CONTROL SYSTEMS

Compensators

Dr. S. SUMATHI
Associate Professor
RNSIT
Bengaluru

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COMPENSATORS
Compensators are subsystems introduced into the system to meet design
specifications

The desired behavior of the system is specified in terms of transient

measures and the steady state error.

Compensation may Cascaded or Feedback

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COMPENSATORS

Compensators are of three types

1. Lead Compensator

2. Lag Compensator

3. Lead -Lag Compensator

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Lead Compensator
Lead compensators have a transfer function of the form

Pole is located to the left of zero (zero near origin)

Lead Compensator
improves transient response
increases stability margin
increases system error constant by limited range

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Lag Compensator
Lag compensators have a transfer function of the form

Pole is located to the right of zero (pole near origin)

Lag Compensator
improves steady state behavior
preserves transient response

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Lag-Lead Compensator
Lag-Lead compensators have a transfer function of the form

Lag-Lead Compensator is a combination lag compensator

and lead compensator connected in series

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Lead Compensator
It has a zero at s=-1/ꞇ and pole at s=-1/αꞇ with zero
closer to origin

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 Lead compensator can be realized by an electrical network

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 The DC attenuation caused by α can be compensated
by an amplifier connected in cascade. Therefore the
sinusoidal transfer function is

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Since α < 1, the output leads the input under steady state condition
hence the name lead compensator.

The frequency ωm at which maximum phase shift occurs is given by

the solution

ωm is the geometric mean of the two corner frequencies

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 The maximum phase lead φm is given by

Therefore

Cross multiplying and solving

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The magnitude of Gc(jω) at ω=ωm is

The magnitude of Gc(jω) at ω=ωm in decibels is

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 Design of Lead compensator
Specifications: System error constant and Phase margin

STEP 1: Determine the open loop gain K required to satisfy

the specified error constant

STEP 2: Using this value of K draw the magnitude and

phase Bode plots.

Determine the phase margin, (φpm1) and

gain crossover frequency (ωg1)

If phase margin is not satisfactory design

lead compensator
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 STEP3: Determine the phase lead required

where φs is the specified phase margin

ϵ-margin of safety

STEP 4: let φm=φl and determine the α parameter using

If φm required is more than 60 deg it is recommended to use

two identical compensators contributing a maximum lead of
φl /2
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 STEP 5: Calculate the DB gain

Locate the frequency at which the uncompensated system

has a gain of

This frequency ωg2=ωm of the compensated system.

We know that

STEP6: Compute the two corner frequencies of the

compensator

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 The transfer function of the compensator

STEP 7: Draw the magnitude and phase plot of the

compensated system and check the phase margin.

If the phase margin is still low increase ϵ and go to step 3.

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 EFFECT OF PHASE LEAD COMPENSATOR
It adds a pole and a zero (with zero to the right of pole) to the
forward path transfer function.

•It adds more damping to the system.

•The rise time and settling time reduces

• Improves the phase margin and gain margin of the closed loop system

•The band width of the closed loop system increases ( corresponding to

faster system)

•The steady state error is not affected

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Design a lead compensator for a unity feedback system with an
open loop transfer function

for the specifications of Kv=10 and φm= 36 deg.

SOLUTION

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Therefore the open loop transfer function

The sinusoidal transfer function is

The gain cross over frequency is 3.3 rad/sec Phase margin is 17 deg

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 The magnitude contribution corresponding to ωm is

From the bode plot we find ωg2 corresponding to -3.75 dB as 4 rad/sec

Therefore

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 Therefore the compensator transfer function

The open loop Transfer function of lead compensated system is

At ω=4

Therefore phase margin is 38o

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 Lag compensator

Since β>1 the steady state output lags behind the input
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The lag compensator can be realized by the following electrical
network

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 The frequency (ωm) at which maximum phase lag φm
can be obtained by

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 Lag compensator Design
Lag network acts like a low pass filter attenuating high frequencies by

The phase lag is undesirable at the gain crossover frequency of the

compensated system.

Therefore the attenuation characteristic of the lag network is

used for compensation purpose.

STEP 1: Determine the open loop gain necessary to satisfy the specified
error constant.

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 STEP 2: With this value of K draw the magnitude and phase Bode
plot and determine the phase margin φpm1 and the GCF ωg1 of the
uncompensated system.

If the phase margin is not satisfactory go to step 3.

STEP 3: Find the frequency ωg2 at which the system makes a phase
margin of

Where φpm2 is measured above -180o line φs is the specified phase

margin and ϵ =5o to 15o.
Lag compensation is possible only if there exists a range of frequencies
in which the system has a phase angle less negative than -180o+φ.

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STEP4: Measure the gain at ωg2 and equate it to required high frequency
attenuation 20 log β. And calculate β.

STEP 5: choose the upper cut of frequency ω2=1/ꞇ of the lag network
one octave to one decade below ωg2.

so that phase lag contribution at this frequency is negligible.

