Lecture 29 & 30

Compensator Design using

Root Locus
Dr. D. Saravanakumar,
Associate Professor,
School of Mechanical Engineering,
Vellore Institute of Technology - Chennai Campus.
Email: [email protected]

25 & 26-Mar-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 1

 Introduction
• A feedback control system that provides an optimum
performance without any necessary adjustment is rare.
• In building a control system, we know that proper
modification of the plant dynamics may be a simple way
to meet the performance specifications.
• This, however, may not be possible in many practical
situations because the plant may be fixed and not
modifiable.
• Then we must adjust parameters other than those in the
fixed plant.

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 Introduction
• It is then required to reconsider the structure of the system
and redesign the system.
• The design problems, therefore, become those of
improving system performance by insertion of a
compensator.
• Compensator: A compensator is an additional component
or circuit that is inserted into a control system to equalize
or compensate for a deficient performance.

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 Introduction

• Necessities of compensation
• A system may be unsatisfactory in：
• Stability.
• Speed of response.
• Steady-state error.

Thus the design of a system is concerned with the alteration of the

frequency response or the root locus of the system in order to obtain a
suitable system performance.

25 & 26-Mar-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 4

 Compensation
• Performance measures in the time domain:
• Peak time;

• Overshoot;

• Settling time for a step input;

• Steady-state error for test inputs

• These performance specifications can be defined in terms of

the desirable location of the poles and zeros of the closed-loop.
• Root locus method can be used to find a suitable compensator
Gc(s) so that the resultant root locus results in the desired
closed-loop root configuration.

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 Compensation via Root Locus
• The design by the root-locus method is based on
reshaping the root locus of the system by adding poles
and zeros to the system’s open-loop transfer function
and forcing the root loci to pass through desired closed-
loop poles in the s plane.
• The characteristic of the root-locus design is its being
based on the assumption that the closed-loop system has
a pair of dominant closed-loop poles.
• This means that the effects of zeros and additional poles
do not affect the response characteristics very much.

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 Compensator Configurations

• Compensation schemes commonly used for feedback

control systems are:

• Series Compensation

• Parallel Compensation

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 Compensator Configurations

• The choice between series compensation and parallel

compensation depends on
• the nature of the signals
• the power levels at various points
• available components
• the designer’s experience
• economic considerations and so on.

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 Commonly Used Compensators

• Among the many kinds of compensators, widely

employed compensators are the
• lead compensators
• lag compensators
• lag–lead compensators

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 Commonly Used Compensators

• Among the many kinds of compensators, widely

employed compensators are the
• lead compensators
• If a sinusoidal input is applied to the input of a network, and the steady-
state output (which is also sinusoidal) has a phase lead, then the network is
called a lead network.

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 Commonly Used Compensators

• Among the many kinds of compensators, widely

employed compensators are the
• lag compensators
• If the steady-state output has a phase lag, then the network is called a lag
network.

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 Commonly Used Compensators

• Among the many kinds of compensators, widely

employed compensators are the
• lag–lead compensators
• In a lag–lead network, both phase lag and phase lead occur in the output
but in different frequency regions.

• Phase lag occurs in the low-frequency region and phase lead occurs in the
high-frequency region.

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 Effect of Addition of Poles on Root Locus
• The addition of a pole to the open-loop transfer function has the
effect of pulling the root locus to the right, tending to lower the
system’s relative stability and to slow down the settling of the
response.

