Automatic Control 2

Lecture-5
Lead Compensation

Dr. Mountasser Mohamed Ramadan

email: [email protected]
 Lecture Outline

• Introduction to Lead Compensation

• Electronic Lead Compensator
• Electrical Lead Compensator
• Mechanical Lead Compensator

2
 Lead Compensation
• Lead Compensation essentially yields an appreciable
improvement in transient response and a small
change in steady state accuracy.

• There are many ways to realize lead compensators

and lag compensators, such as electronic networks
using operational amplifiers, electrical RC networks,
and mechanical spring-dashpot systems.
3
 Lead Compensation
• Generally Lead compensators are represented by
following transfer function

𝑇𝑠+1
𝐺𝑐 𝑠 = 𝐾𝑐 𝛼 , (0 < 𝛼 < 1)
𝛼𝑇𝑠+1
• or
1
𝑠+
𝐺𝑐 𝑠 = 𝐾𝑐 𝑇
1 , (0 < 𝛼 < 1)
𝑠+
𝛼𝑇

4
 Lead Compensation
𝑠+1
𝐺𝑐 𝑠 = 3 , (𝛼 = 0.1)
𝑠+10

Pole-Zero Map
Bode Diagram
1
0

Magnitude (dB)
-5

0.5 -10
Imaginary Axis

-15

0 -20
60
Phase (deg)

-0.5
30

-1 0
-10 -8 -6 -4 -2 0 -2 -1 0 1 2 3
10 10 10 10 10 10
Real Axis Frequency (rad/sec)

5
 Electronic Lead Compensator
• Following figure shows an electronic lead
compensator using operational amplifiers.

𝐸𝑜 (𝑠) 𝑅2 𝑅4 𝑅1 𝐶1 𝑠 + 1
=
𝐸𝑖 (𝑠) 𝑅1 𝑅3 𝑅2 𝐶2 𝑠 + 1 6
 Electronic Lead Compensator
𝐸𝑜 (𝑠) 𝑅2 𝑅4 𝑅1 𝐶1 𝑠 + 1
=
𝐸𝑖 (𝑠) 𝑅1 𝑅3 𝑅2 𝐶2 𝑠 + 1
• This can be represented as
1
𝐸𝑜 (𝑠) 𝑅4 𝐶1 𝑠 + 𝑅1 𝐶1
=
𝐸𝑖 (𝑠) 𝑅3 𝐶2 𝑠 + 1
• Where, 𝑅2 𝐶2
𝑅4 𝐶1
𝑇 = 𝑅1 𝐶1 𝑎𝑇 = 𝑅2 𝐶2 𝐾𝑐 =
𝑅3 𝐶2
1
• Then, 𝑠+
𝐺𝑐 𝑠 = 𝐾𝑐 𝑇
1 , (0 < 𝛼 < 1)
𝑠+
𝛼𝑇
• Notice that
𝑅1 𝐶1 > 𝑅2 𝐶2 7
 Electronic Lead Compensator

• Pole-zero Configuration of
Lead Compensator

𝑅1 𝐶1 > 𝑅2 𝐶2

8
 Lead Compensation Techniques Based
on the Root-Locus Approach.
• The root-locus approach to design is very
powerful when the specifications are given in
terms of time-domain quantities, such as
– damping ratio
– undamped natural frequency
– desired dominant closed-loop poles
– maximum overshoot
– Peak time
– rise time
– settling time. 9
 Lead Compensation Techniques Based
on the Root-Locus Approach.
• The procedures for designing a lead compensator by
the root-locus method may be stated as follows:

– Step-1: Analyze the given system via root locus.

– Step-2: From the performance specifications,
determine the desired location for the dominant
closed-loop poles.

10
 Step-3
• From the root-locus plot of the uncompensated
system (original system), ascertain whether or
not the gain adjustment alone can yield the
desired closed loop poles.

• If not, calculate the angle deficiency.

• This angle must be contributed by the lead

compensator if the new root locus is to pass
through the desired locations for the dominant
closed-loop poles. 11
 Step-4
• Assume the Lead Compensator to be:

• Where α and T are determined from the angle

deficiency.
• Kc is determined from the requirement of the
open-loop gain.
12
 Step-5
• If static error constants are not specified, determine the
location of the pole and zero of the lead compensator so
that the lead compensator will contribute the necessary
angle.

