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Compensator Design for Engineers

The document summarizes the design of phase-lead and phase-lag compensators. It discusses how phase-lead compensation has a stabilizing effect by shifting the plant poles to have a greater phase angle. The 7-step design procedure for phase-lead compensation is provided. An example is worked through to design a phase-lead compensator to meet specifications. Phase-lag compensation is used to improve steady-state accuracy and reduce gain margin. The 5-step design procedure for phase-lag compensation is described and an example problem is presented.

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91 views13 pages

Compensator Design for Engineers

The document summarizes the design of phase-lead and phase-lag compensators. It discusses how phase-lead compensation has a stabilizing effect by shifting the plant poles to have a greater phase angle. The 7-step design procedure for phase-lead compensation is provided. An example is worked through to design a phase-lead compensator to meet specifications. Phase-lag compensation is used to improve steady-state accuracy and reduce gain margin. The 5-step design procedure for phase-lag compensation is described and an example problem is presented.

Uploaded by

Khushal shende
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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You are on page 1/ 13

16.

06 Lecture 24

Compensator Design

Karen Willcox

October 30, 2003

Today’s Topics

1. Phase-lead compensator design

2. Phase-lag compensator design

Reading: 6.6, 6.7

1 Phase-lead compensator design

We have the following system:

where

Consider the pole-zero diagram:

2
Phase-lead compensation has a stabilizing effect.

At A1 , angle of plant =

At A2 , angle of plant + angle of compensator =

At A2 , angle of plant will be

So the compensator must contribute

From the triangle, we have

Now we can establish a design procedure.

2 Design Procedure

7 steps on handout.

3
insert phase-lead design procedure here

3 Phase-lead compensator design example

1
G(s) =
s(s + 2)

Design Gc (s) to meet the following closed-loop specifications:

(i) Dominant time constant should be 0.25 sec

(ii) P.O. for step response ≈ 16%

5
• Step 1

Specifications imply:

Therefore, the dominant closed-loop poles are at

• Step 2 Angle condition:

• Step 3

Place zero at -4

• Step 4

tan 46.1◦ =

• Step 5

Magnitude condition:

Kc =

7
• Step 6

Gc G =

loop gain, K =

ess =

P.O. =

Third pole at

• Step 7

P.O. is too high.

Move zero and pole to the left and try again.

4 Phase-lag compensator design

The transfer function for phase-lag compensation is the same as for phase-

lead, but now z > p, so the pole is closer to the origin that the zero.

While phase-lead is stabilizing, phase-lag is often used to

The compensator transfer function is:

Gc (s) =

Draw the pole-zero diagram:

The pole-zero pair is added close to the origin, far from the desired closed-

loop poles. The vectors (s + z) and (s + p) from the pair to the desired poles

almost cancel each other, so that the net contribution to the vector angle is

small. Therefore, the loci change just a little in the region of interest.

Why use this compensation if the loci don’t change much? Consider the

compensator transfer function:

Gc (s) =

• The root locus gain is

• The gain used in the steady-state error calculation is

• By placing the pole much closer to the origin than the zero, we can

• But then we will have a closed-loop pole close to the origin (a slow

pole)! This is okay because

10

The design procedure for a phase-lag compensator is as follows:

1. Draw the root loci for a proportional gain controller

2. Determine the desired position of the dominating pair of closed-loop

poles on these loci from the specifications.

3. Determine the root locus gain at the position (using the magnitude

condition) and hence the value of Kc for P-control.

4. For this value of Kc , determine the value of the factor z/p needed to

satisfy the specifications on steady-state accuracy.

5. Choose p and z with this ratio and close enough to the origin that the

vector angles to the dominant poles differ only a few degrees.

6. Draw the loci of the compensated system and find the dominating poles.

Reduce Kc if needed to counter any reduction of the relative stability.

11

Phase-lag compensator design example:

1
G(s) =
s(s + 2)

Design Gc (s) to meet the following closed-loop specifications:

(i) ζ = 0.5

(ii) Steady-state error less than 5%

• Step 1

• Step 2

From specifications: closed-loop poles are at

• Step 3

Magnitude condition:

Kc =

12
• Step 4

Loop gain function is:

Loop gain is:

ess =

To satisfy error specification, must increase loop gain to

Therefore, z/p =

• Step 5

Choose

Gc =

Draw the new root locus:

13

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