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 Effect of Addition of poles
K K
G(S ) = Add a Pole at -1 G( S ) =
S S ( S + 1)
Root Locus Root Locus

0.06 0.998 0.996 0.993 0.986 0.965 0.86 0.5 0.86 0.76 0.64 0.5 0.34 0.16

0.4
0.999 0.94
0.04
0.3

0.2
0.02 1 0.985

0.1

Imag Axis
1.2 1 0.8 0.6 0.4 0.2 1 0.8 0.6 0.4 0.2
0 1 0

-0.1
-0.02 1 0.985
-0.2

-0.3
-0.04
0.999 0.94
-0.4

-0.06 0.998 0.996 0.993 0.986 0.965 0.86 0.86 0.76 0.64 0.5 0.34 0.16
-0.5
-1.2 -1 -0.8 -0.6 -0.4 -0.2 0 -1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis Real Axis

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 Effect of Addition of poles
K
G( S ) =
S ( S + 1)(S + 2)
Root Locus

0.74 0.6 0.46 0.3 0.16

0.84
4

3
0.93
2

0.98
1
Imag Axis

6 5 4 3 2 1
0

-1
0.98

-2
0.93
-3

-4
0.84
0.74 0.6 0.46 0.3 0.16

-6 -5 -4 -3 -2 -1 0 1
Real Axis

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 Effect of Addition of Zeros on
Root Locus
• The addition of a pole to the open-loop transfer
function has the effect of pulling the root locus to
the right, tending to lower the system’s relative
stability and to slow down the settling of the
response.

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 Effect of Addition of zeros

G( S ) =
K K ( S + 3)
G( S ) =
S ( S + 1) Add a zero at -3
S ( S + 1)

Root Locus
0.8 Root Locus
0.84 0.72 0.58 0.44 0.3 0.14 2.5
0.96 0.92 0.85 0.74 0.56 0.3
0.6
2
0.92 0.982

0.4 1.5

0.98 1
0.2 0.996
Imaginary Axis

0.5
1.2 1 0.8 0.6 0.4 0.2

Imag Axis
0 0
8 6 4 2

-0.2 -0.5
0.98
0.996
-1
-0.4
0.92 -1.5

-0.6 0.982
-2

0.84 0.72 0.58 0.44 0.3 0.14 0.96 0.92 0.85 0.74 0.56 0.3
-2.5
-0.8
-1.2 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 -9 -8 -7 -6 -5 -4 -3 -2 -1 0
Real Axis
Real Axis

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 Effect of Addition of zeros

K K ( S + 3)
G( S ) = Add a zero at -3 G( S ) =
S ( S + 1)(S + 2) S ( S + 1)(S + 2)

Root Locus
Root Locus
0.74 0.6 0.46 0.3 0.16
0.84
4 0.28 0.19 0.135 0.095 0.06 0.03 8
8
3 0.42 6
0.93 6
2
4
4
0.98
1 0.7
2
2
Imag Axis

6 5 4 3 2 1

Imag Axis
0
0
-1
0.98 -2
2
-2 0.7
-4
0.93 4
-3
-6
0.42 6
-4
0.84 -8
0.74 0.6 0.46 0.3 0.16 8
0.28 0.19 0.135 0.095 0.06 0.03
-6 -5 -4 -3 -2 -1 0 1
-3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis Real Axis

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 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.

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 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+
𝑇
𝐺𝑐 𝑠 = 𝐾𝑐 1 , (0 < 𝛼 < 1)
𝑠+
𝛼𝑇

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 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)

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 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
• rise time
• settling time.

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 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:
1. Analyze the system – Draw the root-locus of the
uncompensated system to understand its pole locations
and stability.
2. Determine desired pole locations – Identify the
required dominant closed-loop poles based on the
system's performance specifications.
3. Check gain adjustment – Examine whether adjusting
the system gain alone can place the poles at the desired
locations. If not, calculate the angle deficiency.

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 Lead Compensation Techniques
Based on the Root-Locus Approach
4. Define the lead compensator – Assume a lead
compensator of the form:
1
𝑠+
𝐺𝐶 𝑠 = 𝐾𝑐 𝑇
1
𝑠+
𝛼𝑇
where α and T are determined from the angle deficiency and
Kc is set to meet gain requirements.
5. Choose pole-zero locations – If no static error constraints
are given, place the compensator’s zero and pole to provide
the necessary angle. A larger α generally improves the
velocity constant Kv​, enhancing system performance.
6. Find Kc – Use the magnitude condition of the root-locus
method to determine the compensator gain Kc.