• If no other requirements are imposed on the system, try

to make the value of α as large as possible.

• A larger value of α generally results in a larger value of Kv,

which is desirable.

• Larger value of α will produce a larger value of Kv and in

most cases, the larger the Kv is, the better the system
performance. 13
 Step-6

• Determine the value of Kc of the lead

compensator from the magnitude condition.

14
 Final Design check

• Once a compensator has been designed,

check to see whether all performance
specifications have been met.

• If the compensated system does not meet the

performance specifications, then repeat the
design procedure by adjusting the
compensator pole and zero until all such
specifications are met.

15
 Final Design check

• If the selected dominant closed-loop poles are

not really dominant, or if the selected
dominant closed-loop poles do not yield the
desired result, it will be necessary to modify
the location of the pair of such selected
dominant closed-loop poles.

16
 Example-1
• Consider the position control system shown in following
figure.

• It is desired to design an Electronic lead compensator Gc(s)

so that the dominant closed poles have the damping ratio
0.5 and undamped natural frequency 3 rad/sec.
17
 Step-1 (Example-1)
• Draw the root Locus plot of the given system.
10
G( s) H ( s) 
s( s  1)
• The closed loop transfer function
of the given system is:

C ( s) 10
 2
R( s) s  s  10
• The closed loop poles are
s  0.5  j3.1225
18
 Step-1 (Example-1)
• Determine the characteristics of given system using root
loci.
C (s) 10
 2
R( s ) s  s  10
• The damping ratio of the closed-
loop poles is 0.158.
• The undamped natural frequency
of the closed-loop poles is 3.1623
rad/sec.
• Because the damping ratio is
small, this system will have a large
overshoot in the step response
and is not desirable. 19
 Step-2 (Example-1)
• From the performance specifications, determine the
desired location for the dominant closed-loop poles.

• Desired performance Specifications are:

 It is desired to have damping ratio 0.5 and
undamped natural frequency 3 rad/sec.

C ( s)  2
9
 2 n
 2
R( s) s  2 n s  n s  3s  9
2

s  1.5  j 2.5981
20
 Step-2 (Example-1)
• Alternatively desired location of closed loop poles can also
be determined graphically
 Desired ωn= 3 rad/sec Desired
Closed Loop
Pole
 Desired damping ratio= 0.5

  cos  1
60

  cos (0.5)  60

1

21
 Step-3 (Exampl-1)
• From the root-locus plot of the uncompensated system
ascertain whether or not the gain adjustment alone can
yield the desired closed loop poles.

Desired
Closed Loop
Pole

22
 Step-3 (Exampl-1)
• If not, calculate the angle deficiency.
• To calculate the angle of deficiency apply Angle Condition
at desired closed loop pole.

Desired Closed Loop Pole

s  1.5  j 2.5981

-2

 d  180  120  100.8 -1

 d  40.8
100.8o 120o

-2 -1

23
 Step-3 (Exampl-1)
• Alternatively angle of deficiency can be calculated as.

10
 d  180  
s( s  1) s 1.5 j 2.5981

Where s  1.5  j 2.5981 are desired closed loop poles

 d  180  10  s s 1.5 j 2.5981  (s  1) s 1.5 j 2.5981

 d  180  120  100.8

 d  40.8 24
 Step-4 (Exampl-1)
• This angle must be contributed by the lead
compensator if the new root locus is to pass through
the desired locations for the dominant closed-loop
poles.

• Note that the solution to such a problem is not

unique. There are infinitely many solutions.

25
 Step-5 (Exampl-1)
• Solution-1

–If we choose the zero of the

lead compensator at s = -1
so that it will cancel the 40.8

plant pole at s =-1,

–then the compensator pole
must be located at s =-3.

26
 Step-5 (Example-1) Solution-1

• If static error constants are not specified, determine the

location of the pole and zero of the lead compensator so that
the lead compensator will contribute the necessary angle.

