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Ikenaga 1998
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EE 4343/5329 - Control System Design Project

LECTURE 10

EE 4343/5329 Homepage
EE 4343/5329 Course Outline

Design of Phase-lead and Phase-lag compensators using Bode Plot Method

1. Phase-lead compensator design using Bode Plot Method

Goal: Design a phase-lead compensator for the system G (s ) =

1
, such that the steady-
s (s + 1)
state error is less than 0.1 for a unit ramp input and a % overshoot less than 25%.

Steady-state error specification

K ⋅1
KV = lim sG (s ) = lim s =K
s →0 s → 0 s (s + 1)

1 1
ess = = < 0.1 ⇒ K ≥ 10
KV K

% overshoot specification
Recall the relationship between % overshoot and damping ratio (ζ ) which is given by
ζπ
−
1 −ζ 2
% Overshoot = 100e
and is shown in Figure 1.

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 Figure1. % Overshoot vs. Damping Ratio.

100

90

80

70

60
% Overshoot

50

40

30

20

10

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
damping ratio ζ

Then, the relationship between phase margin (PM) and damping ratio (ζ ) for the special
ω n2
case of open-loop transfer function G (s ) = which is given by
s (s + 2ζω n )
 
−1  2ζ 
PM = tan  
 1 = 4ζ 2 − 2ζ 2 
 
maintains that the phase margin of the compensated system should be greater than 45o to
obtain a percent overshoot less than 25% and is shown in Figure 2.

80

70

60

50
Phase Margin (PM)

40

30

20

10

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
damping ratio ζ

Figure2. Phase Margin vs. Damping Ratio.

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Phase-lead design procedure:

i.) Choose the DC gain constant K such that the steady-state error specification is met. From
above, we know K must be greater than or equal to 10, so let K = 10 .
ii.) Obtain the gain margin and phase margin plots of the uncompensated system along with
the DC gain constant K found in (i.) to determine the amount of phase lead φ m needed to
realize the required phase margin so that the percent overshoot specification is met.

Bode Diagrams

Gm = Inf, Pm=17.964 deg. (at 3.0842 rad/sec)

60

40

20
Phase (deg); Magnitude (dB)

-20

-100

-120

-140

-160

-180
-1 0
10 10
Frequency (rad/sec)

Figure 3. Bode plot of uncompensated system K ⋅ G (s ) .

From Figure 3., the PM of the uncompensated system PM uncomp ≈ 20 o . Thus, choosing the
PM of the compensated system as PM comp = 45o , then the additional amount of phase lead
φ m = PM comp − PM uncomp = 25o . Now that φ m has been determined, the parameter α of
the phase-lead compensator can be chosen from Figure 2.14 in Appendix A, which has
been chosen to be α = 0.3 which corresponds to a maximum phase lead of 33o .
iii.) The maximum phase lead φ m must be added around the new gain-crossover frequency
ω m . The phase-lead compensator contributes a gain around − 10 log (0.3) = 5.2dB at the
new ω m ; therefore, one must determine the frequency at which the uncompensated system
has a magnitude 10 log(0.3) = −5.2dB . Thus, ω m should equal this frequency so that it
becomes the new 0-dB crossover frequency in the compensated system. From inspection
of Figure 3, the magnitude of the uncompensated system equals –5.2dB at the frequency
ω = 4.5 rad sec . Let ω m = 4.5 rad sec .

iv.) Calculate the parameters of the phase-lead compensator based on the values obtained in
steps (i.) thru (iii.). The transfer function of a phase-lead compensator is given as
1 s +1 T jω T + 1
C (s ) = ⋅ or C ( jω ) = with α < 1
α s + 1 αT jωαT + 1

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 1
where T = . Thus, for α = 0.3 , T = 0.41 sec . This leads to a phase-lead
ωm α
compensator design of the following:
0.41s + 1
C (s ) =
0.123s + 1

Phase-lead compensator simulation results:

Matlab Simulation
clear all;

wm = 4.5; % gain-crossover frequency

alpha = 0.3; % phase-lead compensator parameter
T = 1/wm/sqrt(alpha); % phase-lead compensator time constant
K = 10; % DC compensator gain