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

It is desired to design a lead compensator Gc(s) so that the

dominant closed poles have the damping ratio 0.5 and
undamped natural frequency 3 rad/sec.

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 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  j 3.1225

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 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.
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 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) n2 9
= 2 =
R( s) s + 2 n s + n2 s 2 + 3s + 9

s = −1.5  j 2.5981

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 Step-2 (Example-1)
• Alternatively desired location of closed loop poles can also be
determined graphically
▪ Desired ωn= 3 rad/sec
Desired
▪ Desired damping ratio= 0.5 Closed Loop
Pole

 = cos−1 
60

 = cos−1 (0.5) = 60

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 Step-3 (Example-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

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 Step-3 (Example-1)
• If not, calculate the angle deficiency.
• To calculate the angle of deficiency by applying angle Condition at
desired closed loop pole.

Desired Closed Loop Pole

s = −1.5  j 2.5981
 d = 180 − 120 − 100.8

-2
 d = −40.89
-1

100.8o 120o

-2 -1

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 Step-3 (Example-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 = −40.89
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 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.

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 Step-5 (Example-1)

• If we choose the zero of the

lead compensator at s = -1 so
that it will cancel the plant pole
at s =-1, then the compensator
pole must be located at s =-3.

40.89

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 Step-5 (Example-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.

40.89

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 Step-5 (Example-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 40.89

1 yields
=1 𝑇=1
𝑇

1 yields
=3 𝛼 = 0.333
𝛼𝑇

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 Step-6 (Example-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
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 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

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 Final Design Check
Root Locus Root Locus
5 5

0.158 3.16 3
0.5

Imaginary Axis
0 0

0.5
0.158 3.16 3

-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)
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 Lag Compensation
• Lag compensation is used to improve the steady state error of
the system.

• Generally Lag compensators are represented by following

transfer function
𝑇𝑠+1
෡𝑐 𝛽
𝐺𝑐 𝑠 = 𝐾 , (β > 1)
𝛽𝑇𝑠+1
• Or
1
𝑠+
෡𝑐
𝐺𝑐 𝑠 = 𝐾 𝑇
1 , (β > 1)
𝑠+
𝛽𝑇

෡ 𝑐 is gain of lag compensator.

• Where 𝐾
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 Lag Compensation

𝑠+10
𝐺𝑐 𝑠 = 3 , (𝛽 = 10)
𝑠+1
Pole-Zero Map Bode Diagram
1 30
25

Magnitude (dB)
20
0.5
15
10

0 5
Phase (deg) 0

-0.5 -30

-1 -60
-2 0 2
-10 -8 -6 -4 -2 0 10 10 10
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BMHA312L Control System Winter 2024-25 (rad/sec)
FrequencyDr. D. Saravanakumar 41
 Lag Compensation
• Consider the problem of finding a suitable compensation network for
the case where the system exhibits satisfactory transient-response
characteristics but unsatisfactory steady-state characteristics.

• Compensation in this case essentially consists of increasing the open

loop gain without appreciably changing the transient-response
characteristics.

• This means that the root locus in the neighborhood of the dominant
closed-loop poles should not be changed appreciably, but the open-
loop gain should be increased as much as needed.

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 Lag Compensation
• To avoid an appreciable change in the root loci, the angle contribution
of the lag network should be limited to a small amount, say less than
5°.

• To assure this, we place the pole and zero of the lag network
relatively close together and near the origin of the s plane.

• Then the closed-loop poles of the compensated system will be shifted

only slightly from their original locations. Hence, the transient-
response characteristics will be changed only slightly.

