BMFA 3313

Control Systems

1
At the end of this chapter, you should be able
to:

i. Design controllers using frequency

response method.
ii. Analyse control system performance using
frequency response method.

2
 Transient response performance in frequency
response method can be confirmed based on phase
margin value.

% OS  PHASE MARGIN

GAIN K ADJUSTMENT

3
 Bode Diagram
40

20
Magnitude (dB)

-20

-40

-60
-90

-135
Phase
Phase (deg)

-180 margin

-225

-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

4
Example

Design a gain K that would yields a 9.5% overshoot

response for a step input for the following system.

R (s) C (s)
1
K 100
s  36 1/s
- s  100

5
GAIN K ADJUSTMENT FOR TRANSIENT RESPONSE

9.5% Overshoot:

  0.6
Phase margin:
2
m  tan 1
2 2  1  4 4
m  59.2 0

6
Bode diagram for K=1 Bode Diagram

0
55.1dB
Magnitude (dB)

-20

K = 569
-40

?
-60 System: sys
Frequency (rad/sec): 14.5
Magnitude (dB): -55.1
-80
-90

-120
Phase (deg)

-135 System: sys

Frequency (rad/sec): 14.5
Phase (deg): -120

-180

-225 -1 0 1 2
10 10 10 10
Frequency (rad/sec) 7
LAG COMPENSATOR:
1. IMPROVE STATIC
ERROR CONSTANT BY
INCREASING LOW
FREQ. GAIN
2. INCREASE PHASE
MARGIN
3. LOWER HIGH
FREQUENCY GAIN
Example
Design a lag compensator that yields a ten-fold
improvement in steady-state error at 9.5% overshoot.

R (s) C (s)
K 100 1
1/s
- s  100 s  36

9
1. For K = 568.9 that yields 9.5% overshoot,
obtain the static error constant.
Which K?

2. Obtain the new K that addresses the steady-state

error requirement.
K ?
K  5689
3. Generate the new Bode diagram for this new K.

10
3. K Adjusted Bode Plot

4. Phase
margin
requirement?
m  59.2 0

0.06rad/s
0.98rad/s
5. Adjust by 5-
10°
m  69.2 0

6. Locate the
freq. that will m  69.20 9.8rad/s
generate this
PM.

11
7. Identify the magnitude’s gain at this frequency.

8. The magnitude of the lag compensator must be a

negative value of this gain.

9. Design the compensator:

- Higher break frequency is 1 decade lower than this
freq.
- At this point, draw a line with a slope of –20db/dec.
- Identify the intersection point on the 0 db line.
- This is the lower break frequency.
- In order to retain the value of Kv, DC unity gain must
be applied. Finally, construct the lag compensator TF.

12
 R (s) C (s)
Gc 100 1 1/s
- s  100 s  36

Gc s   K
s  0.98
s  0.062
In order to retain the value of Kv, DC unity gain must
be applied. 0.062
K
0.98
K  0.063
Finally, construct the lag compensator TF.
Gc s   0.063
s  0.98
s  0.062 13
m  600

14
Lead Compensator

Improvement in transient
response.

Emphasize on relations between

phase margin, damping ratio, and
closed loop bandwidth.

Unity dc gain !

15
  1

Maximum phase angle by compensator:

 1   1  1   
max 1
 tan 
2    sin  
   1   
Magnitude of the compensator at
maximum phase angle:
1
Gc  jmax  


Frequency at which maximum phase

angle occurs:
Plot of a Lead Compensator
1
max 
T 
16
EXAMPLE
Design a lead compensator that yields a 20% OS, Kv =40, and Tp=0.1s

R (s) C (s)
K 100 1 1/s
- s  100 s  36


1. Damping ratio, ζ = 0.46 BW  1  2  
2
4 4  4 2  2
Tp 1   2
2. What is the bandwidth’s requirement? ωBW= 46.6 rad / s

G s  
100 K
3. For this Kv, what is the value of K = 1440
ss  100s  36

G s  
144000
ss  36s  100
17
3. Required Phase Margin ? PM  48.1 2
m  tan 1
2 2  1  4 4
4. Measure the current phase margin. PM  34.1

5. Measure the amount of phase margin that must be

contributed by the lead compensator.

6. Correct this value for a range between 5° to 10°.

7. PM from lead:
1 
max  24.1  sin 1
=48.1°-34.1°+10° 1 
=24.1°    0.42

8. Identify the magnitude of the lead compensator: Gc  jmax  

1


Gc  jmax   3.76dB.

