Bode plot
Bode plot for system with transport lag
Stability from bode plot
Compensators
• additional subsystem called Compensator or Controller' has to
designed to adjust the parameters of the overall system to satisfy the
design criterion.
Compensation Configurations
8
Two basic compensation configurations:
Cascade compensation
Feedback compensation
We will focus on cascade compensation
Lead Compensation
50
PD compensation utilizes an ideal differentiator
Amplifies sensor noise
Active circuitry (opamp) required for analog implementation
An alternative to PD compensation is lead compensation
Compensator adds one zero and a higher-frequency pole
𝑠+𝑧𝑐
𝐷 𝑠 =𝐾 , where 𝑝𝑐 > 𝑧𝑐
𝑠+𝑝 𝑐
Pole can be far enough removed to have little impact on 2nd-order
dynamics
Additional high-frequency pole reduces amplification of noise
Analog implementation realizable with passive components
(resistors and capacitors)
3/29/2022
Lead Compensator
Im
Phase-lead compensator −
1
𝑇 −
1
𝛼𝑇 Re
𝑈(𝑠) 𝑠+𝑧
𝐺𝑐 𝑠 = 𝐸(𝑠) = 𝐾 𝑠+𝑝
; 𝑧 < 𝑝 (𝑙𝑒𝑎𝑑) −𝑧 −𝑝
• Pole on the left side of zero
• Equivalent RC circuit, K=1, (𝑍1 = 𝑅1
1+𝑅1𝐶𝑠
, 𝑍2 = 𝑅2) Z1
C
R1
𝑈(𝑠) 𝑍2 1 1+𝛼𝑇𝑠
𝐺𝑐 𝑠 = = =
𝐸(𝑠) 𝑍1+𝑍2 𝛼 1+𝑇𝑠 + +
Z2
𝑅1𝑅2 R2
𝑇= 𝐶, 𝛼 = 𝑅1+𝑅2 > 1 e u
𝑅1+𝑅2 𝑅2
- -
1 1
Or: 𝑝= , 𝑧=
𝑇 𝛼𝑇
Nyquist Diagram Bode Diagram
=5 → =1.5 →
0.4
-0.1
10
• Bode and Nyquist plots
Magnitude (abs)
0.3
0.2
=5
=1.5
Imaginary Axis 0.1
of lead compensator
-0.6
10
0
60
=5
-0.1
T=1
Phase (deg)
-0.2 30
=1.5:0.5:5 -0.3
-0.4 0
0 0.2 0.4 0.6 0.8 1 -2 -1 0 1 2
10 10 10 10 10
Real Axis Frequency (rad/sec)
Lag Compensation
23
PI compensation requires an ideal integrator
Active circuitry (opamp) required for analog implementation
Susceptible to integrator windup
An alternative to PI compensation is lag compensation
Pole placed near the origin, not at the origin
Analog implementation realizable with passive components
(resistors and capacitors)
Like PI compensation, lag compensation uses a closely-
spaced pole/zero pair
Angular contributions nearly cancel
Transient response nearly unaffected
System type not increased
Error is improved, not eliminated
3/29/2022
Lag Compensator Design
Im
Phase-lag compensator −
1
−
1
𝑇
𝛼𝑇 Re
𝑈(𝑠) 𝑠+𝑧
𝐺𝑐 𝑠 = 𝐸(𝑠) = 𝐾 𝑠+𝑝
; 𝑧 > 𝑝 (𝑙𝑎𝑔) −𝑧 −𝑝
• zero on the left side of pole
Z1 R1
• Equivalent RC circuit, K=1, (𝑍 1 = 𝑅1, 𝑍2 = 𝑅2 +
𝐶𝑠
)1
𝑈(𝑠) 𝑍2 1+𝛼𝑇𝑠 + +
𝐺𝑐 𝑠 = 𝐸(𝑠) = 𝑍 = Z2
R2
1+𝑍 2 1+𝑇𝑠
𝑅2 e u
𝑇 = 𝑅1 + 𝑅2 𝐶 , 𝛼= < 1
𝑅1+𝑅2 C
Or: 𝑝=1, 𝑧= 1
, 𝐾=𝛼 - -
𝑇 𝛼𝑇
Nyquist Diagram Bode Diagram
5 0.9
=0.1
10
4
Magnitude (abs)