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 Lag Compensation
• Consider a lag compensator Gc(s), where
1
𝑠+𝑇
෡𝑐
𝐺𝑐 𝑠 = 𝐾 1 , (β > 1)
𝑠+𝛽𝑇

• If we place the zero and pole of the lag compensator very close to
each other, then at s=s1 (where s1 is one of the dominant closed loop
1 1
poles) then the magnitudes 𝑠1 + and 𝑠1 + are almost equal, or
𝑇 𝛽𝑇

1
𝑠+
෡𝑐
𝐺𝑐 (𝑠1 ) = 𝐾 𝑇 ≅𝐾
෡𝑐
1
𝑠+
𝛽𝑇
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 Lag Compensation
• To make the angle contribution of the lag portion of the compensator
small, we require

1
𝑠+
−5° < 𝑎𝑛𝑔𝑙𝑒 𝑇 < 0°
1
𝑠+
𝛽𝑇

• This implies that if gain 𝐾෡𝑐 of the lag compensator is set equal to 1,
the alteration in the transient-response characteristics will be very
small, despite the fact that the overall gain of the open-loop transfer
function is increased by a factor of 𝛽, where 𝛽>1.

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 Lag Compensation
• If the pole and zero are placed very close to the origin, then the value
of 𝛽 can be made large.

• A large value of 𝛽 may be used, provided physical realization of the

lag compensator is possible.

• It is noted that the value of T must be large, but its exact value is not
critical.

• However, it should not be too large in order to avoid difficulties in

realizing the phase-lag compensator by physical components.

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 Lag Compensation
• An increase in the gain means an increase in the static error constants.

• If the open loop transfer function of the uncompensated system is G(s),

then the static velocity error constant Kv of the uncompensated system
is
𝐾𝑣 = lim 𝑠𝐺(𝑠)
𝑠→0
• Then for the compensated system with the open-loop transfer function
෡𝑣 becomes
Gc(s)G(s) the static velocity error constant 𝐾

෡𝑣 = lim 𝑠𝐺𝑐 𝑠 𝐺(𝑠) = 𝐾𝑣 lim𝐺𝑐 𝑠

𝐾
𝑠→0 𝑠→0

1
𝑠+
෡𝑣 = 𝐾𝑣 lim𝐾
𝐾 ෡𝑐 𝑇 =𝐾 𝐾෡𝑐 𝛽
1 𝑣
𝑠→0
𝑠+
𝛽𝑇
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 Lag Compensation
• The main negative effect of the lag compensation is that the
compensator zero that will be generated near the origin
creates a closed-loop pole near the origin.

• This closed loop pole and compensator zero will generate a

long tail of small amplitude in the step response, thus
increasing the settling time.

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 Design Procedure

• The procedure for designing lag compensators by the root-

locus method may be stated as follows.

• We will assume that the uncompensated system meets the

transient-response specifications by simple gain adjustment.

• If this is not the case then we need to design a lag-lead

compensator which we will discuss in next few classes.

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 Design Procedure

• Step-1

• Draw the root-locus plot for the uncompensated system whose

open-loop transfer function is G(s).

• Based on the transient-response specifications, locate the

dominant closed-loop poles on the root locus.

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 Design Procedure

• Step-2

• Assume the transfer function of the lag compensator to be given

by following equation

1
𝑇𝑠+1 𝑠+
෡𝑐 𝛽
𝐺𝑐 𝑠 = 𝐾 ෡𝑐
=𝐾 𝑇
1
𝛽𝑇𝑠+1 𝑠+
𝛽𝑇
• Then the open-loop transfer function of the compensated system
becomes Gc(s)G(s).

25 & 26-Mar-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 51

 Design Procedure

• Step-3

• Evaluate the particular static error constant specified in the

problem.

• Determine the amount of increase in the static error constant

necessary to satisfy the specifications.

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 Design Procedure

• Step-4

• Determine the pole and zero of the lag compensator that produce the
necessary increase in the particular static error constant without
appreciably altering the original root loci.

• The ratio of the value of gain required in the specifications and the gain
found in the uncompensated system is the required ratio between the
distance of the zero from the origin and that of the pole from the origin.

