Outline

Frequency Response Design • Lag design.

• Lead design.
• Lag-lead design.
M. Sami Fadali
Professor EE
University of Nevada, Reno

1 2

Lag Design Lag Design (Cont.)

• Find the gain K required to obtain the • Find  = (Increasing reduces
desired steady-state error. the bandwidth of the system).
• Obtain a frequency response plot for the • Choose the upper break frequency in the
system with the gain K. range to (one decade to one
• Find the frequency where the system octave below the crossover frequency).
with gain K has an angle = 180+ PM+5 to
12 , where PM is the required PM.

3 4
 Lag Design (Cont.)
• Check the gain margin, phase margin, and
bandwidth for your design (and/or check the
time response).
• Find the component values for the lag circuit
Example: Lag Design
Design a compensator for the system to obtain
• Steady-state error e()% = 10%
• Phase margin = 60

R1 R2
C
n

5 6

Solution Lag Design

• Start with proportional control
• Need 60 PM: ask for 65
• Desired e()% = 10% (Type I)
• angle at crossover =  180 + 65 = 115
• Bode plot: find frequency where the angle is
, 115
, rad/s (see plot)
• With , GM=2.5, PM=22.5
• Does not meet specs. PM< 60
7 8
 10
10
Bode Plot Options
Bode Diagram
Find the Gain Crossover
Magnitude (abs) Bode Diagram
2
10
0

Magnitude (abs)
10 System: g
System: g Gain Margin (abs): 2.5
Frequency (rad/s): 2.85 0 At frequency (rad/s): 10
Magnitude (abs): 3.04 10 Closed loop stable? Yes

-10
10
-90
-2
10 System: g
System: g
Phase (deg)

-90 Phase Margin (deg): 22.5

Frequency (rad/s): 1.77 Delay Margin (sec): 0.0647
-180 Phase (deg): -115 At frequency (rad/s): 6.08
-135

Phase (deg)
Closed loop stable? Yes

-180
-270
-1 0 1 2 3 -225
10 10 10 10 10
Frequency (rad/s)
-270
-1 0 1 2
10 10 10 10
Right click and choose properties Frequency (rad/s)
9 10

Bode Plot: Effect of Lag

Design Calculations 100
Bode Diagram

• Calculate
50
: 2 options

Magnitude (dB)
0

a) 5.2 (obtained =1014.4/20  -50

System: l
Gain Margin (dB): 21.9

directly if magnitude is in absolute units) -100

At frequency (rad/sec): 9.82
Closed Loop Stable? Yes

System: l
Phase Margin (deg): 60.3
b) >> [m, f]=bode(k*g, wgc) -150
-90
Delay Margin (sec): 0.58
At frequency (rad/sec): 1.82
Closed Loop Stable? Yes

• 1/T in the range -135

Phase (deg)

• T =1/0.185.6  T  29 -180

-225

-270
-3 -2 -1 0 1 2 3
10 10 10 10 10 10 10
11 12
Frequency (rad/sec)
 Step Response
1.4
Step Response Design Using SISOTOOL
1.2 • Find the gain K required to obtain the
1
System: gcl
Peak amplitude: 1.11
desired steady-state error and set the
System: gcl
Overshoot (%): 11
At time (seconds): 1.56
Time (seconds): 7.84 compensator gain to the required value.
Amplitude: 1.02
Amplitude

0.8
• Move the Bode magnitude plot down until
0.6 the gain is zero dBs at an angle = 180+
0.4 PM+5 to 12  and find the corresponding
frequency gc and the gain Knew.
0.2
• Calculate and 1/T =
0
0 5 10 15 13 14
Time (seconds)

Example Move Magnitude Plot Down

Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
5 20

>> g=tf(4,[1,5,4]) 4
10

3 -10

Transfer function: 2
-20

-30

4 1 -40
G.M.: Inf
-50 Freq: Inf
------------- 0
-60
Stable loop

s^2 + 5 s + 4 -1

-45

% Enter g -2

-90
-3
>> sisotool(g)
-4 -135

Set K = 18 for the desired steady-state error. P.M.: 66.2 deg

Freq: 3.39 rad/sec
-5 -180
-4 -3 -2 -1 0 -2 -1 0 1 2
10 10 10 10 10
Real Axis Frequency (rad/sec)
15 16
 Calculate Compensator Param. Compensated System
Root Locus Editor for Open Loop 1 (OL1) Open-Loop Bode Editor for Open Loop 1 (OL1)
4 30

