  1+ 
 1 
G ( jM ) = 20 log  = −7.358dB;
  
 

Using bode plot:

−7.358dB  m = 10.5rad / s;
1 1
6) T =  = m  = 10.5* 0.1837 = 4.5  zero of compensator
m  T
1 4.5
= = 24.496  pole of compensator
 T 0.1837

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

K 4
K = Kc *   Kc = = = 21.774
 0.1837

Gc( s) = K c
(1 + 4.4s ) = 21.77 (1 + 4.5s )
(1 + 24.5s ) (1 + 24.5s )
Gt ( s) = Gc( s) *
12
= 21.774
(1 + 4.5s ) * 12 = 261.295 (1 + 4.5s )
s ( s + 2) (1 + 24.5s ) s( s + 2) s (1 + 24.5s ) ( s + 2)

For the given system in figure, design a compensator to yield a 20% overshoot and Kv = 40,
with a peak time of 0.1 second?

100 K
G( s) =
s ( s + 36 )( s + 100 )
100 K 100 K 144000
Kv = lim s = = 40  K = 1440  G ( s) = uncomp.
s →0 s ( s + 36 )( s + 100 ) 3600 s ( s + 36 )( s + 100 )

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

100    
G ( j ) = ;  = −900 − tan −1   − tan −1  
  2 + 362  2 + 1002  36   100 

 ( rad / s ) 1 30 36 50 100
/G(jw)/dB 32.037 -0.1658 -2.6244 -7.5745 -20.3723
 ( deg ree ) -92.1641 -146.5048 -154.7989 -170.8112 -205.2011

• For designed PO:

− ln ( 0.2 ) 2
= = 0.456   = tan −1 = 48.10
 2 + ln 2 ( 0.2 ) −2 2 + 1 + 4 4

ωBW =
π
2
(1 - 2ξ ) +
2
4ξ 4 - 4ξ 2 + 2 = 46.60
Tp 1 - ξ

From bode plot w=46.6 rad/s leads to -169:

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

 r = 48.10 ;  M = 48.1 −  un +    M = 48.10 − 34.10 + 100 = 240

1−  1− 
sin( M ) =  sin(240 ) =   = 0.42
1+  1+ 
 1 
G ( jM ) = 20 log   = −3.76 dB;
 0.42 

The uncompensated system passes through 3.76 dB at max= 39 rad/s. This frequency is thus the
new phase-margin frequency.
1 1
T=  = m  = 39* 0.42 = 25.3  zero of compensator
m  T
1
= 60.2  pole of compensator
T

Dr. Muhanad D. Hashim Almawlawe

University of AL-Qadisiyah Fourth stage
Engineering college First semester
Department of electronic and communication Engineering 2024-2025

Gc( s) = K c
(1 + 4.4s ) = 2.38 ( s + 25.3)
(1 + 24.5s ) ( s + 60.2 )
Gt ( s) = Gc( s) *
144000
= 2.38
( s + 25.3) * 100
s ( s + 36) ( s + 100 ) ( s + 60.2 ) s(s + 36) ( s + 100 )

Dr. Muhanad D. Hashim Almawlawe