When is it needed?

Proportional control does not meet

specifications (both transient response
and steady-state error).
Lead meets transient response
Lag-lead Design specifications.
M. Sami Fadali Need a lag section to reduce the steady-
Professor of Electrical Engineering
University of Nevada, Reno
state error.
1 2

General form Design Options

Lag-lead compensator 1. 1

2. = 1

i. Select a suitable value for .

ii. Design procedure (skip).
3 4
 1. 1 Example
Design a lead compensator to improve the
transient response . Design a lag-lead compensator for the
system to obtain closed-loop dominant
Improve the steady-state response by
poles with a damping ratio of 0.5, an
adding a lag compensator.
undamped natural frequency of 4 rad/s,
Because the lag compensator will cause a and reduce the steady-state error by a
deterioration in the transient response, it is factor of 5.
advisable to use a somewhat conservative
lead design.
5 6

Solution : Lead Design Solution : Lag Design

From the lead presentation, we have
Type 1: The lead section increases by
so we need
and the lead compensator

Check the time response and, if necessary,

7
adjust the design to meet the specs. 8
 Step Response 2.i
Choose a value for =1/ sufficiently small to
System: Closed Loop r to y
I/O: r to y Step Response provide the desired specifications.
1.4 Peak amplitude: 1.18
Overshoot (%): 17.6

1.2
At time (seconds): 0.719 provides the necessary improvement in
1
steady-state error.
System: Closed Loop r to y

0.8
I/O: r to y
Settling time (seconds): 1.22
Design a lead compensator with the selected .
A m p litu d e

0.6
For a conservative design, use = 0.1 and lead
0.4
compensator angle
0.2
For pole-zero cancellation (cancel pole at )
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (seconds) 9 10

2.i = 1 (Page 2) Example

Add a lag section with = 1/. Design a lag-lead compensator for the system
Check the error constant and the pole to obtain closed-loop dominant poles with a
locations for the design. damping ratio of 0.5, an undamped natural
Check the time response and modify the frequency of 4 rad/s, and reduce the
steady-state error by a factor of 3. Use the
design if necessary to meet the design
passive circuit subject to the constraint
specifications.
Compensator for pole-zero cancellation

11 12
Solution Solution (Page 2) Easier Design
Calculate the desired closed-loop pole location
Try = 0.2, = 5. Meets design
>> g=zpk([],[0,-2],4);scl=-2+j*2*sqrt(3)
specifications.
scl =
-2.0000 + 3.4641i
Cancel pole with zero: zero at 2
The angle of the loop gain at the desired closed- Compensator pole at 2/ = 10
loop pole location is MATLAB root locus plot: Gain =24.9 for
>> phi=pi-angle( evalfr(g,scl))
phi = Lag Compensator:
0.5236
13 14
Can use to calculate pole and zero locations.

Root Locus: Lead Compensation MATLAB Commands

10
Root Locus
>> alpha=0.2; % alpha=1/beta
9

8 System: untitled1
>> a=-real(scl)/10;
Gain: 24.9
Pole: -5 + 8.64i
7
Damping: 0.501 >> gc=zpk(-2,-2/alpha,1)*zpk(-a,-alpha*a,24.6);
Imaginary Axis (seconds-1)

Overshoot (%): 16.2

6
Frequency (rad/s): 9.98

5
Zero/pole/gain:
4

3 24.6 (s+2) (s+0.5)

2

1
----------------
0 (s+10) (s+0.1)
15 16
-1
-12 -10 -8 -6 -4 -2 0 2
Real Axis (seconds-1)
Compensated System 2.ii = 1: Design Procedure
Adjust gain to improve the transient response:
Calculate the error constant for the system
Reduce gain to 12 (compromise between
settling and overshoot) with proportional control and calculate the
System: Closed Loop r to y
I/O: r to y Step Response
needed gain to meet the steady-state
Peak amplitude: 1.07
1.5
Overshoot (%): 7.09
At time (sec): 0.647
System: Closed Loop r to y
I/O: r to y
Settling Time (sec): 2.95 error requirements.
1
Amplitude

0.5
Obtain the ratio of the pole distance to
0
0 0.5 1 1.5 2 2.5 3
the zero distance for the lead section using
Time (sec)

Pole-Zero Map
5
Imaginary Axis

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-5
-5 -4.5 -4 -3.5 -3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis

2.ii = 1 Proc. (Page 2) 2.ii = 1 Proc. (Page 3)

Calculate the angle contribution of the lead
section . Add a lag section with
Obtain the pole and zero locations for the where and are the pole and zero of the
lead section using lead section.
Check the error constant and the pole
1 cos( ) r 1 1 r cos( ) locations for the design.

tan( z ) sin( ) tan( p ) sin( )
Check the time response and modify the
d cos r 1 p n
d r cos design if necessary to meet the design
z n
sin sin specifications.
19 20