onpensation of Control Systems semisto be compensated to obtain the desired performan: icsietsoena nina oe rr pensation network Tobe comated nine load goth canoe een jt oush examples. he a ; pois c is explained in the form of derivative feedback control. Cees ‘a control system is not upto expectations as per specifications, then it is required that some change in thesystem is needed to obtain performance. The change can be in the form of adjustment of forward-path gain a compensating device in control systems. Ferexample, the steady state error in a control system caa be reduced by increasing atipath gain ‘but on the other hand this increase in forward-path gain results in the system more oscillatory or sometimes unstable, the gain adjustment improves the steady state accuracy of the system at the cost ‘the system towards instability. Howover, improvement, in steady state lo in cases where the system is ance of a control system by gain adjustment is possible tobe within desirable stability limit even after altering forward-path gain. The gain adjustment method is not suitable wherein tke system becomes unstable i tion network is introduced in the system. ‘such cases a compensat network can be introduced in forward-path as shown in Fig, 8.0.1 . If the performances of 363(a) Cascade Compensation Cts), R(s)_4 (0) Feedback compensation Arrapgements fo introducing compensation network in a control system, The compensation network introduces additional poles/zeros in the original sey thereby altering its original transfer function. The effect of adding zero to an unsaiy, + system results in making the system stable as shown in root locus plots of Fig, 8.0.2. Fig. 8.0.2 (a) shows the root locus plot of an unstable system for higher values ¢ forward-path gain. Addition of a zero to the system transfer function changes the shape root locus plot as shown in Fig. 8.0.2 (6) which indicates a stable system for all vals! forward-path gain. (@) Unstable (0) Stable Fig, 8.0.2. Unstable system made stable by adding a vero, sa Utually, the performance specifications of a control system are given in {requ i.e. gain margin and phase margin, therefore, the use of Bodo plot method a in designing compensation networks for control systems. The networks used ‘compensation are described below : PHASE-LEAD COMPENSATIONFig. 8.1.1. Phase-tead network, etransfor function of a phase-lead network shown in Fig. 8.1.1 is given by E,(s) _ (1 +sT) (81) E,@) (+saT) acl = ; “Rak, and T=R,C ‘hetransfer function given by Eq. (8.1) can be expressed in sinusoidal form as E,Go) | al + joT) (8.2) EGo) ~ O+ joa) Ths ole-ero configuration and Bode plot for transfer function (8.2) is shown in fi 8.1.2. Pole-zero configuration _and Bode plot for phase-lead network. ; eer cero = L_ upper corner frequency. ag, occurs at mid-frequency Oy between - Hosw (3) mem) ‘upper and lower1 6 “Yor ‘The phase angle ZE,(joV/E,{jo) can be calculated as 2EoF®) - tan“! (wT) — tan” (oT E(jo) 1 7 =o, = 1. the phase angle is 6, At 07 On = oR oq, = tan“? (ee 7) = tan” or enetan®{) tan 400) (85) From pole-zero configuration of phase-lead network (Fig. 8.1.2) it is observed thatthe is nearer to origin as compared to pole, hence the effect of zero is dominant, therein: "the phase-lead network, when introduced in cascade with forward-path of a transit function, the phase shift is increased. . ‘The Bode plot of phase-lead network (Fig. 8.1.1) reveals that the lead network allow pass high frequencies and low frequencies are attenuated. As the gain is reduced at low frequencies additional gain is needed in the system it for the reduction in gain. Ea PHASE-LAG COMPENSATION _ 8.2.1 shows a phase-lag network wherein the phase of output voltage lags the pha" for sinusoidal inputs. Fig. 6.2.1. Phase-tag networtFig 8.2.2. Pole-zero configuration and Bode plot for phase-iag network. ‘The two corner frequencies are 1 © = F Upper corner frequency 1 E. = Gp lower comer frequency ‘ ; marimam phase Q, ors at mid frequency between upper and lower (8.8) (8.9) (8.10) network (Fig. 8.2.2) itis observed that ‘he effect pole is dominant, therefore, the tion of phase-lag ‘compared to zero, hence tlphase-lag network when introduced in cascade with forward-path of a transfer tna hase shift is reduced. The Bode plot of phase-lag network (Fig. 8.2.2) revealy Detwork allows to pass low frequencies and high frequencies are attenuated, fata [ERE PHASE-LAG-LEAD COMPENSATION ion network in a control system Introduction to phase-lead comy its crossover frequ point toa higher value and, therefore, the bandwidth is increas 2S improving the speed of response and overshoot is reduced but the steady state erygr 4a ‘show much improvement. “ ‘The use of phase-lag compensation network in a control system shifts the gain crossover frequency point to a lower value thus decreasing the bandwidth and improvement in steady state c, error is noted but speed of the response is reduced. ‘The speed of response and, steady state error can be simultaneously improved, if both o—_—______]___ phase-lag and phase-lead compensation networks ee Fig, $3.2. Phase lagtead networ id networks, a single network known as phase-lag-lead network shor 8.3.1 is used which combines the effects of both lag and lead networks. It can be shown that the transfer function of phese-lag-lead network is given by E,(s)_(+sT) (+8) E\(s) (1+ sa) (1+ sBT,) Lead” Lag Ry T,=R,C,, 7, = R,C,,a<1,B>1and of @<1,B>4,08=4,7, <1, Bode Prot Pole zero configuration and Bode plot phase-lag-lead network.