20

3 10

-10
2
-20

-30
1
-40
G.M.: Inf
-50 Freq: Inf
0 Stable loop
-60
0

-1
-45

-2
-90

-3
-135

P.M.: 62.7 deg

Freq: 3.33 rad/sec
-4 -180
-4 -3 -2 -1 0 10
-4
10
-2
10
0
10
2
17 18
Real Axis Frequency (rad/sec)

Lead Compensator Lead Design

• Increases the gain crossover frequency(BW)
20
Bode Diagram • Find the gain K required to obtain the desired
Ts  1 steady-state error.
Magnitude (dB)

15 System: g
Frequency (rad/s): 10

10
Magnitude (dB): 17
Ts  1 • Obtain a frequency response plot for the
System: g

5
Frequency (rad/s): 1.01
Magnitude (dB): 3.02 system with the gain K and find the phase
0 margin PM for the uncompensated system.
60
s 1
System: g • Let the compensator peak angle be
0.1 s  1
Phase (deg)

Frequency (rad/s): 3.2

Phase (deg): 54.9
30 max = PMdes  (PM  5 to 10)
0
(fails if slope at crossover is steep:  40dB/dec)
-2 -1 0 1 2 3
10 10 10 10 10 10 19 20
Frequency (rad/s)
 Lead Design (Cont.) Lead Bode Plot
• Calculate the attenuation factor
Ts  1
|Glead | C ( s)  ,  1
Log scale  Ts  1

1/
• Find  using /

1/()1/2
• Find  /
1 (0 dB)
1/T 1/(T)
1/(T 1/2)
21 22

Lead Design (Cont.) Lead Example

• Check the gain margin, phase margin, and Design system with 10% error and PM=60
bandwidth for your design (and/or check the
time response).
• Find the component values for the lead circuit
• Solution
R1
• For 10% error, Kv = 10 and K = 10
C
R2

23 24
 Bode Plot: Plant K=10 Design Calculations
Bode Diagram
40
Calculate maximum compensator angle
20

= PMdes (PM  9)

Magnitude (dB)

-20

-40 =60(38.7 9)  30

-60
-90
System: g
Phase Margin (deg): 38.7
Delay Margin (sec): 0.108
Phase (deg)

At frequency (rad/sec): 6.24

Closed Loop Stable? Yes
-135

-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec) 25 26

Design Calculations (cont.) Bode Plot of Lead Compensator

Bode Diagram
10

8
System: g

Magnitude (dB)
Frequency (rad/sec): 8.68
6 Magnitude (dB): 4.77

(mag. cancels with compensator at ) 0

30

25

20
Phase (deg)

15

10

0
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)
27 28
 Crossover Determination
Bode Plots: Plant & Compensator Bode Diagram
40
System: g
Frequency (rad/sec): 8.68
20 Magnitude (dB): 4.77
Magnitude (dB)

-20 System: g
Frequency (rad/sec): 8.68
Magnitude (dB): -4.77
-40

-60

-80
45

0
Phase (deg)

-45

-90

-135

-180
-1 0 1 2 3
10 10 10 10 10 29 30
Frequency (rad/sec)

Crossover Determination
10
5
Bode Diagram Lead Compensator
Ts  1
Gc ( s )   
R1 K
Magnitude (abs)

0
10
System: g
Frequency (rad/s): 8.66
    Ts  1
-5 Magnitude (abs): 0.264
C 1 0.2 s  1
 30  
10
R2
10
-90
-10
 3  0.067 s  1
T  R1C  0.4 M  0.5 F  0.2 s
System: g
Frequency (rad/s): 8.67
Phase (deg)

Phase (deg): -173

-180
R2 0.2
 
R1  R2 0.4  0.2
-270

R2  0.2 M
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)

>> [mag,phase]=bode(g,8.66) 31 32
 Step Response
Effect of Lead Compensation
Bode Diagram
40

20 Lead

0
Magnitude (dB)

Lead-compensated
-20

-40 Plant

-60

-80
45

System: untitled1
Phase (deg)

-45 Phase Margin (deg): 59.9

Delay Margin (sec): 0.121
-90 At frequency (rad/sec): 8.65
Closed Loop Stable? Yes

-135

-180
-1 0 1 2 3
10 10 10 10 10
33 34
Frequency (rad/sec)

Compensated Frequency
Response PM  60 Closed-Loop Bode BW12rad/s

35 36
 Bode Diagram
0

Lag-lead Design
-2

Magnitude (dB)
-4

-6

Lag-lead -8

-10
• Find the gain K required to obtain the desired
30
steady-state error.
Compensator

Phase (deg)
0
• Obtain the new crossover frequency from the
-30
10
-3 -2
10
-1
10 10
0 1
10
2
10
3
10
bandwidth using .
Frequency (rad/sec)

