Frequency Response Design of phase lead and lag compensator

Basic idea of phase-lag design

The purpose of phase lag compensator design in the frequency domain generally is to
satisfy specifications on steady-state accuracy and phase margin. There may also be a
specification on gain crossover frequency or closed-loop bandwidth.
The overall philosophy in the design procedure presented here is for the compensator to
adjust the systems Bode magnitude curve to establish a gain-crossover frequency, without
disturbing the systems phase curve at that frequency and without reducing the zero-
frequency magnitude value. n order for phase lag compensation to wor! in this conte"t,
the following two characteristics are needed#
the uncompensated Bode phase curve must pass through the correct value to satisfy
the phase margin specification at some acceptable frequency$
the Bode magnitude curve %after the steady-state accuracy specification has been
satisfied& must be above ' db at the frequency where the uncompensated phase shift
has the correct value to satisfy the phase margin specification %otherwise no
compensation other than additional gain is needed&
( )hase-lag design procedure
*djust the dc gain of Gp%s&H%s& by the factor Kc to satisfy low frequency
specifications
+ind the frequency
=
1 x uncompensated

at which the angle of KcGp%s&H%s& is
equal to -,-'o./
m
.,'
o
, where /
m
is the specified phase margin
The magnitude of zero is given by 0
'
1,2 = '.,0
,
The magnitude of pole is given by 0
p
=,23 1 '.,0
,
2 4KcGp%j0,&H%j0,&4
Compensator Structure
The basic phase lag compensator consists of a gain, one pole, and one zero. Based on the
usual electronic implementation of the compensator 567, the specific structure of the
compensator is#
1
1

1
1

1
1
1 ]
]
c
C
s
1 ( +1 )
(s + )
z ( s +1 )
= Kc Kc (1)
s 1
( s +1 )
(s + ) ( +1 )
p

@
c
C c c
z
1 1
z > 0 p > 0 >1 = (!)
c c
p z p
"d#antages phase-lag compensation
( The low-frequency characteristics are improved
( 8tability margins are maintained or improved
( Bandwidth is reduced, which is an advantage if high frequency noise is a problem
$isad#antages phase-lag compensation
( 9educed bandwidth is a disadvantage in some systems
( The system transient response will have one very slow term
Example 1: :onsider the transfer function below assume that the specified phase margin is
PMspecified = ;'
'
and e
ss-specified
1'.'< for ramp input

+ + +
G( s )
( s )( s )( s )
60
1 2 3
=etermine the following#
i& The gain crossover frequency and the phase shift
ii& >alue of

iii& compensated gain crossover frequency
iv& the values of the pole and zero
8olution
8ince the plant is Type ' and the steady-state error specification is for a ramp input, the
compensator must have one pole at s 1 '
Kx required 1 ,/':'< 1 ?'.
1

1
+ + +
]

1
K s Kc /
x-plant
( s )( s )( s )
s 0
lim
60
10 20 10 2
1 2 3
Thus, the system G%s& for this e"ample is

+ + +
Kc
.Gp( s )
(Nreq-Nss)
s( s )( s )( s )
s
120
1 2 3
the compensated gain crossover frequency %
x compensated
is that frequency where
Kc
0
.Gp( s ) =-1!0"PM "10
specified
(Nreq-Nss)
s
0 0 0 0
=-1!0 " #0 " 10 = -1$0
1

1
1
]
10
-2
10
-1
10
0
10
1
10
2
-360
-270
-180
-90
P
h
a
s
e

(
d
e
g
)
System: L
Frequency (rad/sec): 0.396
Phase (deg): -130
-150
-100
-50
0
50
100
M
a
g
n
i
t
u
d
e

(
d
B
)
System: L
Frequency (rad/sec): 0.389
Magnitude (dB): 33.4
Bode Diagram
Gm = -21.6 dB (at 1 rad/sec) , Pm = -78.3 deg (at 2.82 rad/sec)
Frequency (rad/sec)
-130 deg
33.4 dB
*t this frequency, the magnitude of G%s& can be read directly from the graph, and its value
is G(% ) =$$.#
x compensated

G(% )
x compensated
&c
=10 . = #'.'
pc

_


,

20
466
@any references state that A,' should be used for the lag compensator to prevent
e"cessively large component values and to limit the amount of undesired phase shift.
f this limit is used, and > ,', then multiple stages of compensation are required. *n easy
way to accomplish this is to design identical compensators %that will be implemented in
series&,
= n total
sta(e sta(e

Two stage should be used each stage would be given an attenuation of
sta(e
n
= total
sta(e

1 &'(). Bhen the compensator is implemented, the gain Kc = ! could
also be divided evenly between the two stages in the same fashion,with Kc sta(e = C! =
1.*1*'
-#
& = 0.$)/10 = 0.0$) and p = 0.0$)=#'*' = !.$+ 10
c c

