Lag compensator – Example

𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑚𝑝𝑒𝑛𝑠𝑎𝑡𝑜𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒
𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑠𝑢𝑐ℎ 𝑡ℎ𝑎𝑡 𝑡ℎ𝑒 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑒𝑟𝑟𝑜𝑟 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑖𝑠 𝐾 = 27.3/𝑠𝑒𝑐

𝑎𝑛𝑑 𝑃ℎ𝑎𝑠𝑒 𝑀𝑎𝑟𝑔𝑖𝑛 𝑖𝑠 45

0.035
𝐺 𝑠 =
𝑠(1 + 0.5𝑠)(1 + 0.04𝑠)
Lag compensator – Example
𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑚𝑝𝑒𝑛𝑠𝑎𝑡𝑜𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒
𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑠𝑢𝑐ℎ 𝑡ℎ𝑎𝑡 𝑡ℎ𝑒 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑒𝑟𝑟𝑜𝑟 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑖𝑠 𝐾 = 27.3/𝑠𝑒𝑐

𝑎𝑛𝑑 𝑃ℎ𝑎𝑠𝑒 𝑀𝑎𝑟𝑔𝑖𝑛 𝑖𝑠 45

+- 𝐾 𝐺 (𝑠) 𝐺(𝑠)
0.035 𝑌(𝑠)
𝐺 𝑠 =
𝑠(1 + 0.5𝑠)(1 + 0.04𝑠)

Step − 1: Find velocity error constant of the system K G(s)

K = lim 𝑠𝐾 𝐺 𝑠 = 0.035𝐾
→

Desired velocity error constant = 27.3

0.035𝐾 = 27.3 ⇒ 𝐾 = 780

Lag compensator – Example
𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑚𝑝𝑒𝑛𝑠𝑎𝑡𝑜𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒
𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑠𝑢𝑐ℎ 𝑡ℎ𝑎𝑡 𝑡ℎ𝑒 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑒𝑟𝑟𝑜𝑟 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑖𝑠 𝐾 = 27.3/𝑠𝑒𝑐

𝑎𝑛𝑑 𝑃ℎ𝑎𝑠𝑒 𝑀𝑎𝑟𝑔𝑖𝑛 𝑖𝑠 45

0.035 +- 𝐺 (𝑠) 𝐾 𝐺(𝑠)

𝐺 𝑠 = 𝑌(𝑠)
𝑠(1 + 0.5𝑠)(1 + 0.04𝑠)

Step − 1: Find velocity error constant of the system K G(s)

K = lim 𝑠𝐾 𝐺 𝑠 = 0.035𝐾
→

Desired velocity error constant = 27.3

0.035𝐾 = 27.3 ⇒ 𝐾 = 780

Lag compensator – Example
𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑚𝑝𝑒𝑛𝑠𝑎𝑡𝑜𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒
𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑠𝑢𝑐ℎ 𝑡ℎ𝑎𝑡 𝑡ℎ𝑒 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑒𝑟𝑟𝑜𝑟 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑖𝑠 𝐾 = 27.3/𝑠𝑒𝑐

𝑎𝑛𝑑 𝑃ℎ𝑎𝑠𝑒 𝑀𝑎𝑟𝑔𝑖𝑛 𝑖𝑠 45

0.035 +- 𝐺 (𝑠) 𝐾 𝐺(𝑠)

𝐺 𝑠 = 𝑌(𝑠)
𝑠(1 + 0.5𝑠)(1 + 0.04𝑠)

Step − 2: The required phase margin is PM = 45 + 𝜖, 𝜖=5

PM = 50 To get the PM the phase must be

Step − 3: Check for the system K G s at what frequency

can we achieve phase margin Φ .
Lag compensator – Example
𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑚𝑝𝑒𝑛𝑠𝑎𝑡𝑜𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒
𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑠𝑢𝑐ℎ 𝑡ℎ𝑎𝑡 𝑡ℎ𝑒 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑒𝑟𝑟𝑜𝑟 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑖𝑠 𝐾 = 27.3/𝑠𝑒𝑐