‘works are used in cascade, The inherent unstable systems are some times of type 2 and higher, lead on provides phase lead and thus these systemscan be made stable by introducing compensation networks, amie steady state accuracy is improved by using lag network but as the bandwidth is uc the speed of time response is deteriorated to a certain extent. Tag-lead compensation is employed where fast time response as well as better steady sccuracy is desired. FEEDBACK COMPENSATION control system. Usually, tachogenerator feedback is used wherein a signal to derivative (rate) of the output is feedback to improve the performance of a diagram of an uncompensated system is shown in Fig. 8.5.1. K K HS) = eT) +s) the Boron of a system using tachometer feedback (output tachogenerator constant.ion using tachogenerator. Fig. 85.2. Feedback compensa tachoe ‘The block diagram shown in Fig. 8.5.2 can be reduced in the form as shy, ‘ Fig. 85.3, Fig. 85.3. Block diagram of Fig, 852 reduced. ‘The open-loop transfer function of the compensated system as obtained from Fig 45) K ) Kile sky) ae ear) Comparison of transfer function given by Eqs. (8.16) and (8.17) indicate that a zea 1 (UK,) is added to the system due to feedback compensation. The performance oe d system depends on the values of K, and T. Considering the following cases @K=0 When K, = 0 the feedback compensation is ineffective and the systen + uncompensated. Fig. 8.5.4 shows the root locus and the corresponding closed-loop ti “response of transfer function (8.17) for K, = 0. The value of K being sufficiently high sth ‘response is underdamped. Gis) His) = iePact of the transfer function (8,17) g 17) are at ¢ = Oand s = (1/7), the zero at 5. Root locus plot and time response of compensated system (€;< 7 it is noted that for the same value of Kas in case (1). "The damping is = Oand s =(— UT). The zero is at sr function (8.17) are at the corresponding time response of transfer ‘part, the closed-loop time response ‘root locus plot and the roots have no imaginary reveals that the time response of a control system can be10 +025) for the above transfer function is plotted in Fig. 8.6. Lrad/sec to @ = 10 rad/sec. The phase angle is given by LGXjo) = - 90° - tan-* (0.20) 5 10 - 101.3. ~ 135 ~ 153.3For. 08. iene are 2 fend the gin cronerer oes a gemned ate a eable ving Ir8 at © = 6.75 rad/sec. parm # & Fig. 8.6.1. Bode plot for example 8.6.1. “to nease the phase margin to 50" the goin crossover Poi to be shifted to a sjeradue of frequency and this is possible by introducing # phase ‘ead compensation werk The required phase lead is determined below Op = 50° - 30° + Tolerance ‘ a tolerance of say 5° y= 50" — 30" +5" = 25" value of parameter of the phase-Lend network is by 1 —sin dq _1—sin 25° _1- 0.823 gg Te sin 25° 1+ 0423 ” contributed at midfrequency o,, ofthe phase ead ‘of Va the magnitude of phase-lead sated system at a gain of or the compensated {for uncompenss gain crossover frequency‘The two corner frequencies for the phase-lead network are be = 04x87 = 5.5 re The wer aoe oquney = b= tg = ORB = 6.5 rane 1 81 casa ‘The upper corner frequency = =m =""> = TE = ee = 18-7 radsee ‘The transfer function of the phase lead compeasation network with ample, (a) = 2.5 is ® 1 (+455) (1+ j0186) 1) (+ 700720) x04x 2 (+70 0. 2) ‘The open-loop transfer function of the compensated system is (+0185) 10 (2+ 0072s) "81 +028) ‘The Bode plot forthe compensated system is shown in Fig. 8.6.1 and the phate mim, of the compensated system is 50°. G10) = G9) Gs) Ans. PP example 8.6.2 Design a phase lead compensation network for a system. having ope. Toop transfer function given below such that the system will have acceleration em | coefficient K, = 100 sec? and suitable phase margin for stable operation Gis) Hs) = KX __, a + 0.055) 0+ 0059) The open-loop transfer function is thus G(o)HIs) = — 100 +0055) ‘The Bode plot for the above transfer function is plotted in Fig, 8.6.2. The freqie®! ® selected is @ = 1 rad/sec to w = 100 rad/sec. The phase angle is given by ZG(ja) Hijo) = ~ 180° - tan- (0.050) (rad/sec) 1 10 20 50 a MHGoe == 182.8 = 2085-295 4g - 2588 Bode plot (Fig. 8.6.2) it is noted that the P.M. is — 26° and the able phase margin varying between 20" to 50° is assumed, thus PM. = 20° the required phase lead is 4m = 20° — (— 26") + Tolerance is type 2, the phase angle decreases rapidly hence a highet ,, = 20° — (— 26°) + 10° = 56° ole8.6.2. Bode pot for example £6. (dn 5) {p) Assuming P.M. = 50° the required phase lead is 6p, = BO? ~(- 26") + 10° = 86° case (a) the phase lead contributed is 56° whereas in case (b) the phase lead is 86°, ‘the phase lead to be contributed by compensation network exceeds 60° then it is, to use two networks in cascade each contributing phase lead of 6,/2. The compensation networks for cases (a) and (b) are cesigned below : in56°_1-0829_ O17 T+sin56 +0829" 1829 ‘maximum phase-load 56°, is contributed at mid-frequency , of the phase-lead "Alawing an amplification of Va the magnituée of phase-tead compensation function at w = ©, is determined below ‘ = Yor i vir 1+ jOnT vor 1 vo +a oT | 1g et | 1 1 080 | Ge (ion) |= 201080 75 = 201080 Tecay _ 4.6.2) it is noted that for uncompensated system at a gain of plot (Fig, 86.2) ne ew gain croover frequency for the elected as «= ©, = 16.5 rad/sec wes for the phase-lead network are 103 db. Veo, = V0093 x16.5 = 5 rad/see165 1 _ veo, ‘The upper corner frequency = =~ g. sini = | ‘The transfer function ofthe phase-lead network with amplifier gain (17a), 15.75 is | 1 aojum (76) soon + joo) (1+J0x0000%5) + j0.01860) Go) = Ans, ‘The open-loop transfer function of the compensated system is —+025)___100__ (1+ 0.0186s) " s®(1 + 005s) ‘The Bode plot for the compensated system is shown in Fig. 8.6.2. The Po compensated system is 20° and the system is stable. te ‘Case (6). As the phase lead required is 86° (> 60") the same is provided by identical phase-lead networks each contributing a phase lead of 43°, therefore,” sin 43° 1-0.681 O° Tysin 43° 140681 ‘The phase lead ¢,, = 43° due to each phase-lead network is contributed by ext compensation network at mid-frequency ©,, of the phase lead network. Allowing « amplification of 1/a for cach compensation ‘network, the magnitude of each phaselei compensation network is determined below : Gs) = G[8)G(8) His) = = 0.19 oe vor 1 uj | 16,60,)|=| Bsn? |) dor). 2 T+ jon0? || Lap lat In decibel, 20 lo je logy z B10 | Geom) |= 20 ogy9 T= = 20 logo Tee ‘The total magnitude due to two identical phase-lead networks is 7.2 +7. _ From Bode plot (Fig. 8.6.3) itis observed that for uncompensated system, at ast db the frequency is 21 rad/sec. The new gain erossover frequency for the compe is selected as @= a, = 21 rad/see. fo corner frequencies for the phase-lead networks are w 1 corner frequeney = — = a @,, = O19 x 21 = 9.15 rad/see T 1 Ve, 2 frequency = On adie are Je Tag = aaa fiunetion of the phase-lead network with amplifier gain (/" sual? Wt joTW1+ joT) _ (+ jor? At joaTVA+ joo?) (+ jouT)?‘3. Bode plot for example 86.2 (dn =86) 2 2a) soa y (+ j0020)" (1+Jox019% 54 a6. ‘The open-loop transfer function of the compensated system is (1+0118)* 100 (1+ 0.028)? * s*(1 + 0.058) Bode plot for the compensated system is shown in Fig. 8.6.3. The phase margin of sated system is 50° and the system is stable. G0) = G{) GH)afer function i ote in Fig 10 rad/see. The phase angle is given jy aa eo eB tan- (0.50) tn 0.20) ‘Therefore | 2 5 rad/see) o1 1 “aver -94 127.1 - 1668.8 203.1 _ 999 is observed that the gain fhe Bode plot (Fig. 8.6.4) it is observed 1 rel oe very near to each other as such the system is neary ot Aa Stable, to make the system relatively more stable, ée. with a desired P.M. 2 ag érossover frequency must be shifted toa lower value and this posible by using compensation network. 4 Fig. 8.64, Bode plot for example 3.6.3 However, the use phase-lag network will reduce the phase angle to some extentat = gain crossover frequency, therefore, some tolerance say 5° is taken into consideration, tthe phase angle of the compensated system at new gain crossover frequency is 30 PM,) +5°= 35°. For the uncompensated system, at = 1.8 rad/sec tae phase angle is 30°. Thener' le ‘crossover frequency is selected as w = 1.8 rad/see. At this new gain crossover frequen? 2 / 0 ‘The upper comer frequency of the phase lag compensation network is sl! é oc earlier than the new gain crossover frequency, hence the upper corner {000 lag network is w= (1.8/10) = 0.18 rad/sec. 18 rad/seeG+ jor) _ + japT) 7, "8 __ (s+ Joxaasxs8) reer ‘he open-loop transfer function of the compensated aystam ia GG) = Gs) Gig) = 45555) 8 (1+ 2478) "s+, s+2) system is to have 25% ee ‘K and tachometer. feadbach constr Sod [peak time 1.0 second. Determine Solution. The block diagram of uncompensated system is drawn in Fig. 8.6.5. RE) 4 K cis) K cts) sis+2) (a fs. lock gram of compares stm or ample 6A tachometer feedback (feedback compensation) the block diagram of Fig. 8.6.5 is 'a8 shown in Fig. 8.6.6. ‘overall transfer function of the compensated system is “ _— +(2+ KK,)s+K M, = 25%1 sec (given) -_* onto a Oy = 0 ofi-¢ x = 3.42 rad/sec i ‘The characteristic equation for the compensated system is s?+(2+KK)s+K=0 From the characteristic equation it is noted that o,=VK and 2Co, =(2+KK,) “ 3.42 = VK or K=(3.42)?