STEP 6: With β and ꞇ determined the transfer function of lag compensator

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 STEP 7: Draw the magnitude and phase bode plot of the
compensated system and check the resulting margin

STEP 8: If the specifications are not met redesign the compensator

by choosing another value of ꞇ
Example
Compensate the system with the open loop transfer function

to meet the following specifications.

Damping ratio

Velocity error constant

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SOLUTION
The given time domain specifications are converted in to frequency domain
specifications

We know

The open loop transfer function of an uncompensated system may be written

as

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The bode plot of uncompensated system shows that GCF=2.25.rad/sec
and phase margin= -4deg

The phase margin(desired)

The frequency corresponding to this phase angle

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 Placing the upper corner frequency of the compensator
two octave below, we have

The log magnitude at ωc2 =20 dB

Therefore

Therefore the lower corner frequency

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 The transfer function of the lag network is

The open loop transfer function of compensated system

If we draw the bode plot , the phase margin of

compensated system can be found to be 42 deg.

The step response of the uncompensated system (can be

found out using SIMULINK)shows peak overshoot as 32%
and settling time as 2 sec
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Comparison of Phase lag and phase lead network
Phase Lead network
Band width Increases, High frequency
gain increases
Dynamic response becomes faster
Susceptible to high frequency noise
No significant decreases in steady
state error
Application : When fast dynamic
response is required
Cannot be applied when phase angle
of uncompensated system is
decreasing rapidly near Gain cross
over frequency
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Phase Lag network
Band width decreases
Dynamic response slows down
High frequency noise suppressed
Steady state error is reduced
Application : When low steady state
error is required
Cannot be applied when
uncompensated system phase angle in
low frequency region is not sufficient to
provide requisite phase margin
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Lag-Lead Compensator
Lag-Lead compensators have a transfer function of the form

Lag-Lead Compensator is a combination lag compensator

and lead compensator connected in series

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 The equation Gc(s) can be realized by a single electric
lead lag network as shown below

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Lead compensation is applied to system to achieve desired
error constant and any phase margin, even though the
uncompensated system may be absolutely unstable.

Lead compensation results in increased bandwidth and faster

response.

For higher order systems and systems with large error

constants, large leads are required resulting in excessively
large bandwidth which is undesirable from noise point of view.

For such systems lag compensation is desired, provided the

uncompensated system is absolutely stable.

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 Design procedure for lag-lead compensator
STEP1: For the specified error constant determine the open
loop gain necessary

STEP 2: With this value of K draw the magnitude and phase

Bode plot and determine the phase margin and the GCF of
the uncompensated system.

STEP 3: First design the lag section to provide only partial

compensation of phase margin. Choose GCF such that it
is higher than the GCF if the system is fully lag compensated.

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 STEP 4: determine the value of β, such that the high
frequency attenuation provided by the Lag network is equal
to the magnitude of the uncompensated system at this
frequency.

STEP 5: calculate the value of ꞇ1such that the upper cut off
frequency of lag network is below the gain crossover
frequency

STEP 6: calculate the lower cut-off frequency ω1=1/βꞇ

So the lag network design is over. Find the transfer function,
Draw the magnitude and phase bode plot of the lag
compensated system and determine the GCF and phase
margin,
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 STEP 7: For the lead section independent value of α
cannot be chosen. So select α=1/β and calculate the
maximum lead provided by the lead section by

STEP 8: Choose the compensated cross over

frequency to coinside with ωm(corresponding to
φm).
This is the frequency where lag section has a gain
of -10 log β db.

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Calculate ꞇ2 and αꞇ2 and write the lead compensator
transfer function.
STEP 9: Combine the transfer function of the lag and lead
sections to get the lag-lead compensator transfer function.
Draw the bode plot and determine the phase margin.

Step 10: If the specifications are not met , redesign the

system by modifying the values of β and ꞇ .

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Lead lag compensator design
The open loop transfer function of a unity feedback system is
given by

Compensate the system to meet the following specifications

Velocity error constant Kv >= 25 s-1
Phase margin >= 60o
Solution

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 The sinusoidal transfer function is

The bode plot of uncompensated system shows that the

GCF=6.5 rad/sec, and phase margin is -16o

Therefore the uncompensated system is unstable for the

given value of K. It is stable only for limited valve of K.
So lead lag network is used for compensation.

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First lag compensator is used to partially compensate phase
margin.

Let it provide 36o so that the new crossover frequency is

2rad/sec

The magnitude at 2 rad/sec is 18 dB therefore

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 The upper cut off frequency of the lag network is two octaves
below this GCF

The lower cut off frequency

Therefore the T. F of lag compensator

The lag compensated network

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 For the design of lead section

Therefore

To utilize this phase lead ,at ωm the magnitude must be

From the lag compensated system we can find that the

magnitude -9 db occurs at frequency ωm =3.8 rad/sec

Therefore
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The lead compensator T.f is

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