EML5311 Chapter6 p3

Pole at A is:
a. on the root locus without

compensator; (P-controller)
b. not on the root locus

with compensator pole
added (I-controller)
Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright 2004 by John Wiley & Sons. All rights reserved.
Figure (continued)
c. approximately on
the root locus with
compensator pole
and zero added
PI Compensator

Closed-loop system for Example 9.1:
a. Before compensation
Control Systems
Engineering,
Fourth Edition
by Norman S. Nise
b. after ideal integral compensation:
zero
(a=0.1)
is small
Root locus for uncompensated

system of Figure (a)
Root locus for compensated

system of Figure (b)

Ideal integral compensated system response and the

uncompensated system response of Example 9.1
Ideal integral effect was reduce in steady-state error
without changing the transient response,
and yield approximately the same original root locus

PI controller
Implementation:
Operational Amplifiers of Chapter 2
Or, Virtual Instruments of LabView, Matlab, DSpace
or other controller software

a. Type 1
uncompensated
system;
b. Type 1
compensated
system;
c. LAG compensator
pole-zero plot
|zc| > |pc|
a. Type 1
uncompensated
system;
b. Type 1
compensated
system;
e( ) =
A
A
Apc
=
=
K v K vo ( z c pc ) K vo z c
Kz z "
c. LAG
K vo = 1 2
compensator
p1 p2 "
pole-zero
plot
Cascade
Compensato
r
|zc| > |pc|
z ( Kz1z 2 ")
K vn = c
pc ( p1 p2 ")

Root locus:
a. before lag compensation;
b. after lag compensation

Root locus for Lag

compensated system
Example 9.2

Predicted characteristics of uncompensated and

Lag-compensated systems for Example 9.2

Step responses of
uncompensated and
lag-compensated systems for
Example 9.2
Step responses of the

system for Example 9.2
using different lag
compensators

Using ideal derivative

compensation:
a. uncompensated
c. compensator
zero at 3;
b. compensator
zero at 2
d. compensator
Control Systems Engineering, Fourth
Editionat
by Norman
S. Nise
zero
4
Table 9.2
Predicted characteristics for the systems of previous Figures
ideal derivative compensations

Uncompensated system and ideal derivative

compensation solutions from Table 9.2

Root locus for

uncompensated
system shown
Root locus for the

PD compensated
system of Example 9.3
Table 9.3
Uncompensated and compensated system characteristics
for Example 9.3

Compensated
dominant pole
superimposed over the
uncompensated
root locus for
Example 9.3

Evaluating the
location of the
compensating
zero for Example
9.3

Uncompensated and
compensated system
step responses of
Example 9.3

PD controller

Geometry of lead
compensation

Three of the infinite

possible lead
compensator solutions
e( ) =
A
A
=
1 + K p 1 + K po ( z c pc )
K po =
Kz 1 z 2 "
p1 p2 "
Cascade Compensato r
K pn =
z c ( Kz1z 2 ")
pc ( p1 p2 ")
Which pc and
zc to choose?

Lead compensator
design, showing
evaluation of
uncompensated
and compensated
dominant poles for
Example 9.4

s-plane picture
used to calculate
the location of
the compensator pole
for Example 9.4

Table 9.4
Comparison of lead compensation designs for Example 9.4
Compensated system
root locus

Uncompensated
system and lead
compensation
responses for
Example 9.4


Procedure for Design

Design PD to improve transient response
Add Integrator and Design to reduce steady-state error
PID controller
Uncompensated feedback control

system for Example 9.5

Root locus for the

uncompensated
system of
Example 9.5

Table 9.5
Predicted characteristics of uncompensated, PD- , and PIDcompensated systems of Example 9.5

Calculating the
PD compensator zero for
Example 9.5

Root locus for

PD-compensated
system of
Example 9.5

Step responses for uncompensated, PD-compensated,

and PID-compensated systems of Example 9.5

Root locus for PID-compensated

What are the resulting

PID controller gains for
parallel PID structure
block diagram given in
slide 30?

Uncompensated system for Example 9.6

Root locus for uncompensated


Table 9.6
Predicted characteristics of uncompensated, lead-compensated,
and lag-lead- compensated systems of Example 9.6
Note: Pole-zero
cancellation
Evaluating the compensator pole for Example 9.6

Note: Chose Lead compensator zero to achieve pole-zero
cancellation of -6 pole of the uncompensated system.
Next, determine compensator pole for desired closed-loop
system dominant pole location (-3.588 + j 7.003).

Root locus for lead-compensated system of

Example 9.6
Note: Pole-zero cancellation with zc

Root locus for lag-lead compensated


Improvement in step response for

lag-lead- compensated system of Example 9.6

Improvement in ramp
response error for the
system of Example 9.6:
a. lead-compensated;
b. lag-lead-compensated

a. Root locus before

cascading notch filter;
b. typical closed-loop
step response before
cascading notch filter;
(figure continues)

(continued)
c. pole-zero plot
of a notch filter;
d. root locus after
cascading notch
filter;
e. closed-loop
step response
after cascading
notch filter.

Figure 9.45
Generic control system with
feedback compensation

A position control system that uses a tachometer as

a differentiator in the feedback path. Can you see the
similarity between this system and the schematic on
the front end papers?

Photo
Mark
E. Van
Dusen.
Copyright
by
2004
by John
Wiley
& Sons. All rights reserved.
a. Transfer function of a tachometer;

b. tachometer feedback compensation

Equivalent block diagram of Figure 9.45

a. System for Example 9.7;

b. system with rate feedback
compensation
c. Equivalent compensated
system;
d. Equivalent compensated
system, showing unity
feedback


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Pole at A is:

a. on the root locus without

b. not on the root locus

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Closed-loop system for Example 9.1:

Root locus for uncompensated

Root locus for compensated

Control Systems Engineering, Fourth Edition by Norman S. Nise

Ideal integral compensated system response and the

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Root locus for Lag

Control Systems Engineering, Fourth Edition by Norman S. Nise

Predicted characteristics of uncompensated and

Control Systems Engineering, Fourth Edition by Norman S. Nise

Step responses of the

Control Systems Engineering, Fourth Edition by Norman S. Nise

Using ideal derivative

Control Systems Engineering, Fourth Edition by Norman S. Nise

Uncompensated system and ideal derivative

Control Systems Engineering, Fourth Edition by Norman S. Nise

Root locus for

Root locus for the

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Three of the infinite

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Procedure for Design

Uncompensated feedback control

Control Systems Engineering, Fourth Edition by Norman S. Nise

Root locus for the

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Root locus for

Control Systems Engineering, Fourth Edition by Norman S. Nise

Step responses for uncompensated, PD-compensated,

Control Systems Engineering, Fourth Edition by Norman S. Nise

Root locus for PID-compensated

What are the resulting

Control Systems Engineering, Fourth Edition by Norman S. Nise

Uncompensated system for Example 9.6

Control Systems Engineering, Fourth Edition by Norman S. Nise

Root locus for uncompensated

Control Systems Engineering, Fourth Edition by Norman S. Nise

Evaluating the compensator pole for Example 9.6

Control Systems Engineering, Fourth Edition by Norman S. Nise

Root locus for lead-compensated system of

Control Systems Engineering, Fourth Edition by Norman S. Nise

Root locus for lag-lead compensated

Control Systems Engineering, Fourth Edition by Norman S. Nise