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 Design Procedure

• Step-5

• Draw a new root-locus plot for the compensated system.

• Locate the desired dominant closed-loop poles on the root locus.

• (If the angle contribution of the lag network is very small—that is, a few
degrees—then the original and new root loci are almost identical.

• Otherwise, there will be a slight discrepancy between them.

• Then locate, on the new root locus, the desired dominant closed-loop
poles based on the transient-response specifications.

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 Design Procedure

• Step-6

• Adjust gain of the compensator from the magnitude condition so

that the dominant closed-loop poles lie at the desired location.

෡𝑐 will be approximately 1.
•𝐾

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

• The damping ratio of the dominant closed-loop poles is 0.491.

The undamped natural frequency of the dominant closed-loop
poles is 0.673 rad/sec. The static velocity error constant is 0.53
sec–1.

• It is desired to increase the static velocity error constant Kv to

about 5 sec–1 without appreciably changing the location of the
dominant closed-loop poles.

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 Example-1 (Step-1)
• The dominant closed-loop poles of given system are

s = -0.3307 ± j0.5864

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 Example-1 (Step-2)

• According to given conditions we need to add following

compensator to fulfill the requirement.

1
𝑇𝑠+1 𝑠+
෡𝑐 𝛽
𝐺𝑐 𝑠 = 𝐾 ෡𝑐
=𝐾 𝑇
1
𝛽𝑇𝑠+1 𝑠+
𝛽𝑇

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 Example-1 (Step-3)
• The static velocity error constant of the plant (𝐾𝑣 ) is

1.06
𝐾𝑣 = lim𝑠𝐺(𝑠) = lim 𝑠 = 0.53𝑠 −1
𝑠→0 𝑠→0 𝑠 𝑠+1 𝑠+2
෡𝑣 ) of the
• The desired static velocity error constant ( 𝐾
compensated system is 5𝑠 −1 .

෡𝑣 = lim 𝑠𝐺𝑐 𝑠 𝐺(𝑠) = 𝐾𝑣 lim𝐺𝑐 𝑠

𝐾
𝑠→0 𝑠→0

1
𝑠+
෡𝑣 = 𝐾𝑣 lim𝐾
𝐾 ෡𝑐 𝑇 =𝐾 𝐾෡𝑐 𝛽
1 𝑣
𝑠→0
𝑠+
𝛽𝑇
25 & 26-Mar-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 59
 Example-1 (Step-3)

1
𝑠+
෡𝑣 = 𝐾𝑣 lim𝐾
𝐾 ෡𝑐 𝑇 =𝐾 𝐾෡𝑐 𝛽
1 𝑣
𝑠→0
𝑠+
𝛽𝑇

෡𝑣 = 𝐾𝑣 𝐾
𝐾 ෡𝑐 𝛽

5 = 0.53𝛽

𝛽 = 10

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 Example-1 (Step-4)
• Place the pole and zero of the lag compensator

1
𝑠+
෡𝑐
𝐺𝑐 𝑠 =𝐾 𝑇
1
𝑠+
𝛽𝑇
• Since 𝛽 = 10, therefore

1
𝑠+
෡𝑐
𝐺𝑐 𝑠 =𝐾 𝑇
0.1
𝑠+
𝑇

25 & 26-Mar-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 61

 Example-1 (Step-4)
• Place the zero and pole of the lag compensator at s=–0.05 and
s=–0.005, respectively.

• The transfer function of the lag compensator becomes

𝑠+0.05
෡𝑐
𝐺𝑐 𝑠 =𝐾
𝑠+0.005
• Open loop transfer function is given as
𝑠+0.05 1.06
෡𝑐
𝐺𝑐 𝑠 𝐺(𝑠)=𝐾
𝑠+0.005 𝑠(𝑠+1)(𝑠+2)
𝐾(𝑠+0.05)
𝐺𝑐 𝑠 𝐺(𝑠)=
𝑠(𝑠+0.005)(𝑠+1)(𝑠+2)

෡𝑐
𝑤ℎ𝑒𝑟𝑒 𝐾 = 1.06𝐾
25 & 26-Mar-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 62
 Example-1 (Step-5)
• Root locus of uncompensated and compensated systems.