𝑎𝑛𝑑 𝑃ℎ𝑎𝑠𝑒 𝑀𝑎𝑟𝑔𝑖𝑛 𝑖𝑠 45

0.035 +- 𝐺 (𝑠) 𝐾 𝐺(𝑠)

𝐺 𝑠 = 𝑌(𝑠)
𝑠(1 + 0.5𝑠)(1 + 0.04𝑠)

Step − 4: New gain crossover frequency 𝜔 =

Gain at 𝜔 =

For ω to be the new gain crossover frequency, the magnitude plot must attenuate by
Lag compensator – frequency response

1+𝑠 𝑧
𝐺 𝑠 =
𝑠𝛽
1+ 𝑧

𝑧
𝑧 𝑧
𝛽 𝛽
0 0

𝜔 𝜔

−20 log 𝛽
Lag compensator – Example
𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑚𝑝𝑒𝑛𝑠𝑎𝑡𝑜𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒
𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑠𝑢𝑐ℎ 𝑡ℎ𝑎𝑡 𝑡ℎ𝑒 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑒𝑟𝑟𝑜𝑟 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑖𝑠 𝐾 = 27.3/𝑠𝑒𝑐

𝑎𝑛𝑑 𝑃ℎ𝑎𝑠𝑒 𝑀𝑎𝑟𝑔𝑖𝑛 𝑖𝑠 45

0.035 +- 𝐺 (𝑠) 𝐾 𝐺(𝑠)

𝐺 𝑠 = 𝑌(𝑠)
𝑠(1 + 0.5𝑠)(1 + 0.04𝑠)

Step − 4: New gain crossover frequency 𝜔 =

Gain at 𝜔 in dB =

For ω to be the new gain crossover frequency, the magnitude plot must attenuate by: −Gain at 𝜔 in dB

−Gain at 𝜔 in dB = −20log 𝛽
Lag compensator – Example
𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑚𝑝𝑒𝑛𝑠𝑎𝑡𝑜𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒
𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑠𝑢𝑐ℎ 𝑡ℎ𝑎𝑡 𝑡ℎ𝑒 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑒𝑟𝑟𝑜𝑟 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑖𝑠 𝐾 = 27.3/𝑠𝑒𝑐

𝑎𝑛𝑑 𝑃ℎ𝑎𝑠𝑒 𝑀𝑎𝑟𝑔𝑖𝑛 𝑖𝑠 45

0.035 +- 𝐺 (𝑠) 𝐾 𝐺(𝑠)

𝐺 𝑠 = 𝑌(𝑠)
𝑠(1 + 0.5𝑠)(1 + 0.04𝑠)

Step − 5: THUMB RULE

𝜔 𝜔
z = 𝑡𝑜
8 10

𝑧
p =
𝛽
Lag compensator – Example
𝐶𝑜𝑚𝑝𝑒𝑛𝑠𝑎𝑡𝑒 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 𝑤𝑖𝑡ℎ 𝑡ℎ𝑒 𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛
𝐾
𝐺 𝑠 =
𝑠(𝑠 + 1)(𝑠 + 5)

𝑡𝑜 𝑚𝑒𝑒𝑡 𝑡ℎ𝑒 𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑠𝑝𝑒𝑐𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛𝑠:

𝐷𝑎𝑚𝑝𝑖𝑛𝑔 𝑟𝑎𝑡𝑖𝑜: 𝜁 = 0.3

𝑆𝑒𝑡𝑡𝑙𝑖𝑛𝑔 𝑡𝑖𝑚𝑒: 𝑡 = 12 𝑠𝑒𝑐

𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑒𝑟𝑟𝑜𝑟 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝐾 ≥ 8 𝑠

 Lead compensator

𝑠+𝑧
+ 𝐾 𝑃𝑙𝑎𝑛𝑡
𝑅(𝑠) - 𝑠+𝑝 𝐶(𝑠)
Compensator

A closed loop system with a Lead compensator system

𝑧
𝛼 ≔ <1
𝑝
Lead compensators – Root locus

𝜃 is the angular contribution of the lead

compensator. From the figure, note that 𝜃 is the
angle of a ray extending from the design point and
intersecting the real axis at the pole value and
zero value of the compensator.
Lead compensator - example
𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒 𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔
𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛.
56
𝐺 𝑠 =
𝑠(𝑠 + 3)(𝑠 + 9)

