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EE 3CL4, 9

1 / 30
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

EE3CL4:
Introduction to Linear Control Systems
Section 9: Design of Lead and Lag Compensators using
Frequency Domain Techniques

Tim Davidson
McMaster University

Winter 2014

EE 3CL4, 9
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Outline

Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators

1 Frequency Domain Approach to Compensator Design

Lag
Compensators

2 Lead

Compensators

3 Lag

Compensators

EE 3CL4, 9
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Frequency domain analysis

Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Analyze closed loop using open loop transfer function

L(s) = Gc (s)G(s)H(s).
Nyquists stability criterion
1
Gain margin: |L(j
, where x is
x )|
the frequency at which L(j) reaches 180
Phase margin, pm : 180 + L(jc ), where c is
the frequency at which |L(j)| equals 1
Damping ratio: pm = f ()
Roughly speaking, settling time decreases with
increasing bandwidth of the closed loop

EE 3CL4, 9
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Bode diagram

Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

L(j) =

1
j(1 + j)(1 + j/5)

Gain margin 15 dB
Phase margin 43

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Compensators and Bode


diagram

Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

We have seen the importance of phase margin


If G(s) does not have the desired margin,

how should we choose Gc (s) so that


L(s) = Gc (s)G(s) does?
To begin, how does Gc (s) affect the Bode diagram
Magnitude:

20 log10 |Gc (j)G(j)|



= 20 log10 (|Gc (j)| + 20 log10 |G(j)|
Phase:

Gc (j)G(j) = Gc (j) + G(j)

EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Lead Compensators
(s+z)
Gc (s) = Kcs+p
, with |z| < |p|, alternatively,

Gc (s) = Kc 1+s
1+s , where p = 1/ and = p/z > 1
Bode diagram (in the figure, K1 = Kc /):

EE 3CL4, 9
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Lead Compensation

Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

What will lead compensation, do?


Phase is positive: might be able to increase phase

margin pm
Slope is positive: might be able to increase the

cross-over frequency, c , (and the bandwidth)

EE 3CL4, 9
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Lead Compensation

Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Gc (s) = Kc 1+s
1+s
By making the denom.
real,
 can show that


Gc (j) = atan

(1)
1+( )2

1
Max. occurs when = m =
=

Max. phase angle satisfies tan(m ) =

zp
1

1
Equivalently, sin(m ) = +1

At = m , we have |Gc (jm )| = Kc /

EE 3CL4, 9
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Bode Design Principles

Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Set the loop gain so that desired steady-state error

constants are obtained


Insert the compensator to modify the transient
properties:
Damping: through phase margin
Response time: through bandwidth

Compensate for the attenuation of the lead network, if

appropriate
To maximize impact of phase lead, want peak of phase near
c of the compensated open loop

EE 3CL4, 9
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Design Guidelines

Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

2
3
4
5
6
7

8
9
10

For uncompensated (i.e., proportionally controlled)


closed loop, set gain Kp so that steady-state error
constants of the closed loop meet specifications
Evaluate the phase margin, and the amount of phase
lead required.
Add a little safety margin to the amount of phase lead
From this, determine using sin(m ) = 1
+1
To maintain steady-state error consts, set Kc = Kp
Determine (or approximate) the frequency at which
Kp G(j) has magnitude 10 log10 ().
If we set m of the compensator to be this frequency,
then Gc (jm )G(jm ) = 1 (or 1). Hence, the
compensator will provide its maximum phase
contribution at the appropriate frequency

Choose = 1/(m ). Hence, p = m .


Set z = p/.
(s+z)
Compensator: Gc (s) = Kcs+p
.

EE 3CL4, 9
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Example

Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

5
Type 1 plant of order 2: G(s) = s(s+2)
Design goals:
Steady-state error due to a ramp input less than 5% of
velocity of ramp
Phase margin at least 45 (implies a damping ratio)

Steady state error requirement implies Kv = 20.


For prop. controlled Type 1 plant: Kv = lims0 sKp G(s).

Hence Kp = 8.
To find phase margin of prop. controlled
loop
we need


40

to find c , where |Kp G(jc )| = jc (jc +2) = 1

c 6.2rad/s
Evaluate Kp G(j) = 90 atan(/2) at = c
Hence pm, prop = 18

EE 3CL4, 9
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Example

Tim Davidson
Frequency
Domain
Approach to
Compensator
Design

Lets go for a little more, say 30

Lead
Compensators

So, want peak phase of lead comp. to be 30

Lag
Compensators

pm, prop = 18 . Hence, need 27 of phase lead

1
Solving +1
= sin(30 ) yields = 3. Set Kc = 3 8
Since 10 log10 (3)
= 4.8 dB we should choose m to be


40
= 4.8 dB
where 20 log10 jm (j
m +2)