• New Closed Loop poles

are

𝑠 = −0.31 ± 𝑗0.55

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 Example-1 (Step-5)
• Root locus of uncompensated and compensated systems.

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 Example-1 (Step-6)
• The open-loop gain K is determined from the magnitude
condition.
𝐾(𝑠 + 0.05)
=1
𝑠(𝑠 + 0.005)(𝑠 + 1)(𝑠 + 2) 𝑠=−0.31+𝑗0.55

𝐾 = 1.0235
෡𝑐 is determined as
• Then the compensator gain 𝐾

෡𝑐
𝐾 = 1.06𝐾

𝐾
෡𝑐 =
𝐾 = 0.9656
1.06
25 & 26-Mar-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 65
 Example-1 (Step-6)
• Then the compensator transfer function is given as

𝑠 + 0.05
𝐺𝑐 𝑠 = 0.9656
𝑠 + 0.005

25 & 26-Mar-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 66

 Example-1 (Final Design Check)
• The compensated system has following open loop transfer
function.
1.0235(𝑠+0.05)
𝐺𝑐 𝑠 𝐺(𝑠)=
𝑠(𝑠+0.005)(𝑠+1)(𝑠+2)
• Static velocity error constant is calculated as

෡𝑣 = lim 𝑠𝐺𝑐 𝑠 𝐺(𝑠)

𝐾
𝑠→0
1.0235 𝑠 + 0.05
෡𝑣 = lim 𝑠[
𝐾 ]
𝑠→0 𝑠 𝑠 + 0.005 𝑠 + 1 𝑠 + 2

1.0235 0.05
෡𝑣 =
𝐾 = 5.12𝑠 −1
0.005 1 2
25 & 26-Mar-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 67
 Lag-Lead Compensation
• Lead compensation basically speeds up the response and
increases the stability of the system.
• Lag compensation improves the steady-state accuracy of the
system, but reduces the speed of the response.
• If improvements in both transient response and steady-state
response are desired, then both a lead compensator and a lag
compensator may be used simultaneously.
• Rather than introducing both a lead compensator and a lag
compensator as separate units, however, it is economical to use
a single lag–lead compensator.

25 & 26-Mar-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 68

 Lag-Lead Compensation
• Lag-Lead compensators are represented by following transfer
function

1 1
𝑠+ 𝑠+
𝑇1 𝑇2
𝐺𝑐 𝑠 = 𝐾𝑐 𝛾 1 , (γ > 1 𝑎𝑛𝑑 β > 1)
𝑠+ 𝑠+
𝑇1 𝛽𝑇2
• Where Kc belongs to lead portion of the compensator.

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 Lag-Lead Compensation

𝑠+1 𝑠+0.4
𝐺𝑐 𝑠 = 𝐾𝑐
𝑠+2 𝑠+0.1

25 & 26-Mar-25 BMHA312L Control System Winter 2024-25 Dr. D. Saravanakumar 70

 Design Procedure

• In designing lag–lead compensators, we consider two

cases where

• Case-1: γ ≠ 𝛽
1 1
𝑠+ 𝑠+
𝑇1 𝑇2
𝐺𝑐 𝑠 = 𝐾𝑐 𝛾 1 , (γ > 1 𝑎𝑛𝑑 β > 1)
𝑠+ 𝑠+
• Case-2: γ = 𝛽 𝑇1 𝛽𝑇2

1 1
𝑠+ 𝑠+
𝑇1 𝑇2
𝐺𝑐 𝑠 = 𝐾𝑐 𝛽 1 , (β > 1)
𝑠+ 𝑠+
𝑇1 𝛽𝑇2
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