=11.7. Ans. 2% 0.4% 3.42 = _ [ERA ComPeENsaTOR NETWORK DESIGN: ROOT LOCUS APPROACH ‘The addition of a “zero” to an open-loop transfer function of a control system improv time response, However, it is not possible to add an isolated pole/zero to a trae function. Therefore, in order to realize a transfer function of a compensation netwts pair of pole and zero is to be suitably incorporated. For a phase lead network, the suit location of the pole is selected away from the zero in L.H.S. of the s-plane. This euniia _ gives the zero a dominance with respect to pole, becauss the zero is placed near the sls! imaginary axis. Thus, the original root locus shifts towards L.H.S. of the s-plane. Ties? of this compensation network gives a phase angle load. Hence, known as phase compensation. The addition of a pole to an open-loop transfer function such that the said = _ Placed near L.H.S. of the s-plane imaginary axis and the zero suitably away from ths ag. This type of compensation is known as phase lag comPe error coefficient, thereby im? the transfer function of a compensator is given by (+a) Gyo) = 8+ " fe Gh : ce ae bestion of pole (—b)/zero (— a) the transfer functi ion| aa can b the s-plane pole-zero location is shown in Fig. 8.7.2. ‘The corresponding transfer function is given below: (8.17) ‘The pole of the compensator at tuirto the s-plane imaginary axis (jo) with respect ‘ite zero at s = - a. Thus, the effect of the tumpensator pole is more as compared to the zero. ‘The compensation network connected in cascade ‘the open-loop transfer function gives a phase Asa>b the steady-state error coef fi. 8.7.2 Pole-2vo pot Lag compensation. |which improves (reduces) the steady-state ‘The gain of the lag compensator is considered ‘Lag-Lead Compensation Bae Land Coma ae responte aswell as senate omar ae tobe lag-lead compensation is used. ‘transfer function ofa lag-lead compensator is given below ee K.(s+,¥8+ a2) on Gio) = “rlerby) eon per the following methods: Be gnwe lend companssias is cariel ov 08i ethod Method no. 1: Graphical metho a, » (ie. desired root of .e desired closed-loop pole “s,” (i. the oh Fig. 8.73. Phase lead compensation (graphical method) Draw the lines OP and PA. The line PA is parallel to s-plane real axis, (b) Bisect ZOPA, the bisector intersects the real axis at point C. (©) Draw line PE such that ZEPC = % where 0, is the phase angle lead required (@ Draw line PB such that ZBPC = (€) Draw perpendicular from the point P to intersect s-plane real axis at point D ( Locate the compensator zero at s = - a at point E and the compensator poles =-) at point B (with reference to Fig. 8.7.3). G2 1GICA = 1B) *y (5.29 + 92.16) KK, = 148.33 x= 88 K = 56.25 (determined earlier) x, = 183 - 2.63 o «56.25 . ‘The compensated open-loop transfer function is given below 56.25 «2.63 (s +95) a+ Dhs+152) ” Gis) Gs) = " Example 6.1.2. Determine the transfer function of a cascade compensator for control system having the following open-loop transfer function, cama K OO) = BeBe | Following specifications are to be satisfied: WOM, = 16.3% (Gi) Reduction in setting time 60% ‘The order of the characteristic equation to remain the same, Solution. 1. Uncompensated case "___ As per the root locus plot procedure. The __ break away point is determined as o = ~3. The angle __ of asymptotes are + 90°. The shape of the root locus _ plot is shown in Fig. 8.7.8. Fig. 8.7.8. Root locus for Examele 87° o 3 =~tano=- tan 60° =— J o=-o3 p 8-8... = 818 rad/sec.inersecion PRINS =O jg ag alue of ain K (uncompensated) idea 3: nest 234) 998) ermine eppying the rot locus magn ly look, us magnitode K (e+ BNs +4) 1 Hen 36 NG Ka|(s42%044)], assay 21 H 36158 C8+j88 +ICa6 ae Ji +4) 4 n= Zo? $0, =8 Coot locus breaks away) ho, po a Ot Gonige atone eeu: Hence, the desired closed-loop pole s, for the compensated case is 84 = — 80, +0, V1- = 0.5 «10+ 10 f1-0.5® Simplifying, 62-5 +j8.66 ng, Be desired ‘closed-loop pole s, = ~ 5 +, 8.66 does not lie on the root locus plot (Fig. i fies, the phase nage 9, contributed by the phase lead compensator is determined amin ret lowe ‘angle condition ats, =~5+j 8:66 ./—— See 0.+ | Hey j866 DK 5+ j866+4) =n S88) (stan 8) = {1ag0° — 70.89") + (180° -83.41°)] =~ 180° 0,226.7" ead 0, = 25.7" is to be provided function of a phase lead compen by the lead compensator. isator is given below:Kit) yep Go) = BESO, ‘As th order of the characteristic ist remain 4 =~a is placed at the open-loop pole # =~ 2- ‘The phase lead compensator takes the form K,(s+2) GL) = yb) : ‘The ange contributed by the lead compensator at =-5 +) 888 5g, ge | Heiet2) (648) Ieanga-sejaoe 6, = 25.7" (determined earlier) K,(s+2) +B) Ipenya-sesjase (5+ 78.6642) / -8+ j8.66_ @-5)+j806 | O-5)+ja66 1 868 -( 0a 8.66 = (180° — 70.89°) - tan? 2:68. (180° — 70.89°) — tant EO ‘unchanged, the zer0 of thy 26.7" = tan 898 Simplifying, 18 tn D5 8.66 tan 83.41° = 8, s 8.65 ‘Simplifying, b=6 ‘Thus, the transfer function of phase lead compensator is, 83.41" Ge) = Kels+2) (+6) ‘The open-loop transfer function using phase-lead compensator is given below: G(s) Gs) = —KKe8+2) KK, (+ 2Ns+ 4846) ~ (+ 4X46) ‘The desired closed-loop s, = -5 + j 8.66 li a l 1 J 8.66 lies on th locus, locus magnitude condition is to be satisfied a: eee [G0 G.0)|,_ + ja00= 1 EK, =|(6+4Xs+6) Ale. en te=- 64/866 +7866 + 4\-5 +/8.66+6)|SHE 86510 478.6 = VG? + 8.66%) qr K= 28 (determined 76 K = BL = oe = 2.71 6) | + 8.66%) = 76 earlier) G(s) Gs) = wae _ Sa,,= 0.5 x 1.42=0.71 ‘Thegeneral shape ofthe root locus is shown in Fig. 8.7, The break away point ean be In Kv a0 Fig 87.8, Roo cus for mpl 8.73 es of fo, and & are derived from the given settling time, the d-loop pole is given by = 80, +0, 1-85, 20.71 +j 1.23 ae sated gain Kis determined by applying magnitudg original root cous at s, = 0.71 + 1.23. ay Ke "1 or D +B) |. cone sims ce Kea|se+20+5)|,.,,coneyi 2[(0.71 +/1.29N-0.71 +/1.23 + 2X-0.71 +1355, 0.71 + j1.23K1.29 + j1.23X4.29 + j1.23) | l fort +1230. eo Keila7 2, Compensated case 1,5 064, 1, 5.63 bec. {),= 0.6 x 5.63 = 3.378 sec. As the value of damping ratio § = 0.5 remains same for the compensa, ‘uncompensated case ‘ 8 ta, oe be 4 0 2568 rad ee " &, 05x 3378 ‘The desired closed-loop pole is ayn - bo, +0, 1-8 =~ 0.5 « 2.368 + j 2.968 /1-0.5" 8g - 118 + 2.08. ‘The desired closed-loop pole does not lie on the root locus plot (Fig 8.7.9). Thereler, 4g =~ 1.18 +) 2.05, the contributed Gs, the angle condition ef rot can Tha" Pits ead compensator os x CLI8+ 7205°-118+ 7205 +2x-118+ 20575 ~ition sy 5) Qs 06058876 16 36.41" ~~ loncome fo funtion o phase lsd compensator igen tal: Ofor= Ft a og (e+) " ‘ ‘gre phase lead compensator provides a lead angle 0, ats, = ~ 1.18 + 2.08. 