% Phase-lead compensator C(s)

cnum = K*[T 1];
cden = [T*alpha 1];

% Open-loop sys G(s)

gnum = [1];
gden = [1 1 0];

% Unity-Gain Feedback Loop H(s)

hnum = [1];
hden = [1];

% Open-loop sys C(s)*G(s)

numo = conv(cnum,gnum);
deno = conv(cden,gden);

% Closed-loop sys
[gnumc,gdenc] = feedback(K*gnum,gden,hnum,hden,-1);
[numc,denc] = feedback(numo,deno,hnum,hden,-1);

bode(cnum,cden);

-4-
 Bode Diagrams

30

25
Phase (deg); Magnitude (dB)

20

30

20

10

-1 0 1 2
10 10 10 10

Frequency (rad/sec)

Figure 4. Bode plot of phase-lead compensator C (s ) .

-5-
sys1 = tf(K*gnum,gden);
sys2 = tf(numo,deno);
[mag1,ph1,w]=bode(K*gnum,gden,logspace(-1,2,500));
[mag2,ph2,w]=bode(numo,deno,logspace(-1,2,500));
subplot(211); semilogx(w,20*log10(mag1),'r', w,20*log10(mag2),'b');
title('Bode Diagrams'); ylabel('Magnitude (dB)');
legend('uncompensated','compensated', -1);
subplot(212); semilogx(w,ph1,'r', w,ph2,'b');
ylabel('Phase (deg)'); xlabel('Frequency (rad/sec)');
legend('uncompensated','compensated', -1);

Bode Diagrams
50
Magnitude (dB)

uncompensated
0
compensated

-50

-100
-1 0 1 2
10 10 10 10

-80

-100
Phase (deg)

uncompensated
-120
compensated compensated
system
-140
uncompensated
-160 system

-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

Figure 5. Bode plots of uncompensated and compensated systems.

figure;
sys1c = tf(gnumc,gdenc);
sys2c = tf(numc,denc);
step(sys1c,sys2c);grid;
legend('uncompensated','compensated',-1);

-6-
 Step Response

1.6

1.4

uncompensated
1.2 compensated

1
Amplitude

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12
Time (sec.)

Figure 6. Step response of uncompensated and compensated system.

-7-
t=0:0.01:5;
y = t;
[y1,x1]=step(gnumc,conv(gdenc,[1 0]),t);
[y2,x2]=step(numc,conv(denc,[1 0]),t);
[y3,x3]=step(numc,denc,t);
[y4,x4]=step(gnumc,gdenc,t);
plot(t,y1,'r',t,y2,'b',t,y,'g');grid;
xlabel('Time (sec)');
title('Unit Ramp Input response');
legend('uncompensated', 'compensated', 'desired',-1);

Unit Ramp Input response

5

4.5

4
uncompensated
3.5 compensated
desired

2.5

1.5

0.5

0
0 1 2 3 4 5
Time (sec)

Figure 7. Response of uncompensated and compensated systems due to unit ramp input.

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2. Phase-lag compensator design using Bode Plot Method

Goal: Design a phase-lag compensator for the system G (s ) =

1
, such that the steady-state
s (s + 1)
error is less than 0.1 for a unit ramp input and a percent overshoot less than 25%.

Steady-state error specification

As computed in (1.), K ≥ 10 .

Percent overshoot specification

As obtained in (1.), PM comp ≥ 45o .

Phase-lag design procedure:

i.) Choose the DC gain constant K such that the steady-state error specification is met. From
above, we know K must be greater than or equal to 10, so let K = 10 .
ii.) Obtain the gain margin and phase margin plots of the uncompensated system along with
the DC gain constant K found in (i.) to estimate the frequency at which the PM of 50o
occurs. Denote this frequency as the new gain-crossover frequency ω m . From Figure 8.,
let ω m = 0.84 rad sec .

Bode Diagrams

Gm = Inf, Pm=17.964 deg. (at 3.0842 rad/sec)

60

40

20

0
Phase (deg); Magnitude (dB)

-20

-100

-120

-140
ωm
-160

-180
-1 0
10 10

Frequency (rad/sec)

Figure 8. Bode plot of uncompensated system K ⋅ G (s ) .

