Course roadmap

ME451: Control Systems Modeling Analysis Design

Laplace transform Time response

Design specs
• Transient
Lecture 20 Transfer function • Steady state
Root locus
Root locus: Lead compensator design
Models for systems Frequency response
Frequency domain
• electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Dr. Jongeun Choi Block diagrams • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist

Michigan State University

(Matlab simulations &) laboratories

1 2

Closed-loop design by root locus General effect of addition of poles

Designable! Fixed! ƒ Pulling root locus to the RIGHT
C(s) G(s) ƒ Less stable
Controller Plant ƒ Slow down the settling

Im Im Im
ƒ Place closed-loop poles at desired location
ƒ by tuning the gain C(s)=K.
C(s)=K. (for time domain specs)
ƒ If root locus does not pass the desired location, Re Re Re
then reshape the root locus
ƒ by adding poles/zeros to C(s).
C(s). (How?)
Compensation Add a pole Add a pole
3 4
General effect of addition of zeros Some remarks
Im
ƒ Pulling root locus to the LEFT ƒ Adding only zero
ƒ More stable ƒ often problematic because such controller amplifies
ƒ Speed up the settling the high-
high-frequency noise.
noise.
Re
ƒ Adding only pole
ƒ often problematic because such controller generates
Add a zero a less stable system (by moving the closed-
closed-loop poles
Im Im Im to the right).
ƒ These facts can be explained by using
frequency response analysis.
Re Re Re
ƒ Add both zero and pole!

5 6

Lead and lag compensators Lead compensator

ƒ Positive angle contribution Test point Im
C(s) G(s)
Controller Plant s

ƒ Lead compensator ƒ Lag compensator

Im Im
Re
Re Re -p 1 -z1

Why these are called “lead”

lead” and “lag”
lag”?
We will see that from frequency response in this class.
7 8
 Lag compensator Roles of lead and lag compensators
ƒ Negative angle contribution Test point Im ƒ Lead compensator (Today)
ƒ Improve transient response
s
ƒ Improve stability

ƒ Lag compensator (Next)

ƒ Reduce steady state error
Re
-z2 -p 2
ƒ Lead-lag compensator (Next)
ƒ Take into account all the above issues.

9 10

Radar tracking system Lead compensator design

ƒ Consider a system
C(s) G(s)
Controller Plant

Desired pole
ƒ Analysis of CL system for C(s)=1 Im
ƒ Damping ratio ζ=0.5
ƒ Undamped natural freq. ωn=2 rad/s
ƒ Performance specification
ƒ Damping ratio ζ=0.5 Re
ƒ Undamped natural freq. ωn=4 rad/s CL pole
with C(s)=1
C(s)=1
11 12
 Angle and magnitude conditions
Lead compensator design (cont’d)
(review)
ƒ A point s to be on root locus ÅÆ it satisfies Evaluate G(s) at the desired pole.
ƒ Angle condition

Odd number

o If angle condition is satisfied, Desired pole

Im
compute the corresponding K.
ƒ For a point on root locus, gain K is obtained by o In this example,
ƒ Magnitude condition

Angle condition is not satisfied.

Re
Angle deficiency
13 14

Lead compensator design (cont’d) Lead compensator

To compensate angle deficiency, ƒ Positive angle contribution Im
Test point
design a lead compensator C(s)
s

satisfying Desired pole

Im
Re
-p 1 -z1
ƒ Triangle

Re
There are many ways to design such C(s)!
C(s)!

15 16
 How to select pole and zero? Comparison of root locus
ƒ Draw horizontal line PA Desired pole Im ƒ G(s) ƒ G(s)C(s)
ƒ Draw line PO A P
ƒ Draw bisector PB Im Im

ƒ Draw PC and PD Re
Re Re
B O
C
D
-p(=-5.4) -z(=-2.9)
ƒ Pole and zero of C(s) are shown in the figure.
Improved stability!
17 18

How to design the gain K? Comparison of step responses

ƒ Lead compensator 1.4
Compensated system Uncompensated system (C(s
(C(s)=1)
)=1)

1.2

1
ƒ Open loop transfer function
0.8

0.6
Lead compensator gives
ƒ Magnitude condition 0.4 • faster transient response
0.2
(shorter rise and settling time)
• improved stability
0
0 1 2 3 4 5
19 20
 Error constants Summary and exercises
ƒ Controller design based on root locus
ƒ General effects of addition of pole and zero
ƒ Lead lag compensator realization with op amp
ƒ Step-error constant
5
Unit ramp input
4
ƒ Lead compensator design
• Lead compensator improves stability and
3
transient response.
ƒ Ramp-error constant 2
ƒ Next, lag & lead-lag compensator design
1
Ramp response

0
0 1 2 3 4 5

Lag compensator can be used to reduce

steady-
steady-state error. (Next lecture)
21 22