80" o- | Kita ra) cuss jas 0, = 36.41° (calculated earlier) Kista) (48) Nhat 26 Selecta = 2 such that the open-loop pole at s = ~ 2 is cancelled and the order of the nceritc equation remains unchanged. 36.41" 364i" «= / Saissgaozen ~ (b= 1.18) + j 2.05 1208 gags 208 os2 8" 5-118 > — tant 208, 6.41" = 68,19" tan 8 1 2052 51.78" b-118 = 2.05. ‘ tan 31.78" = 555 2.05, * 0619 = 55 = 1.18+ 2.05 is determined using root loop transfer function.1 Paes KK, = |s(0 +548 +4.99) 7 [(- 118 + 205N- 1.18 +) 2.05 + 510.18 +29, (C118-1/20510.82 + 200038147206 2°, = fae? 2055082" + 2OVORP vangh 451 / 1.27 (determined earlier) Rearranging, 441 3.98, x 1127 11.27 «3.95 _ Therefore, O14) ,6) = Hz S98 8.7.2. Phase Lag Compensator Design ‘The lag compensator is used in cascade with the forward path (open oe), function ofa feedback contol system, wherein the steady state error is to en reduced) ‘The lag compensator, thus introduced does not appreciably alter the, {uncompensated rot loeus near the desired elosd-logp pole, This is possible by sda Jag compensator contributing lag angle in the range of O° to ~ 3°. The distances of poles and zeros of the lag compensator are measured soils compared with the distance of closed-loop pole. Thus, the lag compensator does netafing| root locus shape near the desired closed-loop pole much. The complex part of the root locus slightly shifts towards the R.ELS., but thissifi \@) Locate the desired closed-loop pole on the zo0t locus of the uncompensatess#2 (6) Determine the value of, Bain K (gain factor) for the uncompensated system tt! desird closed-loop pole. om ne (© Caleulate the value ofthe new error coefficient say K., to meet the steady stateer™ requirement. *a IK, (621) steady state error e,,, due to the use of soa trent K,is'Biven blogs °° Pe Tag compensator interme of a 1 ‘9m meek (8.28) fay, 14Ky, Che re (8.29) 8:30) oving given the values of K,, K,, and selecting the appropri 10 ) transfer r, the parameter “a” is determined. mt oe seen hee roved (ie, (i) Type “1” transfer function 5 ‘heoriginal steady state error e,, in terms of velocty error coefficient K, i given below: » original electing a 7 88D) fgenell 2 the relation between the specified stedy start error ¢,, and the velocity error aientK,, due the use of phase lag compensator is given below, (8.82) (83) a zs Having given the values of K,, 5", the parameter “a” is determ Examples : Lag Compensator and K,, and selecting appropriate value of the Jor d unity feedback control system having error due to unit ramp input is reduce! DySolution. As the steady state error is to be reduced a Ing compengain 1. Uncompensated case 7 |As per procedure, the root locus is plotted as shown in Fig. 8.7.10, ‘The characteristic equation is eer 1+ G(s) =0 Peer G+” Simplifying, K=-(6? +89) ‘The break away point is obtained by relation 20 a # .-as+8) Fig. 87.10, Root locs pot ee, = ~(2s+8)=0 . s-- 82-4 Hence, the break away point on the root is located at: E o,=-4 Angle of asymptotes are given by (k+D pz x 180" k= 0.1 x04 2-0 and @x1+y = ap * 180" = 270° = — 90° x 180° = 90° DE = 8 rad/see, ** ‘The desired closed-loop pole is given by S4=~80, +jo, 1 =-44j 81-057 8g=~ 44743 steady state error is to be reduced by a factor of 6.25 given data thespe transfer function fa lg compensator is given blow, Gi=22 G4, . va +b) be 6 * $ s02s =0 a= 0.05 x 6.25 = 0.3125 aE : (00.8125) +005) SS ‘The angle contributed to the root locus (uncompensated) due to use of lag compensator 2-44) 43 (desired closed-loop pole) is determined below, as _ [ rét iav8 40.8125 3.68 + j4V3 = 4+ jaV3 + 0.05 95 + JAN 1 488)_( tog — tant 22 (rn 48) (wo $8) 180° — 62.02) - (180° ~ 6025) = ‘As the angle ~1.77° falls within a range 0° to— 5°. =~ a, ‘The phace lag compensated open-loop transfer function is given below: 3 K(s +0.3125) Gs) Ge) sis + 8X8 + 0.05) “The value of K (uncompensated gain at (6 228 x 8 = 64 2 645403125) ang, = s+ 8\s + 0.05) nsfer function ofo unity feedback control aystem is Hence, the lag compensator design = 4 + JAY) for a second order 255 tio = 0.6. ‘compensator such that the s seady state error coeffis K, = 41.57 for a=_..«» Solution. As per the procedure, the rot locus plot for Gis) = Kits + 1X6 + 6) is Fig. 87.11 = cos"! = cos") 0.6 = 58.15" aj2-35+)468 Let, the damping ratio line intersect the root locus say at sy = 6 +0. a ‘The equation for the damping ratio line is derived below. ‘The break away point can be calculated as 3.5 as per root locus plot procedure. 