• Obtain a frequency response plot for the system

with the gain K and find the phase margin PM
at the new crossover frequency.
• Improve transient and steady-state response. • Calculate the lead section peak angle
• Specified PM, BW and steady-state error. max = PMdes  (PM  5 to 10)
37 38

Lag-lead Design (Cont.) Explanation of Second Rule

• Calculate the zero-pole ratio • Horizontal distance:

20 log|G(jgc)|
• Lag design plant
.
gc 1/(Tlead)
) 0 dBs
• Find  (a) / /
. 20 dBs/dec slope

20 log|G(jgc)|
or (b) 20 log()
39 40
1/Tlead
 Lag-lead Design (Cont.)
• Check the gain margin, phase margin, and
bandwidth for your design (and/or check the
time response). Redesign if necessary.
• Find the component values for the lag-lead
circuit.
Lag-lead Example
Design a compensator for the system to
obtain an velocity error constant of 12, a
phase margin of 55, and a bandwidth of 2.3
rad/s.

41 42

Lag-lead Specs. Gain Crossover Frequency

Specs. Kv = 12, PM = 55, BW = 2.3 rad/s
>> K=12; g=zpk( [ ],[0,-1,- 4],4) >> [mag,phase]=bode(g1,1.4)
Zero/pole/gain: mag =
4 4.7023
------------- phase =
s (s+1) (s+4) -163.7524
>> g1=K*g;
43 44
 Bode Plot: Uncomensated
Bode Diagram Lag-lead: Lead Section
• Lead section max angle
Magnitude (abs)

0
10 System: g
Frequency (rad/s): 1.4
Magnitude (abs): 4.68

-5
10

-90

-135
Phase (deg)

-180 System: g
Frequency (rad/s): 1.4
Phase (deg): -164
-225

-270
-2 -1 0 1 2
10 10 10 10 10
45 46
Frequency (rad/s)

Compensated Plot
Lag-lead Example (cont.) Nichols Chart
From: Input To: Out(1)
100

80
Lag section
60

40

Open-Loop Gain (dB)

20 System: untitled1
Gain Margin (dB): 9.68
At frequency (rad/sec): 4.27
Lag-lead transfer function 0 Closed Loop Stable? Yes
System: untitled1
-20 Phase Margin (deg): 39.5
Delay Margin (sec): 0.311
At frequency (rad/sec): 2.21
-40 Closed Loop Stable? Yes

-60

-80

-100
-270 -225 -180 -135 -90
Open-Loop Phase (deg)

47 48
 Closed-loop Bode Oscillatory Step Response
Bode Diagram System: gcl
From: Input To: Out(1) I/O: Input to Out(1) Step Response
20 Peak amplitude: 1.29 From: Input To: Out(1)
1.4 Overshoot (%): 28.6
0 At time (sec): 1.34
System: gcl
I/O: Input to Out(1) System: gcl
Magnitude (dB)

-20 I/O: Input to Out(1)

Frequency (rad/sec): 2.57
Magnitude (dB): 3.85 Frequency (rad/sec): 3.78 1.2 System: gcl
-40 Magnitude (dB): -3.01 I/O: Input to Out(1)
Settling Time (sec): 11.3
-60
1
-80

-100
0
0.8

Amplitude
-45

-90 0.6
Phase (deg)

-135

-180 0.4
-225

-270 0.2
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
0
0 2 4 6 8 10 12
49 50
Time (sec)

Second Approach Margins for Second Design

Nichols Chart
From: Input To: Out(1)
100

50

System: untitled1
Gain Margin (dB): 16.2

Open-Loop Gain (dB)

At frequency (rad/sec): 5.31
0 Closed Loop Stable? Yes
System: untitled1
Phase Margin (deg): 54.8
Delay Margin (sec): 0.624
At frequency (rad/sec): 1.53
-50 Closed Loop Stable? Yes

-100

-150
-270 -225 -180 -135 -90
Open-Loop Phase (deg)
51 52
 Closed-loop Bode Time Response
Step Response
1.4 System: Gcl
Bode Diagram Peak amplitude: 1.16
50 Overshoot (%): 15.9
1.2 At time (seconds): 1.76
System: Gcl
Frequency (rad/s): 2.74
Magnitude (dB): -3 1
0 System: Gcl
System: Gcl
Peak gain (dB): 0.795 Settling time (seconds): 10.5
Magnitude (dB)

Amplitude
At frequency (rad/s): 1.26 0.8

-50
0.6

0.4
-100
0.2

-150 -2 0
10 10
-1
10
0
10
1
10
2
10
3 0 2 4 6 8 10 12
Frequency (rad/s) 53 Time (seconds) 54