𝐹𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑠𝑝𝑒𝑐𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛𝑠 𝑎𝑟𝑒 𝑡𝑜 𝑏𝑒 𝑠𝑎𝑡𝑖𝑠𝑓𝑖𝑒𝑑:

𝑎 𝑃𝑒𝑎𝑘 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑀 = 15% 𝑏 𝑆𝑒𝑡𝑡𝑙𝑖𝑛𝑔 𝑡𝑖𝑚𝑒 = 1.48 𝑠𝑒𝑐.

Solution: M = 15% ⇒ 𝜁 = 0.52. t = 1.48 sec ⇒ ω = 5.19 sec.

Desired pole location: −𝜁𝜔 ± 𝑗𝜔 1 − 𝜁 = −2.7 ± 𝑗4.43

Check if the desired pole is in the RL: This can be verified over simulation or using angle criterion.

The point is not on the RL. We will need to re − shape the root locus using a lead compensator.
Lead compensator - example

56
𝐺 𝑠 = Desired pole location: −𝜁𝜔 ± 𝑗𝜔 1 − 𝜁 = −2.7 ± 𝑗4.43
𝑠(𝑠 + 3)(𝑠 + 9)
Lead compensator - example

56
𝐺 𝑠 = Desired pole location: −𝜁𝜔 ± 𝑗𝜔 1 − 𝜁 = −2.7 ± 𝑗4.43
𝑠(𝑠 + 3)(𝑠 + 9)
Lead compensator - example

56
𝐺 𝑠 = Desired pole location: −𝜁𝜔 ± 𝑗𝜔 1 − 𝜁 = −2.7 ± 𝑗4.43
𝑠(𝑠 + 3)(𝑠 + 9)
Lead compensator - example

56
𝐺 𝑠 = Desired pole location: −𝜁𝜔 ± 𝑗𝜔 1 − 𝜁 = −2.7 ± 𝑗4.43
𝑠(𝑠 + 3)(𝑠 + 9)
Lead compensator - example

56
𝐺 𝑠 = Desired pole location: −𝜁𝜔 ± 𝑗𝜔 1 − 𝜁 = −2.7 ± 𝑗4.43
𝑠(𝑠 + 3)(𝑠 + 9)
Lead compensator - example

56
𝐺 𝑠 = Desired pole location: −𝜁𝜔 ± 𝑗𝜔 1 − 𝜁 = −2.7 ± 𝑗4.43
𝑠(𝑠 + 3)(𝑠 + 9)
Lead compensator - example

56
𝐺 𝑠 = Desired pole location: −𝜁𝜔 ± 𝑗𝜔 1 − 𝜁 = −2.7 ± 𝑗4.43
𝑠(𝑠 + 3)(𝑠 + 9)
Lead compensator - example

56
𝐺 𝑠 = Desired pole location: −𝜁𝜔 ± 𝑗𝜔 1 − 𝜁 = −2.7 ± 𝑗4.43
𝑠(𝑠 + 3)(𝑠 + 9)
Lead compensator - example

56
𝐺 𝑠 = Desired pole location: −𝜁𝜔 ± 𝑗𝜔 1 − 𝜁 = −2.7 ± 𝑗4.43
𝑠(𝑠 + 3)(𝑠 + 9)
Lead compensator - example

56
𝐺 𝑠 = Desired pole location: −𝜁𝜔 ± 𝑗𝜔 1 − 𝜁 = −2.7 ± 𝑗4.43
𝑠(𝑠 + 3)(𝑠 + 9)
𝑠 + 3.01
𝐺 𝑠 = 𝑠 + 3.01 56
𝑠 + 12.93 + 𝐾
- 𝑠 + 12.93 𝑠(𝑠 + 3)(𝑠 + 9) 𝐶(𝑠)
𝑅(𝑠)
Lead Compensator