2 ~~ tan0 ° {ve slope is the equation forthe damping, Fig, 87.11 Root lous for rampieg o=-35 — tan 53.15" |= 5 = 1.38 a @= (8.5) (- 1.88) = 4.65 Hence, the desired closed-loop pole is sy 578.5 +) 4.65 ‘The value of gain K at s= sy of root locus i. —8.5 +, 4.65 is determined using magnitude condita |avaera ar or K=|6+D646)). ase jees (85+) 4.65 + 11-3.5 +) 4.65 +6)| =/C2.5 +] 4.65125 + 4.65) | Simplifying, Gs) = © G+ D6+6) ‘The open-loop transfer function as above is type “0” Ap eaiers Ky lim, Gts) = im —2787_ ro oo rN Ke -dee +0e+6) X,, = 41.37 Given) Steady state error is tobe improved and lag compensator is neededRe 825. ‘Thos, oi select the parameter 5 = 0.01 . e .01 x 7.5 = 0.075 ence, the transfer function of the lag compensator is Go) = 240.075 ; 5+001 ‘The angle contributed by the lag compensator at s Ans. 3.5 +) 4.65 is determined va, = 35+ 5465 +0075 Ta5+ 74654001 = (180 tant 485.) (9 tan $5) 349. 3.425, = (180° — 58,6") (180° 53.19 =05" ‘The angle contribution is negligible. Hence, there s no appreciable change in the ‘tam of the root locus and the design is accepted. The compensated transfer function is 27.878 +0075) Gt) __218T15+0075)_—_ ang, ) G9) = rays Bs +000) HG ose Loop poles of Gontrot stem are located af $= functign with unity feedback is given as 1625 GO) = 5645) ‘compensator such that the tion. 1. Uncompensated 25° K,,= lim, 5G) tim £22025 = 3.25 soc" = lin ae+8) Jae el. error coficient K, = 19.8 secited case —_— K,, = 19.8 sec"! (Given) ‘The transfer function of a lag compensator is given below G+) 55 G+) Gis)= (mentioned earlier) K, 19.8 325 Select parameter 05 parameter a = 6 x 0.05 = 0.3 (s+0.3) ma G8) = 0.08) ‘The angle contribution by the lag compensator at the given closed-loop poles. J2N25 is determined below, eels ole (s+0. | 2G{s)= | +03) : +008) |,.. os jane = =2+ jf W25 +03 le T+ j3.16 © L 2% 7225 +005 1.95 + j3.16 3.16 3.16 180°— tan? 218) _( 189° tan~ (190° tan “28 -(180°— tan 28) 34° As the angle ~ 3.4° does not fit within the acceptable range i.e. 0° to -3°, the ds with b = 0.05 and a = 0.3 is not accepted, Further, changing the value of the parameter as 6 = 0.025 and a = 6 x 0.025=18 ‘The angle contributed by the lag compensator is determined as, nay n= 24 jE -/ =2+ j 225 40.16 © C24 522540005 -/ = 185+ j3.16 “Li 975+ 7316 = 4 3.16 3.16 = (180°~ tan? 346) _ (55. 38) ( Tap) [180-10 3 = 1.66 eo * Hence, the design is accepted. The compensated ™ G(s) G,(e) = 16-2515 + 0.15) s(6+ 5X64 0.025) AR®‘The forward path transfer function of « unity feedback control eee SRA 9 s+ 2K6+8) ‘glag compensator such that Maximum over shoot 16.4% for @ unit step input. dy state error 0.16 rad. for unit ramp input. Gs) Fig, 8.2.12 Rot locus for Example 877 compensated case mncompensated closed-loop pole is obtained by the intersection complex part of, plot with the damping ratio line. on for the complex part of root locu tion for the complex part of the root locus is obtained below. “a point s = + jo on the complex part ofthe root lon G9 +50) = Sy jana + 2+ jaro+8+ jo + jo, to lie on the root loeus the phase angle condition is to be Z0(6 + jo) = ~ 180° a (ox jane +2+ jaro +8+ jo)Rearranging, ore ors o Simplifying, tant] 042 #8) = 180° ~ tant S 1 Gi 2R6+8 [__ @@6+10 _] [e?+100+16-07 | tan 180° = 0 o@o+10) | @ G+10c+16-0" Rearranging the equation for the complex part ofthe root locus relating plane is obtained below, ade, a? = 80? + 200+ 16 ‘The break away point on the root locus is obtained by substituting @ = 0, E +: Solving 30? + 200 +16 = 0 Be ‘The acceptable solution is =~ 0.545 Hence, 0, =- 0.545 Equation for the damping ratio line ‘The damping ratio line makes angle @ with the s-plane real axis as shown in 8.7.12, where 0 = cos & ‘The value of the damping ratio & is determined using relation below, ae, tan @ = tan 60° = /3 ‘Thus, the damping ratio line has a slope as under, 2 =~ tan 0 (ve slope) o , the equation for the damping ratio line is given below, 1B (0) o=(0) in the above equat equatio 30?= 30+ 206+ 16-9 : ©=-08 and wa ‘perefore, the intersection point is 0.8 + 0.843 js the closed-loop pole (uncompensated), petermination of the value of K at #, = 0.8 + j08. ‘The value of K at s = s, is determined using root locas aoe condition “ ie se+ 2X64 8) auntie = 8 300) =~ 8-08) = 0.8/5 s4= 286-084 j08F | + OMe + a. j 1 +2 | oss joes K=|ss+2¥8+8)|, ig =- 08 + 8S 0.8 +083 \-0.8 + 0.845 + 21-08 +j 0.848 +8)| =|C 0.8 +j 0.83 1.2 +j 08/3 X72 +j0.8V3)| + 192X144 + 19DVSL 84 1.92) ‘Simplifying, K=215 2. Lag Compensator ‘The original (uncompensated) velocity error coefficient is determined as below: K,,= lim s Gs) ' 5K = 1B SGs D648) ~ 16 é 0 76 compensation the new velocity coefficient is required as below K = tak = 625 e001. (e,, = 0.16 given) Ro ey, 018 function of a lag compensator is given by + asp 6 sb) a _ 825 _ 4.66Select the parameter ‘The parameter a = 0.02 x 4.66 = 0.0932 (s+.0.0932) 5 Ge) = "5 +0.02) ‘The phase angle contributed by the lag compensator at s = 5, =~ 95, fe calculated below, i (s+0.0932) <689)= | 50.02) |, .4,--08+ j088 (08 + 7 0.8v3 +0.032) ~ L 08+ 7 0.8V8 +0.02) (0.78 + j 1.385) + (00 =tan* 2285 (150 tan 2388 > (1900 Fas ome = (180° — 62.95°) — (180° — 60.6°) =-2.35° As