Solving this equations yields m = 8.4rad/s

Therefore z = m / = 4.8, p = z = 14.4


Gc (s) = 24(s+4.8)
s+14.4
120(s+4.8)
Gc (s)G(s) = s(s+2)(s+14.4)
, actual pm = 43.6
Goal can be achieved by using a larger target for

additional phase, e.g., = 3.5

EE 3CL4, 9
15 / 30
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Bode Diagram

EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Step Response

EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Ramp Response

EE 3CL4, 9
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Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Ramp Response, detail

EE 3CL4, 9
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Lag Compensators

Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Gc (s) =

Kc (s+z)
s+p , with |p| < |z|, alternatively,
Kc (1+s )
1+s , where z = 1/ and = z/p

Gc (s) =
>1
Bode diagrams of lag compensators for two different

s, in the case where Kc = 1/

EE 3CL4, 9
21 / 30
Tim Davidson

What will lag compensation do?

Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Since zero and pole are typically close to the origin,

phase lag aspect is not really used.


What is useful is the attenuation above = 1/ :
gain is 20 log10 (), with little phase lag
Can reduce cross-over frequency, c , without adding
much phase lag
Tends to reduce bandwidth

EE 3CL4, 9
22 / 30
Tim Davidson

Qualitative example

Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Uncompensated system has small phase margin


Phase lag of compensator does not play a large role
Attenuation of compensator does:

c reduced by about a factor of a bit more than 3


Increased phase margin is due to the natural phase
characteristic of the plant

EE 3CL4, 9
23 / 30
Tim Davidson

Bode Design Principles

Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

For lag compensators:


Set the loop gain so that desired steady-state error

constants are obtained


Insert the compensator to modify the phase margin:
Do this by reducing the cross-over frequency
Observe the impact on response time

Basic principle: Set attenuation to reduce c far enough so


that uncompensated open loop has desired phase margin

EE 3CL4, 9
24 / 30

Design Guidelines

Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

2
3

For uncompensated (i.e., proportionally controlled)


closed loop, set gain Kp so that steady-state error
constants of the closed loop meet specifications
Evaluate the phase margin, analytically, or using a
Bode diagram. If that is insufficient. . .
Determine c0 , the frequency at which the
uncompensated open loop, Kp G(j), has a phase
margin equal to the desired phase margin plus 5 .
Design a lag comp. so that the gain of the compensated
open loop, Gc (j)G(j), at = c0 is 0 dB
Choose Kc = Kp / so that steady-state error consts

are maintained
Place zero of the comp. around c0 /10 so that at c0 we

get almost all the attenuation available from the comp.


Choose so that 20 log10 () = 20 log10 (|Kp G(jc0 )|).

With that choice and Kc = Kp /, |Gc (jc0 )G(jc0 )| 1


Place the pole at p = z/
(s+z)
Compensator: Gc (s) = Kcs+p

EE 3CL4, 9
25 / 30
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Example, same set up as lead


design
5
Type 1 plant of order 2: G(s) = s(s+2)
Design goals:
Steady-state error due to a ramp input less than 5% of
velocity of ramp
Phase margin at least 45 (implies a damping ratio)

Steady state error requirement implies Kv = 20.


For prop. controlled Type 1 plant: Kv = lims0 sKp G(s).

Hence Kp = 8.
To find phase margin of prop. controlled
loop
we need


40

to find c , where |Kp G(jc )| = jc (jc +2) = 1

c 6.2rad/s
Evaluate Kp G(j) = 90 atan(/2) at = c
Hence pm, prop = 18

EE 3CL4, 9
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Example

Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Since want phase margin to be 45 , we set c0 such that


G(jc0 ) = 180 + 45 + 5 = 130 . = c0 1.5
To make the open loop gain at this frequency equal to 0 dB,
the required attenuation is 20 dB. Actual curves are around
2 dB lower than the straight line approximation shown
Hence = 10. Set Kc = Kp / = 0.8
Zero set to be one decade below c0 ;
Pole is z/ = 0.015.
Hence Gc (s) =

0.8(s+0.15)
s+0.015

z = 0.15

EE 3CL4, 9
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Tim Davidson

Example: Compd open loop

Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

4(s+0.15)
Compensated open loop: Gc (s)G(s) = s(s+2)(s+0.015)
Numerical evaluation:
new c = 1.58
new phase margin = 46.8
By design, Kv remains 20

EE 3CL4, 9
28 / 30
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Step Response

EE 3CL4, 9
29 / 30
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Ramp Response

EE 3CL4, 9
30 / 30
Tim Davidson
Frequency
Domain
Approach to
Compensator
Design
Lead
Compensators
Lag
Compensators

Ramp Response, detail

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