18
 K = 1440
Bode Diagram
Gm = 10.6 dB (at 60 rad/sec) , Pm = 34.1 deg (at 29.6 rad/sec)
40

Magnitude (dB) 20

0
-10
-20
-30
-40

-60

-90

-140
m  34.10
Phase (deg)

-160
-180
-200
-220

-270
0 1 2 3
10 10 10 10
Frequency (rad/sec) 19
9. The lead compensator magnitude is 3.76 dB.

Therefore, in order to realise the phase margin requirement, the

uncompensated system must has a magnitude of – 3.76dB at this
frequency.

The frequency identified from the plot at -3.76 dB is max  40rad / s

1
Therefore, max   40rad / s
T 
1
   40  25.3
T
1 25.3
Also,   60.2
T 
1 s  25.3
Gc s  
0.42 s  60.2

Gc s   2.38
s  25.3
s  60.2
20
21
Visualizing Lag-Lead
Compensator
-Addresses both transient
response and steady-state
requirements.
- Lag reduces s.s.e , lower
high frequency gains to
improve stability.
- Lead ensures phase
margin requirement.

22
Visualizing Lag-Lead
Compensator
-Addresses both transient
response and steady-state
requirements.
- Lag reduces s.s.e , lower
high frequency gains to
improve stability.
- Lead ensures phase Gc s   Glead s  Glag s 
margin requirement.
 1  1 
s  s 
Gc s     
T1 T2
   1 
 s   s  
 T1  T2 

23
Example:

Given: A unity feedback system,

Design a compensator that will yields a 13.25% overshoot, a peak time of
2 seconds, and a Kv = 12.

G s  
K
.
ss  1s  4

R (s) C (s)
K G s 
-

24
Example:
Design a compensator that will yields a 13.25% overshoot, a peak time of
2 seconds, and a Kv = 12.

1. Damping ratio for 13.25% OS,   0.54

2. What is the bandwidth’s requirement?  BW  2.28

3. For this Kv, what is the value of K = 48

G s  
K
G s  
48
ss  1s  4 ss  1s  4

25
4. Plot a Bode
Bode Diagram
80

diagram for this 60

K. 40

Magnitude (dB)
20
5. Is this system 0
stable?
-20

6.Identify the
-40

bandwidth -60

required -80
-90

 0.8  BW
System: g
 1.8 rad/s Frequency (rad/sec): 1.8
Phase (deg)

Phase (deg): -175

-180
7. Identify the PM
at this bandwidth
(1.8 rad/s)
-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
26
Example:
8. Current PM = 5 rad/s

9. What is the required PM? PM  55

10. Need to add additional PM of: PM req'd  55  5  5

PM req'd  550

11. Design a Lag:

Upper freq (pz):
=0.1 of 1.8 rad/s
=0.18 rad/s

27
Example:
1 
12. PM required = 550 max  55  sin 1
1 
   0.099
1
   10.1

13. Lag Compensator:
 1 
 s 
Glag s    2 
T
 1 
 s 
 T2 
1  s  0.18 
Glag s    
  s  0.18 / 10.1 
s  0.18
Glag s   0.1
s  0.0178

28
Example:  1 
s 
Glead s     
T1
12. Lead Compensator:
  
 s  
 T1 

1  s  0.57 
max   1.8 Glead s   10.1  
T1   s  10.10.57  
1  s  0.57 
 max   Glead s   10.1  
T1  s  5.76 
1
 1.8 0.099  0.57
T1
Glag lead s   0.1
s  0.18
 s  0.57 
10.1  
13. Lag – Lead Compensator: s  0.0178  s  5.76 
Glag lead s  
s  0.18  s  0.57 
 
s  0.0178  s  5.76 
29
12. Compensated System:

Glag lead comp. s  

48 s  0.18  s  0.57 
 
ss  1s  4 s  0.0178  s  5.76 

30
 Bode Diagram
80

60
uncompensated with adjusted K
40
lag-lead compensated
20
Magnitude (dB)

0
lag-lead compensator
-20

-40

-60

-80
lag compensated
-100
90

45

0
Phase (deg)

-45

-90

-135

-180

-225

-270
-3 -2 -1 0 1 2
10 10 10 10 10 10
Frequency (rad/sec) 31
Phase margin and transient response requirements.

 ln  %O.S /100 

 2  ln 2  %O.S /100 

2
m  tan 1
2 2  1  4 4


BW  1  2  
2
4 4  4 2  2
Tp 1   2

 BW 
4
Ts
1  2  2
4 4  4 2  2