Copyright S.

Ikenaga 1998 All rights reserved

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

Phase-lead compensator design using Bode Plot Method Goal: Design a phase-lead 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 % overshoot less than 25%.

Steady-state error specification K 1 KV = lim sG ( s ) = lim s =K s0 s 0 s ( s + 1) 1 1 ess = = < 0.1 K 10 KV K % overshoot specification Recall the relationship between % overshoot and damping ratio ( ) which is given by

1 2

and is shown in Figure 1.

% Overshoot = 100e

-1-

Figure1. % Overshoot vs. Damping Ratio.

100 90 80 70 60 % Overshoot 50 40 30 20 10 0

0 .1

0 .2

0 .3

0 .4 0 .5 0 .6 d a m p i n g r at i o

0 .7

0 .8

0 .9

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

80 70 60 50 P hase M argin (PM ) 40 30 20 10 0

0 .1

0 .2

0 .3

0 .4 0 .5 0 .6 d a m p i n g r a tio

0 .7

0 .8

0 .9

Figure2. Phase Margin vs. Damping Ratio.

-2-

Phase-lead design procedure:

i.) ii.)

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 . 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 m needed to realize the required phase margin so that the percent overshoot specification is met.
B o d e D ia g ra m s G m = In f, P m = 1 7 . 9 6 4 d e g . ( a t 3 . 0 8 4 2 r a d / s e c ) 60 40 20 Phase (deg); M agnitude (dB ) 0 -2 0

-1 0 0 -1 2 0 -1 4 0 -1 6 0 -1 8 0 10
-1

10

F re q u e n c y ( r a d / s e c )

Figure 3. Bode plot of uncompensated system K G ( s ) . From Figure 3., the PM of the uncompensated system PM uncomp 20 . Thus, choosing the PM of the compensated system as PM comp = 45 , then the additional amount of phase lead

iii.)

m = PM comp PM uncomp = 25 . Now that m has been determined, the parameter of the phase-lead compensator can be chosen from Figure 2.14 in Appendix A, which has been chosen to be = 0.3 which corresponds to a maximum phase lead of 33 . The maximum phase lead m must be added around the new gain-crossover frequency m . The phase-lead compensator contributes a gain around 10 log( 0.3) = 5.2dB at the new m ; therefore, one must determine the frequency at which the uncompensated system has a magnitude 10 log( 0.3) = 5.2dB . Thus, 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 = 4.5 rad sec . Let 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 jT + 1 C( s) = or C ( j ) = with < 1 s + 1 T jT + 1

-3-

where T =

. Thus, for = 0.3 , T = 0.41 sec . This leads to a phase-lead m 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-

B o d e D ia g ra m s

30

25 Phase (deg); M agnitude (dB )

20 30 20 10

10

-1

10

10

10

F re q u e n c y ( r a d / s e c )

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);
Bd Dg m oe iar s a M g itu e (d ) a n d B 5 0 ucm na d no p st e e cm na d o p st e e

-0 5

-0 10 1 1 0 -0 8 P a h se (d g e ) -0 10 -2 10 -4 10 -6 10

1 0

1 0

1 0

compensated system uncompensated system

0 1 2

ucm na d no p st e e cm na d o p st e e

-8 10 1 1 0

1 0 F qec (a/ e) r unyr d c e s

1 0

1 0

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-

S p epne t R os e s 1 . 6 1 . 4 1 . 2 A p d m litu e 1 0 . 8 0 . 6 0 . 4 0 . 2 0 0 2 4 6 8 1 0 1 2 T esc) im( e. ucm na d no p st e e cm na d o p st e e

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);
U R pnur sos n a I pt epne it m 5 4 . 5 4 3 . 5 3 2 . 5 2 1 . 5 1 0 . 5 0 0 ucm na d no p st e e cm na d o p st e e dse ei d r

2 T esc im( e)

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

-8-

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 45 . Phase-lag design procedure:
i.) ii.)

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 . 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 50 occurs. Denote this frequency as the new gain-crossover frequency m . From Figure 8., let m = 0.84 rad sec .
B o d e D ia g ra m s G m = In f, P m = 1 7 . 9 6 4 d e g . ( a t 3 . 0 8 4 2 r a d / s e c ) 60 40 20 Phase (deg); M agnitude (dB ) 0 -2 0

-1 0 0 -1 2 0 -1 4 0 -1 6 0 -1 8 0 10
-1

m
10
0

F re q u e n c y ( r a d / s e c )

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

-9-

iii.)

Determine the magnitude of uncompensated system at m = 0.84 rad sec . From Figure 8., the magnitude of the uncompensated system at m = 0.84 rad sec is 20 dB. To bring the magnitude curve down to 0 dB at m , the phase-lag compensator must provide 20 log( ) = 20 dB or
20 = 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 jT + 1 C( s) = or C ( j ) = with > 1 s + 1 T jT + 1 10 = 11.9 sec . This is to ensure that the frequency at = 1 is one decade where T = m T below the new gain-crossover frequency m . This leads to a phase-lag compensator design of the following: 11.9s + 1 C( s) = . 119 s + 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);
B o d e D ia g ra m s

20 15 10 Phase (deg); M agnitude (dB ) 5 0

-1 0 -2 0 -3 0 -4 0 -5 0 10
-3

10

-2

10

-1

10

F re q u e n c y ( r a d / s e c )

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);
Bd Dg m oe iar s a M g itu e (d ) a n d B 5 0 ucm na d no p st e e cm na d o p st e e

-0 5

-0 10 1 1 0 -0 8 P a h se (d g e ) -0 10 -2 10 -4 10 -6 10 -8 10 1 1 0

1 0

1 0

1 0

compensated system uncompensated system

ucm na d no p st e e cm na d o p st e e

1 0 F qec (a/ e) r uny r d c e s

1 0

1 0

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);

S p epne t R os e s 1 . 6 1 . 4 1 . 2 A p d m litu e 1 0 . 8 0 . 6 0 . 4 0 . 2 0 0 5 1 0 1 5 2 0 2 5 3 0 3 5 T esc) im( e. ucm na d no p st e e cm na d o p st e e

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);
U R pnur sos n a I pt epne it m 5 4 . 5 4 3 . 5 3 2 . 5 2 1 . 5 1 0 . 5 0 0 1 2 T esc i ( e) m 3 4 5 ucm na d no p st e e cm na d o p st e e dse ei d r

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

- 14 -