COMM 501: SYSTEM CONTROL

Lecture 09:
lag-and-lead compensation
Prof. Dr.-Ing. Darek Korzec
Department of Electronics and Electrical Engineering
darek.korzec@guc.edu.eg

November 18, 2019 1

 content

lag-and-lead compensator
compensation for g ≠ b case
compensation for g = b case

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 2
lag-and-lead compensator

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 3
considered system structure

R(s ) C (s )
GC (s ) G (s )

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 4
 op amp lag-lead compensator
 R1C1s  1R3
Z1 
R1  R3 C1s  1 Z2 
 R2C2 s  1R4
C1
R2
C2
R2  R4 C2 s  1
R1

R4

R3 R6
- R5
OUT -

Ei(s) + OPA MP OUT

+ OPA MP
Eo(s)

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 5
 op amp lag-lead compensator

 1  1 
 s    s  
GC s   K C  T1   T2 
 K C GLead s GLag s 
 g   1 
 s    s  
lead  T1   bT2 
lag

with:
R1  R3
T1  R1  R3 C1 g 
R1 R2 R4 R6 R1  R3
KC  
R2  R4 R1 R3 R5 R2  R4
T2  R2C2 b
R2

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 6
 static velocity error constant

from the definition of the static velocity error constant:

K v  lim sGC ( s )G ( s ) 
s 0

 s  1 T1  s  1 T2 
 lim sK C   G( s) 
s 0
 s  g T1  s  1 bT2 

b
K v  lim sK C G ( s)
s 0 g

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 7
 lag-lead compensation
for g ≠ b

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 8
 non-compensated system

R(s ) 4 C (s )
ss  0.5

Design the lag-and-lead compensator fulfilling requirements:

- damping ratio of the dominant closed loop poles = 0.5
- undamped natural frequency 5 rad/sec
- velocity error constant 80 sec-1

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 9
compensator design procedure
1. Determine the desired location for the dominant
closed-loop poles from performance specs
2. Using G(s) determine the angle deficiency of f for the
dominant closed-loop poles (s1) location
3. Assuming T2 sufficient large to that |Glag(s1)| ≈ 1
choose the T1 and g (not unique) from the requirement:
Glead s1   f
4. Determine KC from the magnitude condition:
KC Glead s1  Gs1   1
5. Specify b to satisfy the requirement for Kv
6. Chose T2 such that
Glag s1   1  5  Glag s1  0

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 10
compensator design procedure

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 11
compensator design procedure

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 12
compensator design procedure

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 13
 compensated system
compensator:

6.26s  0.5s  0.2

GC s  
s  5.02s  0.01247
open loop transfer function:

25.04s  0.2
GC s Gs  
s  5.02s  0.01247

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 14
root-locus plot: compensated

s  2.5  j 4.33

s  0.01247

s  5.02

s  2.5  j 4.33

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 15
root-locus plot: compensated

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 16
 unit step response

uncompensated

compensated

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 17
 unit-ramp response

ess  0.0125
compensated
system

uncompensated
system
ess  0.125

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 18
 lag-lead compensation
for g = b

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 19
considered system structure

R(s ) C (s )
GC (s ) G (s )

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 20
 op amp lag-lead compensator

 1  1 
 s    s  
GC s   K C  T1   T2 
 K C GLead s GLag s 
 b  1 
 s    s  
lead  T1   bT2 
lag

with:
R2  R4 R1  R3
T1  R1  R3 C1 b 
R2 R3
R2 R4 R6 R1  R3
T2  R2C2 KC  
R1 R3 R5 R2  R4

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 21
 static velocity error constant

from the definition of the static velocity error constant:

K v  lim sGC ( s )G ( s ) 
s 0

 s  1 T1  s  1 T2 
 lim sK C   G( s) 
s 0
 s  b T1  s  1 bT2 

K v  lim sK C G ( s )
s 0

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 22
 non-compensated system

R(s ) 4 C (s )
ss  0.5

Design the lag-and-lead compensator fulfilling requirements:

- damping ratio of the dominant closed loop poles = 0.5
- undamped natural frequency 5 rad/sec
- velocity error constant 80 sec-1
-g=b

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 23
compensator design procedure
1. Determine the desired location for the dominant
closed-loop poles from performance specs
2. Determine KC from the steady state error condition:
K v  lim sK C G ( s )
s 0
3. Using G(s) determine the angle deficiency of f for the
dominant closed-loop poles (s1) location
4. Assuming T2 sufficient large to that |Glag(s1)| ≈ 1
choose the T1 and b (not unique) from the requirements:
KC Glead s1  Gs1   1 Glead s1   f
5. Chose T2 such that

Glag s1   1  5  Glag s1  0

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control
Electronics and Electrical Engineering Department November 18, 2019 24
 compensator design procedure
Example 9-2
Ex. 9-1

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 25
compensator design procedure

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 26
compensator design procedure

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 27
 compensated system
compensator:

 s  2.38  s  0.1 
GC s   10  
 s  8.34  s  0.0285 
open loop transfer function:
40s  2.38s  0.1
GC s Gs  
s  8.34s  0.0285ss  0.5

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 28
 compensated system
s  2.4539  j 4.3099

s  0.1003

s  3.8604

s  2.4539  j 4.3099

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 29
 unit step response

uncompensated

compensated

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 30
 unit ramp response

ess  0.0125
compensated
system

uncompensated
system
ess  0.125

Prof. Dr.-Ing. Darek Korzec COMM 501, System Control

Electronics and Electrical Engineering Department November 18, 2019 31