• Bode and Nyquist plots 3
2
10
0.5
Imaginary Axis
of lag compensator
1 0.1
10
0
0
-1
T=1, K=1
Phase (deg)
-2
=0.9:-0.1:0.1
-3 =0.1 → -30
-4 =0.1
-5 -60
-2 -1 0 1 2 3
-2 0 2 4 6 8 10 12 10 10 10 10 10 10
Real Axis Frequency (rad/sec)
Lead-Lag Compensation
80
Just as we combined derivative and integral compensation, we can
combine lead and lag as well
Lead-lag compensation
Lead compensator improves transient response
Lag compensator improves steady-state error
Compensator transfer function:
𝑠 + 𝑧𝑙𝑒𝑎𝑑 𝑠 + 𝑧𝑙𝑎𝑙𝑙
𝐷 𝑠 =𝐾
𝑠 + 𝑝𝑙𝑒𝑎𝑑 𝑠 + 𝑝𝑙𝑎𝑙𝑙
Lead compensator adds a pole and zero - 𝑧𝑙𝑒𝑎𝑑 < 𝑝𝑙𝑒𝑎𝑑
Lag pole/zero close to the origin - 𝑧𝑙𝑎𝑙𝑙 > 𝑝𝑙𝑎𝑙𝑙 ≈ 0
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Improving Error and Transient Response
61
PI (or lag) control improves steady-state error
PD (or lead) control can improve transient response
Using both together can improve both error and
dynamic performance
PD or lead compensation to achieve desired transient
response
PI or lag compensation to achieve desired steady-state error
types of compensators:
Proportional-integral-derivative (PID) compensator
Lead-lag compensator
3/29/2022
Lead-Lag Compensator
Design
Im
Phase lead-lag compensator −
1
−
1 1
− −
1
𝛽𝑇2 𝑇2 𝑇1 𝛼𝑇1 Re
𝑈(𝑠) 𝑠+𝑧 1 𝑠+𝑧2 𝑧1 < 𝑝1 (𝑙𝑒𝑎𝑑)
𝐺𝑐 𝑠 = 𝐸(𝑠) = 𝐾 ;
𝑧2 > 𝑝2 𝑙𝑎𝑔 −𝑧2 −𝑝2 −𝑝1 −𝑧1
𝑠+𝑝1 𝑠+𝑝2
• For lead-lag, (𝑧1, 𝑝1) is on the left of (𝑧2, 𝑝2) C1
Z1
• For lag-lead, (𝑧1, 𝑝1) is on the right of (𝑧 2, 𝑝 2) R1
• Equivalent RC circuit, (𝑍1 = 𝑅1
1+𝑅1𝐶1𝑠
, 𝑍2 = 𝑅2 +
1
𝐶 𝑠
) +
Z2
+
2 R2
𝑈(𝑠) 𝑍2 1+𝛼𝑇1𝑠 1+𝛽𝑇2𝑠
𝐺𝑐 𝑠 = = = e u
𝐸(𝑠) 𝑍1+𝑍2 1+𝑇1𝑠 1+𝑇2𝑠
C2
𝛼𝑇1 = 𝑅1 𝐶1 , 𝛽𝑇2 = 𝑅2𝐶2 , 𝛼𝛽 = 1 𝛼 > 1, 𝛽 < 1
- -
𝑇1 + 𝑇2 = 𝑅1𝐶1 + 𝑅2𝐶2 + 𝑅1𝐶2, 𝑇1𝑇2 = 𝑅1𝐶1𝑅2𝐶2
• Bode and Nyquist plots of
Nyquist Diagram Bode Diagram
1
lead-lag →
lead-lag →
0.8
Magnitude (abs)
lead-lag (T1=0.5, T2=0.005) and 0.6
0.4
10
0
lag-lead →
Imaginary Axis
lag-lead (T2=0.5, T1=0.005) 0.2
0
30
compensators with (=3, -0.2
lag-lead lead-lag →
Phase (deg)
-0.4
0
=1/3)
-0.6
-0.8
lag-lead →
-1 -30
0 -2 0 2 4
0.5 1 1.5 2 2.5 3 10 10 10 10
Real Axis Frequency (rad/sec)
• A lead-lag compensator combines the effects of a lead
compensator with those of a lag compensator. The result is a
system with improved transient response, stability, and steady-
state error. To implement a lead-lag compensator, first design
the lead compensator to achieve the desired transient response
and stability, and then design a lag compensator to improve the
steady-state response of the lead-compensated system.
