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Solution Display

This document summarizes the design of a lag-lead compensator for a system to meet performance specifications for overshoot, settling time, and steady state error. It describes translating the specifications to frequency domain requirements, designing the lag and lead components of the compensator based on those requirements, and verifying through simulation that the compensated system meets the specifications.

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Enock Omari
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89 views3 pages

Solution Display

This document summarizes the design of a lag-lead compensator for a system to meet performance specifications for overshoot, settling time, and steady state error. It describes translating the specifications to frequency domain requirements, designing the lag and lead components of the compensator based on those requirements, and verifying through simulation that the compensated system meets the specifications.

Uploaded by

Enock Omari
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Solution Display

03-Jan-15

Problem 11.26
Subject: 11. Design via Frequency Response.
Problem Hints Directions Detailed Solution Final Answer
1. Part a:
We need to design a lag-lead compensator for the system shown in Fig 26-1 to meet the following performance
specifications: overshoot
, settling time
, steady state error
. It is given that
and

(Figure 26-1)

2. First we write the transfer function from

3. Letting

to

, we can redraw the block diagram of Fig. 26-1 in a standard form with a negative feedback (Figure

26-2):

(Figure 26-2)

4. Following the lag-lead compensation design procedure, we translate the performance specifications into the frequency
domain requirements.
5. We obtain the required damping ratio from the percent overshoot:

6. Next, we determine the phase margin,

, from the relationship between phase margin and damping ratio:

7. Using the relationship between damping ratio, settling time and bandwidth, we determine the required bandwidth:

8. Finally, the specification on the velocity constant


the lag-lead compensator's static gain equals

yields the required gain:

. Assuming that

, we have:

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Solution Display

03-Jan-15

9. The Bode plots for the uncompensated system with

are shown in Fig. 26-3.

(Figure 26-3)

10. We select

as the new phase margin frequency.

11. At this frequency, the uncompensated phase is

. Adding a

phase contribution from the lag compensator, we

obtain the required phase contribution from the lead portion of the compensator:

12. Now, we design the lag compensator so that its phase response will have little effect at the phase-margin frequency
. The higher break frequency is chosen to be a decade below
13. Since we need to add

, at

of phase shift using the lead compensator at

can be calculated from:

14. Thus, the transfer function of the lag compensator is:

15. Now we design the lead compensator. Using the values of


angle occurs), and

(the frequency at which the maximum phase

, we find the lower break frequency:

16. The higher break frequency is:

17. Thus, the transfer function of the lead compensator is:

18. Combining (2), (3), (8), (14) and (17), we obtain the lag-lead compensated system's open-loop transfer function:

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Solution Display

03-Jan-15

19. The Bode diagrams of the lag-lead compensated open-loop system are shown in Fig. 26-4.

(Figure 26-4)

20. From this Figure we see that the phase margin ,

(the requirement found in (6)). Therefore, the phase-

margin specification is met.


21. The closed-loop bandwidth, is the frequency at which the magnitude response of the open-loop system is
Fig.26-4, we see that this frequency is
22. Since

. Thus, we estimate the closed-loop bandwidth to be

exceeds the requirement of

23. Finally, we must verify that the

. From
.

(found in (7)), the settling time specification is met.

requirement is also met:

24. Part b:
To test the second-order approximations used in the design procedure, we simulate the system with the designed gain and
lag-lead compensator. The simulation results are shown in Fig. 26-5.

(Figure 26-5)

25. From the step response we see that the overshoot is about

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, and the settling time is less than

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