The complete compensator for
these e"amples is
, (s/0.0$) " 1) 0.0#,) (s " 0.0$))
G (s) = =
c la(
-# -#
s (s/!.$+ 10 " 1) s (s " !.$+ 10 )
f the compensator is split into two stages, as in D"ample above, then &c = 0.)+=10 = 0.0)+
and pc = 0'0)+/&*() = ,*-1 -10
-$
can be used for the zero and pole for each stage of the
compensator.
To assure that the phase margin specification will be satisfied when using multiple stages
of lag compensation, use the following technique for determining the compensators zero
and pole#
x compensated c
&
& = . p =
c c
nsta(e sta(e

10
&c = 1*+, -10
-$
and pc=?:-E -10
-$
, the total compensator is
-, , -,
, (s/1.)/ 10 " 1) 1 0.,0+ (s " 1.)/ 10 )
G (s) = =
c la(
-$ , -$
s
s (s/,.!' 10 " 1) s (s " ,.!' 10 )
1

1
1

]
2
Tutorial
%i& consider the third order servo system with the open loop transfer function
K
s( s )( . s ) + + 1 001 1
=esign a lead compensator with the specification
, the steady stateerror for an output position must be less than or equal to
'.'', deg2sec.ofthe final output velocity
? the phase margin should be at least ;'
'

*ns
. s
G (s) =
c lead
0.0,,,s"1
+ 0167 1
%ii&
Phase-lead basics
The purpose of phase lead compensator design in the frequency domain generally is to
satisfy specifications on steady-state accuracy and phase margin. There may also be a
specification on gain crossover frequency or closed-loop bandwidth. * phase margin
specification can represent a requirement on relative stability due to pure time delay in the
system, or it can represent desired transient response characteristics that have been
translated from the time domain into the frequency domain.
The overall philosophy in the design procedure presented here is for the compensator to
adjust the systems Bode phase curve to establish the required phase margin at the e"isting
gain-crossover frequency, ideally without disturbing the systems magnitude curve at that
frequency and without reducing the zero frequency magnitude value.
)hase-lead compensator has the transfer function
p
s
. (s)
c
s
+

0
1
1
/hase-lead design procedure
i& :hoose a zero location in the vicinity of the '-dB crossover of Gp(s)0(s)
ii& :hoose a ratio of 0
p
/0
'
that gives a value of Fm larger than Fm-F', where Fm is
the required phase margin
iii& :alculate 0p
iv& Ge"t calculate the compensated Bode diagram, and determine if the phase
margin is adequate. f not, move the pole in the direction that will adjust the
phase margin to the desired value. f moving the pole does not give the desired
results, try moving the zero
p
s
. (s)
c
s
+

0
1
1
"d#antages and disad#antages of phase-lead compensation
( *dvantages
H mproved stability margin
H mproved high-frequency performance %such as speed of response&
( =isadvantages
H *ccentuated high-frequency noise problems
H @ay generate large signals, which may damage the system or at least result in nonlinear
operation of the system
Example 2: :onsider the transfer function below assume that the specified phase margin is
PMspecified = <'
'
and K
c
/s
(Nreq-Nss)
1 !*,/s
=etermine the following#
i& The gain crossover frequency and the phase shift
ii& >alue of

iii& compensated gain crossover frequency
iv& the values of the pole and zero
v&
/
G(s) =
1s (s " 1) (s " ,) (s " $)2
(10)
8olution
The Bode plots for this system are shown in +ig. ?
10
-2
10
-1
10
0
10
1
10
2
-360
-270
-180
-90
P
h
a
s
e

(
d
e
g
)
-150
-100
-50
0
50
100
M
a
g
n
i
t
u
d
e

(
d
B
)
System: L
Frequency (rad/sec): 0.954
Magnitude (dB): -5.32
Bode Diagram
Gm = 6.02 dB (at 1 rad/sec) , Pm = 26.8 deg (at 0.65 rad/sec)
Frequency (rad/sec)
Phase margin=26.8 at 0.65 rad/s
Gain margin=6.02dB
0ig'! Bode plots for the s1stem in 23ample 1
%i&
.
x
065
, phase shift of
o
G(% )=-1/$.,
3
ma3
1 <'
'
.,'
'
-?E:-
'
1 66:?
'
%ii&
1 - sin ( ) & sin .
max c
0.,), .
1 " sin ( ) p
max c sin .

+
0
1 332
0
1 332
%iii& The compensated gain crossover frequency will be chosen to be the frequency
where
G(% ) =-/.$/d4 0.)/+ rad/s
%iv&
& p
max c c max x compensated


& = & = 0.)/+ 0.,), .
c max c
0517 and p =0./1+/0.,),=1.++
c