the phase angle contributed by the lag compeasator at 3, =~ 0.8 + 0.8, wig the range 0° to ~ 3°, the design is accepted. é ‘The open-loop transfer function cascaded with lag compensator is given below, G(s) G6) = 71.58 + 0.0932) __ als + 2s + 8's + 0.02) ‘Note. The distances of the lag compensator pole-zercs are measured to be very small funtie plane origin as such the root locus sh: ape around the aforesaid pole-zero is also very small 8 spared to the original root locus plot. However, in Fig, 8.7.12 the root locus around lag compensator pole-zero is plottedtot ge scale for clarity. Ans. 7.3, Lag-Lead Compensator Desi ‘The lead compensation improves the time response of a feedback control syste the lag compensation improves (reduces) the steady state error. However, fb aid requirements are to be met, then the compensator consists of a coil on lag and lead compensation known as lag-‘ead compensation. this process lead compensator is designed to meet the desired time respet® then, the lag compensator parameters are determined as per the steady st” ments.84=-32j 153 clcity error coefficient. K. ol lim fi, Jepw 715 sec ‘The desired closed-loop pole s, =~ 3 + 1.52 doe li snot lie on the uncompensated root he The angle 0, to be contributed by the lead compeasator is determined below using adecondition of root locus at s = 5, =—3+j15/2 6 ae / =-180 - 6+) fee 3+ j15V2NK-3+ j152+4) 6 * LE Caejiaaass15)) : e007 tn 258) a 8) a 9, — 180° + 35.26" - 64.75 =~ 180° 0, = 29.49° sr function of a lead compensator is given by, K.(s+a)) oer, a, . 15v2_ go. tant EE — ort BS | 158 : 29.49" = 64.75 — tan G3) Simplifying ton 22 2 95.26 @-9 tan'35.26 = 0.7069 d=6 K =6 (given) 60 OO * a4 Nor) 0+) ‘he value of 6K, s determined applying rot locus magnitude condition at... 4152) (3 +j 1.512) (-3 + j1.5y2 +6)| (~3 +7 1.52) (3 + 15)2)| = 135, K-33 225 13.5, s6+6) ‘The output signal. of G(s)G.(s) is the input to lag compensator. K,,= lim » G(s) Gs) = lim 8X185 #90 S546) i Gs) G(s) = ead | = 2.25 secteect, = 0.02, therefore, a, = 0.02 x 6.66 = 0.199 G(s) = S*0.183) he (+002) angle contributed by the ‘theangle contributed by the lag compensator at s=s, =-3 +,1.5 J is caleulated as GA) = j sees) se +002) (3+ j15 2+0.02) S58 = [ cesit 15 (298 + j15 V2) 1 1.5V2 2867 [nr oem sn cage nuit 8) Oo sla 8k0+0.02) 25 © er ahe+ the closed-loop dominant (desired) pole is located at a unit ramp input is K, = 18 sec". shown in Fig. 8.7.18. The break away characteristic equation is given bY : 1+Gs)=0 K (0, where K'= 72.5 (given) oe ma Hes Ela + #12) 2 [oP + 156? + 3661 GK Lo, 3. B84 158+ 36-0 Oe7 yan Fig. 8.7.13, Root locus for Example £.7. Solving above equation s =~ 1.4 and s =~ 8.6. ‘The break away point o, = ~ 1.4 (lies on root locus), hence accepted, It is noted that the desired closed-loop pole 8, = ~ 2.6 + j 2.5/2 does not ‘uncompensated root-Ieous and a lead compensator is to be incorporated. ‘The angle 8 tobe contributed by the lead compensator is determined below ps ‘root locus angle condition at s 2.5 +j 2.503 e 72.5 | Tie == 180" ** Let 8Ns+ 1d) a8 j20 725, or &* | Coes jaB li 26+j 25/8 edi 2+ jaBVa sD ~ 7 25 ** L C254 j2.5V805+ j25V3105 + j 2503) e te |-(ss0 ta 8, + (180° ~ tan-t J3) — (tant 5 JS) ~ (tant 0.263 J) 6, + | (180° — 60") — 83.41" — 24.46" Simplifying, 0, = 47.87" Lead Compensator ‘The transfer function of a lead. compensator is given by, KAs+a,) G60) = Kelsay) en Gey 1b, 1 = 8, to cancel open loop pole at. te G(s) = Kes +3) ad (8-+6,) 5g —254 2515+ [ Bctsesas ey ()-2.6)+ (288) ©, = 47.87 (calculated earlier) arate / K.05 + 52.5 V3) e. @,-25)+ 72808 = 83.41" — tant 25¥3_ 25 (89.41" ~ 47.87") « 35.54" tan 35.54" 2-25 2.5V3 3-25 =0.714 0, = 8.56 K,(s+3) 725K,(0+3) G(s) = = — - Ge 85e) EE = Serax + 2H 88) 725K, G40) « 78K, O10) 0 Fav ibe + BH 14=-2.5 +) 2.5V2 lies of lead compensated root locus, the magnitude condition is applicable, 10009G,0),.,,--25-208 71 ay 7 18Ke +858) |,.4, ase )268 125K, =| o(s + 12Ks +8.56)|,.,,- a5. j288 25+ j25v5X-254+j25J/5 +12K-25+)25/5 +8.56| 125 + 2.5/5 X95 + j 2543 16.06 +) 2.513) 75X36 72 + 18.75) alc ele = (GBB + 18.75K90.25 + Hes 12Ke + 858) K,, for the transfer function G1s)G.(9) is calculated12.6 » 6.1 ota 120 + A) 2 K, 278 Lag Compensator ‘The transfer function of « lag compensator ix given below; (way) G0) = a> by Select b,= 0.08, +. ay = 0.03 x 4.76 = 0.1428 (0+0.1428) G+ 0.08) ‘The angle contributed by the lag compensator at» =, = below (s+ 0.1428) a Be) = ae (a+ 0.03) seo (2.5 + j2.6¥3 + 25+ j2.508 + 0.03) (2.3574 4.33) C2474 j4.33) 4.33 4:33 = (180° tant £82) (sg ) : ( 2.357) (8° oar = (180° ~ 61.43°) — (180° ~ 60.29°) = Lue _As the angle contributed by the lag compensator is ~ 1.14 lies in the range(0"#-P the design is accepted _ 72.5 x 5.9646 + 0.1428) Ge) GG) = aes BENG 0.03)" 8.7.10. Design a lag-lead compensator for a control system, the op function (unity feedback) is given as, i G6) = 357 (8 + Dis +5) Ans. a ats + Ne+5)Re-08ej0n3-™ keasr =o SEK kyo, 3 cos0ar Fie: 87.14. Root cus for Example 87.12 i 8.7.14. The break i jane Pi oe mallee epee tit etal rare to Kean Boe bcos § = cast 0.5 = 60" “ the damping ratio line intersects the root locus such. = such that K = riven) Thodesired settling time t, = 5 sec, a on fo, Further, §@,=0.8 and §=0.5, ‘The desired closed-loop pole s, is given by the following relation, -t0, +30, (Ie gy =-0.8+j16 {1-057 54 = 0.8 +j0.8¥3 “iis note that, the desired closed-loop pole 4, = ~8 + 08/3 does nat ie on the root locus. Therefore, lead compensator is needed. 