EE360 Control systems: Optional Compensation assignment for low grade students

Instructions:
1. Submit this assignment before classes end for spring 2014 semester.
2. Quiz will be conducted for about 30 minutes in your last class based on this
assignment.
Your Score:
3 points for submission before Final Exam [Submit a good report]
3 points for Quiz
Based on your performance in this assignment/quiz, your score will be compensated/adjusted in
the final exam.
Question-1: Performance comparison of Lead and Lag compensator
Consider the following unity feedback system
Given specifications: (Each part carries 0.3 points)
A. Design a lead compensator C(s) using Bode Plot technique so that the closed-loop system
satisfies the following performance specifications:
i. The steady-state error to a unit-ramp reference input is less than 0.01.
ii. The damping ratio of the dominant closed-loop poles is no less than 0.4 or the OS% no
more than 25% (Transient performance specification).
B. Obtain the unit step response of the resulting closed-loop system. Does the closed-loop system
satisfy the above OS% requirement? Use MATLAB to show this.
C. Show Bode plots of uncompensated and Compensated System.
D. Show on Bode Plot the values of Phase Margin and Gain Margin.
E. Implement the Lead compensator using OP-AMP circuit and find the values of resistors and
capacitors.
F. Now implement the Lag controller using Root Locus technique for the same specifications given
in part-A, and plot the resulting Bode diagram of compensated system.
G. Obtain the unit step response of the resulting closed-loop system with Lag controller in the loop.
Does the closed-loop system satisfy the above OS% requirement? Use MATLAB.
H. Plot step responses from Part-B and Part-G on a single figure and conclude which controller is
better in terms of performance.
I. Implement the Lag compensator using OP-AMP circuit and find the values of resistors and
capacitors. Plot
J. Cascade lead+lag compensator with the given system G(s) and plot the resulting closed loop step
response to see if the specifications are met.
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Lead and PD Controllers (II)
Lead compensation: D(s)=K(Ts+1)/(Ts+1), <1
Lead compensator is a high-pass filter (app.PD control)
It is used whenever substantial improvement in damping
is required
The maximum phase contribution is
max
max
max
sin 1
sin 1
1

T
Example:
sysD=tf([10 1],[1 1])
bode(sysD)
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Example: PD Controller for Antenna Control (I)
Design the low frequency gain K with respect to the steady-
state error specification: Tracking error to a ramp input of
slope 0.01rad/sec to be less than 0.01rad
Ramp Input (R(s) = 1/s^2):
(MM5)
Antenna system case..... K=1
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Example: PD Controller for Antenna Control (II)
PD controller: D(s)=10s+1
sysd=tf(1,[10.0 1.0 0])*tf([10.0 1.0],1);
syscl2=feedback(sysd,1); step(syscl2)
Check whether this controller is ok?
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Example: Intuitive Lead Design
Design the low frequency gain K with respect to the steady-
state error specification Antenna system case..... K=1
Lead controller: D(s)=(10s+1)/(s+1)
sysd=tf(1,[10.0 1.0 0])*tf([10.0 1.0],[1 1]);
syscl3=feedback(sysd,1); step(syscl3)
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Example: Comparison of PD and Lead Design
bode(syscl2,syscl3); grid
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Goals for this lecture (MM10)
An illustrative example
Frequency response analysis
Frequency response design
Lead and lag compensators
Whats a lead/lag compensator?
Their frequency features
A systematical procedure for lead compensator design
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Lead Compensator Design Procedure (I)
Step 1: Design the low frequency gain K with respect to the
staedy-state error specification
Antenna system case..... K=1
Step Input (R(s) = 1/s):
Ramp Input (R(s) = 1/s^2):
Parabolic Input (R(s) = 1/s^3):
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Lead Compensator Design Procedure (II)
Step 2: Determine the needed phase lead
Original system PM:
sys=tf(1,[10 1 0]), margin(sys)... PM=18 at 0.308
Expected PM:
Expected overshoot limit (16%)
Dampling ratio 0.5
Expected PM 100*0.5=50 degree
Directly needed phase lead: 50-18=32 degree
Expected phase lead: 32+ (7~10) degree
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Lead Compensator Design Procedure (III)
Lead compensation: D(s)=K(Ts+1)/(Ts+1), <1
Step 3: Determine coefficient
Step 4: Determine coefficient T
2174 . 0
40 sin 1
40 sin 1
sin 1
sin 1
max
max

622 . 4
92 . 0
2
) 2 / (
1 1
max


n
T
max
max
max
sin 1
sin 1
1

T
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Step 5: Draw the compensated frequency response, check PM
sysD=tf([4.622 1],[1.0137 1]); sysC=sys*sysD; margin(sysC);
step(feedback(sysC,1))
Lead Compensator Design Procedure (IV)
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Check the poles & zeros of the closed-loop...
syscl=feedback(sysC,1); pzmap(syscl);
Compare with a standard 2nd-order system...
Sys2=tf(0.3099, conv([1 0.384-0.403i], [1 0.384+0.403i])) ;
step(feedback(sysC,1),Sys2)
Why this Lead Compensator doesnt work? (I)
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Lead Compensator Design Procedure (V)
Step 6: Iterate on the design until all specifications are met
sysD=tf([9.7457 1],[1.0911 1]) ; sysC=sys*sysD; margin(sysC);
sysCL=feedback(sysC,1); step(sysCL)
sysD=tf([9 1],[1 1]); sysCL=feedback(sys*sysD,1); step(sysCL)
112 . 0
53 sin 1
53 sin 1
sin 1
sin 1
max
max

1 0911 . 1
1 7457 . 9
) (
7457 . 9
92 . 0
3
) 5 . 1 / (
1 1
max

s
s
s D
T
n

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