𝑠 + 3.01 56
𝐾 = 1 ⇒ 𝐾 = 7.952
𝑠 + 12.93 𝑠 𝑠+3 𝑠+9 . .
Lead compensator - example

Desired pole location: −𝜁𝜔 ± 𝑗𝜔 1 − 𝜁 = −2.7 ± 𝑗4.43

𝑠 + 3.01 56
+ 7.952
- 𝑠 + 12.93 𝑠(𝑠 + 3)(𝑠 + 9) 𝐶(𝑠)
𝑅(𝑠)
Lead Compensator
Lag-Lead compensator - example
𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒 𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔
𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛.
56
𝐺 𝑠 =
𝑠(𝑠 + 3)(𝑠 + 9)

𝐹𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑠𝑝𝑒𝑐𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛𝑠 𝑎𝑟𝑒 𝑡𝑜 𝑏𝑒 𝑠𝑎𝑡𝑖𝑠𝑓𝑖𝑒𝑑:

𝑎 𝑃𝑒𝑎𝑘 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑀 = 15% 𝑏 𝑆𝑒𝑡𝑡𝑙𝑖𝑛𝑔 𝑡𝑖𝑚𝑒 = 1.48 𝑠𝑒𝑐. 𝑐 𝐾 ≥ 20

𝑠 + 3.01 56
+ 7.952
- 𝑠 + 12.93 𝑠(𝑠 + 3)(𝑠 + 9) 𝐶(𝑠)
𝑅(𝑠)
Compensator
Lag-Lead compensator - example
𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒 𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔
𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛.
56
𝐺 𝑠 =
𝑠(𝑠 + 3)(𝑠 + 9)

𝐹𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑠𝑝𝑒𝑐𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛𝑠 𝑎𝑟𝑒 𝑡𝑜 𝑏𝑒 𝑠𝑎𝑡𝑖𝑠𝑓𝑖𝑒𝑑:

𝑎 𝑃𝑒𝑎𝑘 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑀 = 15% 𝑏 𝑆𝑒𝑡𝑡𝑙𝑖𝑛𝑔 𝑡𝑖𝑚𝑒 = 1.48 𝑠𝑒𝑐. 𝑐 𝐾 ≥ 20

𝑠+𝑧 445.36(𝑠 + 3.01)

+ 𝐾
- 𝑠+𝑝 𝑠(𝑠 + 3)(𝑠 + 9)(𝑠 + 12.93) 𝐶(𝑠)
𝑅(𝑠)
Compensator
Lag-Lead compensator - example
𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒 𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔
𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛.
56
𝐺 𝑠 =
𝑠(𝑠 + 3)(𝑠 + 9)

𝐹𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑠𝑝𝑒𝑐𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛𝑠 𝑎𝑟𝑒 𝑡𝑜 𝑏𝑒 𝑠𝑎𝑡𝑖𝑠𝑓𝑖𝑒𝑑:

𝑎 𝑃𝑒𝑎𝑘 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑀 = 15% 𝑏 𝑆𝑒𝑡𝑡𝑙𝑖𝑛𝑔 𝑡𝑖𝑚𝑒 = 1.48 𝑠𝑒𝑐. 𝑐 𝐾 ≥ 20

𝐹𝑖𝑛𝑑 𝐾 𝑓𝑜𝑟 𝑑𝑒𝑠𝑖𝑟𝑒𝑑 𝑡𝑟𝑎𝑛𝑠𝑖𝑒𝑛𝑡

𝐾 =1
𝑠+𝑧 445.36(𝑠 + 3.01)
+ 𝐾
- 𝑠+𝑝 𝑠(𝑠 + 3)(𝑠 + 9)𝑠 + 12.93 𝐶(𝑠)
𝑅(𝑠)
Compensator
Lag-Lead compensator - example
𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒 𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔
𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛.
56
𝐺 𝑠 =
𝑠(𝑠 + 3)(𝑠 + 9)

𝐹𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑠𝑝𝑒𝑐𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛𝑠 𝑎𝑟𝑒 𝑡𝑜 𝑏𝑒 𝑠𝑎𝑡𝑖𝑠𝑓𝑖𝑒𝑑:

𝑎 𝑃𝑒𝑎𝑘 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑀 = 15% 𝑏 𝑆𝑒𝑡𝑡𝑙𝑖𝑛𝑔 𝑡𝑖𝑚𝑒 = 1.48 𝑠𝑒𝑐. 𝑐 𝐾 ≥ 20

𝑈𝑛𝑐𝑜𝑚𝑝 𝑒𝑟𝑟𝑜𝑟 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 = 3.84

𝐷𝑒𝑠𝑖𝑟𝑒𝑑 𝑒𝑟𝑟𝑜𝑟 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 = 21
𝑠+𝑧 445.36(𝑠 + 3.01)
+ 21
- 𝑠+𝑝 𝑠(𝑠 + 3)(𝑠 + 9)(𝑠 + 12.93) 𝐶(𝑠) 𝛽= = 5.469
𝑅(𝑠) 3.84
Compensator
𝐿𝑒𝑡 𝑧 = 0.01
𝑧
𝑝 = 𝛽 = 0.0018
Lag-Lead compensator - example
𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒 𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔
𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛.
56
𝐺 𝑠 =
𝑠(𝑠 + 3)(𝑠 + 9)

𝐹𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑠𝑝𝑒𝑐𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛𝑠 𝑎𝑟𝑒 𝑡𝑜 𝑏𝑒 𝑠𝑎𝑡𝑖𝑠𝑓𝑖𝑒𝑑:

𝑎 𝑃𝑒𝑎𝑘 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑀 = 15% 𝑏 𝑆𝑒𝑡𝑡𝑙𝑖𝑛𝑔 𝑡𝑖𝑚𝑒 = 1.48 𝑠𝑒𝑐. 𝑐 𝐾 ≥ 20

𝑈𝑛𝑐𝑜𝑚𝑝 𝑒𝑟𝑟𝑜𝑟 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 = 3.84

𝐷𝑒𝑠𝑖𝑟𝑒𝑑 𝑒𝑟𝑟𝑜𝑟 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 = 21
𝑠 + 0.01 445.36(𝑠 + 3.01)
+ 21
𝑅(𝑠) - 𝑠 + 0.0018 𝑠(𝑠 + 3)(𝑠 + 9)𝑠 + 12.93 𝐶(𝑠) 𝛽= = 5.469
3.84
Compensator
𝐿𝑒𝑡 𝑧 = 0.01
𝑧
𝑝 = 𝛽 = 0.0018
Lag-Lead compensator - example
𝐷𝑒𝑠𝑖𝑔𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑎 𝑐𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 𝑓𝑜𝑟 𝑎 𝑢𝑛𝑖𝑡𝑦 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑠𝑦𝑠𝑡𝑒𝑚 ℎ𝑎𝑣𝑖𝑛𝑔 𝑡ℎ𝑒 𝑓𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔
𝑜𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛.
56
𝐺 𝑠 =
𝑠(𝑠 + 3)(𝑠 + 9)

𝐹𝑜𝑙𝑙𝑜𝑤𝑖𝑛𝑔 𝑠𝑝𝑒𝑐𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛𝑠 𝑎𝑟𝑒 𝑡𝑜 𝑏𝑒 𝑠𝑎𝑡𝑖𝑠𝑓𝑖𝑒𝑑:

𝑎 𝑃𝑒𝑎𝑘 𝑜𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 𝑀 = 15% 𝑏 𝑆𝑒𝑡𝑡𝑙𝑖𝑛𝑔 𝑡𝑖𝑚𝑒 = 1.48 𝑠𝑒𝑐. 𝑐 𝐾 ≥ 20

𝐿𝐴𝐺 𝐿𝐸𝐴𝐷

𝑠 + 0.01 𝑠 + 3.01 56
+ 7.952
𝑅(𝑠) - 𝑠 + .0018 𝑠 + 12.93 𝑠(𝑠 + 3)(𝑠 + 9) 𝐶(𝑠)

Compensator Plant
Comparison
Comparison
Comparison