0,8 + 0.8V3 has to lie on she Jead compensated root locus, a rmaition. The angle to be contributed by the lead iE 3.57 6.4 fer IKerd) aaj ga ETF OBBTD + | casi [5y- 0.8 + j 0.8 iS + 1X-0.8+ j 0.8V3 +5) 83 Taf orm 28) C0) 9, + (180° — 60*)~ (81-78")~ (16.21) 1.6 rad sec. = 180° leenp=- 08+ j08N5 = 180°Simplifying, 9, = 40° ~~ Lead Compensator ‘The transfer function of a lead compensator is given by, K.(s+a)) a esa veh Select the value of a, such that itis placed on the s-plane negative real ay, . the real part of desired closed-loop pole s,, Therefore, a; = 0.8 and the leag ity, transfer function takes the form as compet ayy Hist, onen, The angle contributed by the lead compensator at the desired closedop py, 08+) 0.83 is determined using following relation, fe. o = / Kee+08) (+6) |, <-08+soas 7 0.8 + j 0.8V3 +0.8 _ {0.83 “L,-08)+ 7088 ~ LG -08)+joay 0.8y3 ——— oa ©, = 40° (determined earlier) G(s) G(s) = —8:57K.(s + 0.8) , ted (8+ Is +5)(s + 1.96) copied Pole 8, = ~ 0.8 + j 0.8/3, lies on the lead compensa gain (gain factor) K. is determined applying root locus ™ sfer function at s = s, =~ 0.8 +j0.83. 3.57K,(s + 0.8)seo J0nh (0.8 + J0.8/9X- 0.8 + j0.8N5 + 14-084 J, 08+ 70.85 +08) 0.8 + J 0.8V3)0.2 + j 0.8VI 4.2 + a, J 0.808 _ ose ik 08+ 0a +19 : 3.57 K,= 12.84, Hence, K,= "284 . 3506 3.57 K,,« lim # Gis) G.(a) Ie tim 212 8Min 0. II alot We + 8X04 196) = 1.047 vee, Lag Compensator ‘The transfer function of a lag compensator is given by, a) Og = aay Fr, Ras K, «6 sec"! (given), K,, = 1047 sec! (calculated earlier) a, = 0.025 4.77 = 0.119 * (0.025) Bs cnneannd by the lag compensator at by =~ 0.8 +j 0.8) is determined (40.119) O= | G+ 0.025) |,.,,--vnvons 0.8 + j0.8/3 +0.119) Co8+ j 0.848 +0.025) Costs j0.8¥) Co.718+ j08N8)Which lies within the range 0° to ~ 3°. Hence, the design is accepted, The lag-lead open-loop transfer function is written below, 12.84(s + 0.88 +0.119) OS Ge a Ds + Bk 1866+ 0.095)" i eae a 8:1, For the open-loop transfer function, Gis) His) = "5g determine thai g gain K such that the system will have a phase margin of at least 45° 8.2. Design a lead compensator such that the system havi function will have a phase margin of about 40" 5 Gt) Hie) = —_> _ M0) Tyas onaF A unity feedback control system has following open-loop transfer function, Gi) Gragor « Pasion a suitable compensator such that K,= 3) GM.28a (ii) PM. > 30°, 84, Following specifications : (@ K, 2 4 Gi) GM. 2 6 db (ii) P.M, > 20° refer :o a system whose open-loop tan function is G(s) His) = ng following open-loop tie, 8.3. K (1+ 0.28)? Design a phase-lead compensation network to satisfy the above specifications. The system shown in Fig. 8P-1 is to be compensated by tachometer feedback _ that the maximum overshoot is limited to 30%. Determine the value of “constant Kj. Fie 8-2. System for problem 85, oil ratio for the system shown in Fig. 8P-2 (a) is 0.166. A ‘30 shown in Fig. 8P-2 (6) is in corporated in the system t0 incre fhe value of K, so that the damping ratio is 08. Fog mum overshoot and the steady state error for unit!Ris) 8 we =, set cy Fig. 88-2. sytem for problem 86. ‘a unity feedback control system is given below, 1. The open-loop transfer function of K fi “GD | thomax. overshoot is 24.8% (ont step input, design a compen: A Aunity feedback Gs) ‘maintaining the same damping ratio, oo och that the settling time is reduced by a factor of 2 function as ‘control system having open-loop transfer as--~S ser) ‘at a daming ratio’ = 0.6. a settling time ator such that @ uni le compensator, 1,0 sec. Design a suitable rol system having ity feedback cont stable with damping Tati nsated system operate ‘transfer function x Ge 1, Design in of a unity sfed that the velocity error coefficient for unit ‘a lag compensator Tovback control system is given DY» * fhe maximum overshoot is $16 3 and steady at mp input is K, = 12.866‘8.12. A control system (unity feedback) having open-loop transfer function, K aaa eS72s) ; rates with damping ratio 0.5. The damping ratio line ‘inter thoompensated root locus plot at's = ~ 0.416 + 0.72. Design a lag ‘compensator that velocity error coefficient for unit ramp input is K, = 4.0 sec’, ms 8:13. The following data refers to a unity feedback control system: K = aa DKe +B) | (@) The damping ratio § = 0.6, settling time f, = 2.5 see"! and K, = 15 see Fe (6) The steady state error to be improved by a factor of 5.0. Design a lag-lead compensator. 8.14. The transfer function of a unity feedback control system is given by i eats Oe) = ae) ‘The damping ratio = 0.5. The requirement is that the natural frequency see. and steady state error ¢,, = 0.1 rad. for unit ramp input. Design compensator, 8.15. Design a suitable compensator having given that the damping ratio & = 1, Setting time f, = 1.0 sec, and the desired velocity error coefficient K, = 20 eT "open-loop transfer function with unity feedback :s given ws As) tale