40.8

27
 Step-5 (Example-1) Solution-1

• The pole and zero of compensator are determined as

1
𝑠+𝑇 𝑠+1
𝐺𝑐 𝑠 = 𝐾𝑐 1 = 𝐾𝑐
𝑠+𝛼𝑇 𝑠+3

• The Value of 𝛼 can be

determined as
40.8

1 yields
=1 𝑇=1
𝑇

1 yields
=3 𝛼 = 0.333
𝛼𝑇

28
 Step-6 (Example-1) Solution-1

• The Value of Kc can be

determined using magnitude
condition.
(𝑠 + 1) 10
𝐾𝑐 =1
𝑠 + 3 𝑠(𝑠 + 1) 𝑠=−1.5+𝑗2.5981

10 40.89
𝐾𝑐 =1
𝑠(𝑠 + 3) 𝑠=−1.5+𝑗2.5981

𝑠(𝑠 + 3)
𝐾𝑐 = = 0.9
10 𝑠=−1.5+𝑗2.5981

𝑠+1
𝐺𝑐 𝑠 = 0.9
𝑠+3
29
 Solution-1
Final Design Check
• The open loop transfer function of the designed system
then becomes
9
𝐺𝑐 𝑠 𝐺(𝑠) =
𝑠(𝑠 + 3)

• The closed loop transfer function of compensated

system becomes.

𝐶(𝑠) 9
= 2
𝑅(𝑠) 𝑠 + 3𝑠 + 9
30
 Final Design Check Solution-1

Root Locus Root Locus

5 5

0.158 3.16 3
2.5981
0.5

Imaginary Axis
0 0

0.5
−2.5981 3
0.158 3.16

-5 -5
-4 -3 -2 -1 0 1 -4 -3 -2 -1 0 1
Real Axis Real Axis
10 9
𝐺(𝑠) = 𝐺𝑐 𝑠 𝐺(𝑠) =
𝑠(𝑠 + 1) 𝑠(𝑠 + 3)
31
 Solution-1

Final Design Check

• The static velocity error constant for original system is
obtained as follows.
𝐾𝑣 = lim 𝑠𝐺(𝑠)
𝑠→0
10
𝐾𝑣 = lim 𝑠 = 10
𝑠→0 𝑠(𝑠 + 1)

• The steady state error is then calculated as

1 1
𝑒𝑠𝑠 = = = 0.1
𝐾𝑣 10
32
 Final Design Check Solution-1

Step Response
1.4
Actual System
1.2 Compensated System

1
Amplitude

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14
Time (sec) 33
 Solution-1

Final Design Check

• The static velocity error constant for the compensated
system can be calculated as
𝐾𝑣 = lim 𝑠𝐺𝑐 𝑠 𝐺(𝑠)
𝑠→0
9
𝐾𝑣 = lim 𝑠 =3
𝑠→0 𝑠(𝑠 + 3)

• The steady state error is then calculated as

1 1
𝑒𝑠𝑠 = = = 0.333
𝐾𝑣 3
34
 Solution-2
Step-5 (Exampl-1)
• Solution-2

-2

40.8
-1

90o
49.2o

-3 -2 -1

35
 Solution-2
Step-5 (Exampl-1)
• Solution-2

-2

40.89
-1

90o
49.2o

−3.6 -3 -2 −1.5 -1

𝑠 + 1.5
𝐺𝑐 𝑠 = 1.03
𝑠 + 3.6
36
 Step-5 (Example-1) Solution-3

• If no other requirements are imposed on the system, try to make

the value of α as large as possible. A larger value of α generally
results in a larger value of Kv, which is desirable.

• Procedure to obtain a largest possible value for α.

– First, draw a horizontal line passing through point P, the desired location for
one of the dominant closed-loop poles. This is shown as line PA in following
figure.
– Draw also a line connecting point P and the origin O.

P
A
-2

-1

O
-3 -2 -1
37
 Step-5 (Example-1) Solution-3

• Bisect the angle between the lines PA and PO, as shown in following
figure.

P
A

 -2
2 
2 -1

O
-3 -2 -1

38
 Step-5 (Example-1) Solution-3

𝜃𝑑
• Draw two lines PC and PD that make angles ± with the the
2
bisector PB.
• The intersections of PC and PD with the negative real axis give the
necessary locations for the pole and zero of the lead network.