-9-
iii.) Determine the magnitude of uncompensated system at ω m = 0.84 rad sec . From Figure 8.,
the magnitude of the uncompensated system at ω m = 0.84 rad sec is 20 dB. To bring the
magnitude curve down to 0 dB at ω m , the phase-lag compensator must provide
20
20 log (α ) = 20 dB or α = 10 20 = 10 .
iv.) Calculate the parameters of the phase-lag compensator based on the values obtained in
steps (i.) thru (iii.). The transfer function of a phase-lag compensator is given as
1 s +1 T jω T + 1
C (s ) = ⋅ or C ( jω ) = with α > 1
α s + 1 αT jωαT + 1
10 1
where T = = 11.9 sec . This is to ensure that the frequency at ω = is one decade
ωm T
below the new gain-crossover frequency ω m . This leads to a phase-lag compensator
design of the following:
11.9s + 1
C (s ) = .
119s + 1

Phase-lead compensator simulation results:

Matlab Simulation
clear all;

wm = 0.84; % gain-crossover frequency

alpha = 10; % phase-lag compensator parameter
T = 10/wm; % phase-lead compensator time constant
K = 10; % DC compensator gain

% Phase-lead compensator C(s)

cnum = K*[T 1];
cden = [T*alpha 1];

% Open-loop sys G(s)

gnum = [1];
gden = [1 1 0];

% Unity-Gain Feedback Loop H(s)

hnum = [1];
hden = [1];

% Open-loop sys C(s)*G(s)

numo = conv(cnum,gnum);
deno = conv(cden,gden);

% Closed-loop sys
[gnumc,gdenc] = feedback(K*gnum,gden,hnum,hden,-1);
[numc,denc] = feedback(numo,deno,hnum,hden,-1);

- 10 -
bode(cnum,cden);

Bode Diagrams

20

15

10

5
Phase (deg); Magnitude (dB)

-10

-20

-30

-40

-50

-3 -2 -1 0
10 10 10 10

Frequency (rad/sec)

Figure 9. Bode plot of phase-lag compensator C (s ) .

- 11 -
sys1 = tf(K*gnum,gden);
sys2 = tf(numo,deno);
[mag1,ph1,w]=bode(K*gnum,gden,logspace(-1,2,500));
[mag2,ph2,w]=bode(numo,deno,logspace(-1,2,500));
subplot(211); semilogx(w,20*log10(mag1),'r', w,20*log10(mag2),'b');
title('Bode Diagrams'); ylabel('Magnitude (dB)');
legend('uncompensated','compensated', -1);
subplot(212); semilogx(w,ph1,'r', w,ph2,'b');
ylabel('Phase (deg)'); xlabel('Frequency (rad/sec)');
legend('uncompensated','compensated', -1);

Bode Diagrams
50
Magnitude (dB)

uncompensated
0
compensated

-50

-100
-1 0 1 2
10 10 10 10

-80
compensated
system
-100
Phase (deg)

uncompensated
uncompensated compensated
-120
system
-140

-160

-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

Figure 10. Bode plots of uncompensated and compensated systems.

- 12 -
sys1c = tf(gnumc,gdenc);
sys2c = tf(numc,denc);
step(sys1c,sys2c);grid;
legend('uncompensated', 'compensated',-1);

Step Response

1.6

1.4

uncompensated
1.2 compensated

1
Amplitude

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35
Time (sec.)

Figure 11. Step response of uncompensated and compensated system.

- 13 -
t=0:0.01:5;
y = t;
[y1,x1]=step(gnumc,conv(gdenc,[1 0]),t);
[y2,x2]=step(numc,conv(denc,[1 0]),t);
[y3,x3]=step(numc,denc,t);
[y4,x4]=step(gnumc,gdenc,t);
plot(t,y1,'r',t,y2,'b',t,y,'g');grid;
xlabel('Time (sec)');
title('Unit Ramp Input response');
legend('uncompensated', 'compensated', 'desired',-1);

Unit Ramp Input response

5

4.5

4
uncompensated
3.5 compensated
desired
3

2.5

1.5

0.5

0
0 1 2 3 4 5
Time (sec)

Figure 12. Response of uncompensated and compensated systems due to unit ramp input.

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