Lag-lead compensation Lag-lead compensation combines the advantages of lag and lead compensations.

Lead compensation basically speeds up the response and increases the stability of the system. Lag compensation improves the steady-state accuracy of the system, but reduces the speed of the response. If improvements in both transient response and steady-state response are desired, then both a lead compensator and a lag compensator may be used simultaneously. Rather than introducing both a lead compensator and a lag compensator as separate elements, however, it is economical to use a single lag-lead compensator. Basic Characteristics of Lead, Lag, and Lag-Lead Compensation Lead compensation essentially yields an appreciable improvement in transient response and a small change in steady-state accuracy. It may accentuate high-frequency noise effects. Lag compensation, on the other hand, yields an appreciable improvement in steady-state accuracy at the expense of increasing the transient-response time. Lag compensation will suppress the effects of high-frequency noise signals. Lag-lead compensation combines the characteristics of both lead compensation and lag compensation. The use of a lead or lag compensator raises the order of the system by 1. The use of a lag-lead compensator raises the order of the system by 2, which means that the system becomes more complex and it is more difficult to control the transient response behavior. The particular situation determines the type of compensation to be used. Comparison of Lead, Lag, and Lag-Lead Compensation. 1. Lead compensation achieves the desired result through the merits of its phase lead contribution, whereas lag compensation accomplishes the result through the merits of its attenuation property at high frequencies. 2. Lead compensation is commonly used for improving stability margins. Lead compensation yields a higher gain crossover frequency than is possible with lag compensation. The higher gain crossover frequency means a larger bandwidth. A large bandwidth means reduction in the settling time. The bandwidth of a system with lead compensation is always greater than that with lag compensation. Therefore, if a large bandwidth or East response is desired, lead compensation should be employed. If, however, noise signals are present, then a large bandwidth may not be desirable, since it makes the system more susceptible to noise signals because of an increase in the high-frequency gain. 3. Lead compensation requires an additional increase in gain to offset the attenuation inherent in the lead network. This means that lead compensation will require a larger gain than that required by lag compensation. A larger gain, in most cases, implies larger space, greater weight, and higher cost. 4. The lead compensation may generate large signals in the system. Such large signals are not desirable because they will cause saturation in the system.

5. Lag compensation reduces the system gain at higher frequencies without reducing the system gain at lower frequencies. Since the system bandwidth is reduced, the system has a slower speed to respond. Because of the reduced high-frequency gain, the total system gain can be increased, and thereby low-frequency gain can be increased and the steady-state accuracy can be improved. Also, any high frequency noises involved in the system can be attenuated. 6. Lag compensation will introduce a pole-zero combination near the origin that will generate a long tail with small amplitude in the transient response. 7. If both fast responses and good static accuracy are desired, a lag-lead compensator may be employed. By use of the lag-lead compensator, the low-frequency gain can be increased (which means an improvement in steady-state accuracy), while at the same time the system bandwidth and stability margins can be increased. 8. Although a large number of practical compensation tasks can be accomplished with lead, lag, or lag-lead compensators, for complicated systems, simple compensation by use of these compensators may not yield satisfactory results. Then, different compensators having different pole-zero configurations must be employed. Graphical Comparison. Figure 9-27(a) shows a unit-step response curve and unit ramp response curve of an uncompensated system.Typica1 unit-step response and unit ramp response curves for the compensated system using a lead, lag, and lag-lead compensator, respectively, are shown in Figures 9-27(b), (c), and (d).The system with a lead compensator exhibits the fastest response, while that with a lag compensator exhibits the slowest response, but with marked improvements in the unit-ramp response. The system with a lag-lead compensator will give a compromise; reasonable improvements in both the transient response and steady-state response can be expected. The response curves shown depict the nature of improvements that may be expected from using different types of compensators. Figure 9-27 Unit-step response curves and unit-ramp response curves. (a) Uncompensated system; (b) lead compensated system; (c) lag compensated system; (d) lag-lead compensated system.

1. Lag compensator (a) Results in a large increase in gain Km (by a factor almost equal to ), which means a much smaller steady-state error (b) Decreases on and therefore has the disadvantage of producing an increase in the settling time 2. Lead compensator (a) Results in a moderate increase in gain Km, thereby improving steady-state accuracy (b) Results in a large increase in on and therefore significantly reduces the settling time (c) The transfer function of the lead compensator, using the passive network of Fig. 10.16a, contains the gain _ [see Eq. (10.33)], which is less than unity. Therefore the additional gain A, which must be added, is larger than the increase in Km for the system 3. Lag-lead compensator (essentially combines the desirable characteristics of the lag and the lead compensators) (a) Results in a large increase in gain Km, which improves the steady-state response (b) Results in a large increase in on, which improves the transient response settling time

What is Derivative? You can think of derivative control as predicting the error in future, based on the current slope of the error. How far into the future? Thats what the derivative time (Td) is for. It is the prediction horizon. (Derivative control actually uses extrapolation, not prediction. But hey, we all understand how prediction works, so well just go with that.) Once the derivative mode has predicted the future error, it adds an additional control action of Controller Gain * Future Error. For example, if the error changes at a rate of 2% per minute, and the derivative time Td = 3 minutes, the predicted error is 6%. If the Controller Gain, Kc = 0.2, then the derivative control mode will add an additional 0.2 * 6% = 1.2% to the controller output. Why Use Derivative The derivative control mode gives a controller additional control action when the error changes consistently. It also makes the loop more stable (up to a point) which allows using a higher controller gain and a faster integral (shorter integral time or higher integral gain). These have the effect of reducing the maximum deviation of process variable from set point if the process receives and external disturbance.