P
A
-2

d
2
d -1
2

O
-3 -2 -1
C
B
D

39
 Step-5 (Example-1) Solution-3

• The lead compensator has zero at s=–1.9432 and pole at s=–4.6458.

P
A
-2

d
2
d -1
2

O
-3 -2 -1
C
B
D
• Thus, Gc(s) can be given as
1
𝑠+𝑇 𝑠+1.9432
𝐺𝑐 𝑠 = 𝐾𝑐 1 = 𝐾𝑐
𝑠+𝛼𝑇 𝑠+4.6458

40
 Step-5 (Example-1) Solution-3

1
𝑠+𝑇 𝑠+1.9432
𝐺𝑐 𝑠 = 𝐾𝑐 1 = 𝐾𝑐
𝑠+𝛼𝑇 𝑠+4.6458

• For this compensator value of 𝛼 is

1 yields
= 1.9432 𝑇 = 0.514
𝑇
• Also

1 yields
= 4.6458 𝛼 = 0.418
𝛼𝑇

41
 Solution-3
Step-6 (Example-1)
• Determine the value of Kc of the lead compensator from
the magnitude condition.

10𝐾𝑐 (𝑠 + 1.9432)
𝐺 𝑠 𝐺𝑐 𝑠 𝐻(𝑠) =
𝑠(𝑠 + 1)(𝑠 + 4.6458)

10𝐾𝑐 (𝑠 + 1.9432)
=1
𝑠(𝑠 + 1)(𝑠 + 4.6458) 𝑠=−1.5+𝑗2.5981
42
 Solution-3
Step-6 (Example-1)
• The Kc is calculated as

𝐾𝑐 = 1.2287
• Hence, the lead compensator Gc(s) just designed is given
by
𝑠 + 1.9432
𝐺𝑐 𝑠 = 1.2287
𝑠 + 4.6458

43
 Solution-3
Final Design Check

Desired Desired
Closed Loop Closed Loop
Pole Pole

Uncompensated Compensated
System System 44
 Final Design Check Solution-3

• It is worthwhile to check the static velocity error

constant Kv for the system just designed.

𝐾𝑣 = lim 𝑠𝐺𝑐 𝑠 𝐺(𝑠)

𝑠→0

𝑠 + 1.9432 10
𝐾𝑣 = lim 𝑠 1.2287 = 5.139
𝑠→0 𝑠 + 4.6458 𝑠(𝑠 + 1)

• Steady state error is

1 1
𝑒𝑠𝑠 = = = 0.194
𝐾𝑣 5.139
45
 Final Design Check Solution-3

Step Response
1.4
Actual System
1.2 Solution-3

1
Amplitude

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14
Time (sec) 46
 Final Design Check Solution-1
Solution-3
Step Response
1.4
Actual System
1.2 Solution-1
Solution-3
1
Amplitude

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12 14 47
 Mechanical Lead Compensator
• Figure shows the mechanical lead
compensator.
• Equations are obtained as

• Taking Laplace transform of these equations

assuming zero initial conditions and
eliminating Y(s), we obtain

48
 Mechanical Lead Compensator

• By defining

• We obtain

49
 Exampl-2
• Design a mechanical lead compensator for following system.

4
s ( s  2)

• The damping ratio of closed loop poles is 0.5 and natural

undamped frequency 2 rad/sec. It is desired to modify the
closed loop poles so that natural undamped frequency
becomes 4 rad/sec without changing the damping ratio.

50
Electrical Lead Compensator

𝑉𝑖 (𝑠) 𝑉𝑜(𝑠)

𝑉𝑜(𝑠) 𝑅2 𝑅1 𝐶𝑠 + 1
=
𝑉𝑖 (𝑠) 𝑐 𝑅1 + 𝑅2 𝑅1 𝑅2 𝐶𝑠 + 1
𝑅1 + 𝑅2

𝑅1 𝑅2 𝐶 𝑅2
𝑇 = 𝑅1 C 𝑎𝑇 = 𝑎=
𝑅1 + 𝑅2 𝑅1 + 𝑅2 𝐾𝑐 =1 51
 Example-3
• Consider the model of space vehicle control system
depicted in following figure.

• Design an Electrical lead compensator such that the

damping ratio and natural undamped frequency of
dominant closed loop poles are 0.5 and 2 rad/sec.