Bode plot

Bode plot for system with transport lag

Stability from bode plot
Compensators
• additional subsystem called Compensator or Controller' has to
designed to adjust the parameters of the overall system to satisfy the
design criterion.
Compensation Configurations
8

 Two basic compensation configurations:

 Cascade compensation

 Feedback compensation

 We will focus on cascade compensation

Lead Compensation
50

 PD compensation utilizes an ideal differentiator

 Amplifies sensor noise
 Active circuitry (opamp) required for analog implementation

 An alternative to PD compensation is lead compensation

 Compensator adds one zero and a higher-frequency pole
𝑠+𝑧𝑐
𝐷 𝑠 =𝐾 , where 𝑝𝑐 > 𝑧𝑐
𝑠+𝑝 𝑐

 Pole can be far enough removed to have little impact on 2nd-order

dynamics
 Additional high-frequency pole reduces amplification of noise
 Analog implementation realizable with passive components
(resistors and capacitors)
3/29/2022
Lead Compensator
Im
Phase-lead compensator −
1
𝑇 −
1
𝛼𝑇 Re
𝑈(𝑠) 𝑠+𝑧
𝐺𝑐 𝑠 = 𝐸(𝑠) = 𝐾 𝑠+𝑝
; 𝑧 < 𝑝 (𝑙𝑒𝑎𝑑) −𝑧 −𝑝

• Pole on the left side of zero

• Equivalent RC circuit, K=1, (𝑍1 = 𝑅1
1+𝑅1𝐶𝑠
, 𝑍2 = 𝑅2) Z1
C
R1
𝑈(𝑠) 𝑍2 1 1+𝛼𝑇𝑠
𝐺𝑐 𝑠 = = =
𝐸(𝑠) 𝑍1+𝑍2 𝛼 1+𝑇𝑠 + +
Z2
𝑅1𝑅2 R2
𝑇= 𝐶, 𝛼 = 𝑅1+𝑅2 > 1 e u
𝑅1+𝑅2 𝑅2
- -
1 1
Or: 𝑝= , 𝑧=
𝑇 𝛼𝑇

Nyquist Diagram Bode Diagram

=5 → =1.5 →
0.4
-0.1
10

• Bode and Nyquist plots

Magnitude (abs)
0.3

0.2

 =5
 =1.5
Imaginary Axis 0.1

of lead compensator
-0.6
10
0
60

 =5
-0.1

T=1

Phase (deg)
-0.2 30

=1.5:0.5:5 -0.3

-0.4 0
0 0.2 0.4 0.6 0.8 1 -2 -1 0 1 2
10 10 10 10 10
Real Axis Frequency (rad/sec)
 Lag Compensation
23

 PI compensation requires an ideal integrator

 Active circuitry (opamp) required for analog implementation
 Susceptible to integrator windup
 An alternative to PI compensation is lag compensation
 Pole placed near the origin, not at the origin
 Analog implementation realizable with passive components
(resistors and capacitors)
 Like PI compensation, lag compensation uses a closely-
spaced pole/zero pair
 Angular contributions nearly cancel
 Transient response nearly unaffected
 System type not increased
 Error is improved, not eliminated
3/29/2022
 Lag Compensator Design
Im
Phase-lag compensator −
1
−
1
𝑇
𝛼𝑇 Re
𝑈(𝑠) 𝑠+𝑧
𝐺𝑐 𝑠 = 𝐸(𝑠) = 𝐾 𝑠+𝑝
; 𝑧 > 𝑝 (𝑙𝑎𝑔) −𝑧 −𝑝

• zero on the left side of pole

Z1 R1
• Equivalent RC circuit, K=1, (𝑍 1 = 𝑅1, 𝑍2 = 𝑅2 +
𝐶𝑠
)1

𝑈(𝑠) 𝑍2 1+𝛼𝑇𝑠 + +
𝐺𝑐 𝑠 = 𝐸(𝑠) = 𝑍 = Z2
R2
1+𝑍 2 1+𝑇𝑠
𝑅2 e u
𝑇 = 𝑅1 + 𝑅2 𝐶 , 𝛼= < 1
𝑅1+𝑅2 C

Or: 𝑝=1, 𝑧= 1
, 𝐾=𝛼 - -
𝑇 𝛼𝑇

Nyquist Diagram Bode Diagram

5 0.9

 =0.1
10
4

Magnitude (abs)
• Bode and Nyquist plots 3

2
10
0.5
Imaginary Axis

of lag compensator
1 0.1
10
0
0
-1
T=1, K=1

Phase (deg)
-2

=0.9:-0.1:0.1
-3 =0.1 → -30

-4  =0.1
-5 -60
-2 -1 0 1 2 3
-2 0 2 4 6 8 10 12 10 10 10 10 10 10
Real Axis Frequency (rad/sec)
 Lead-Lag Compensation
80

 Just as we combined derivative and integral compensation, we can

combine lead and lag as well
 Lead-lag compensation
 Lead compensator improves transient response
 Lag compensator improves steady-state error

 Compensator transfer function:

𝑠 + 𝑧𝑙𝑒𝑎𝑑 𝑠 + 𝑧𝑙𝑎𝑙𝑙
𝐷 𝑠 =𝐾
𝑠 + 𝑝𝑙𝑒𝑎𝑑 𝑠 + 𝑝𝑙𝑎𝑙𝑙
 Lead compensator adds a pole and zero - 𝑧𝑙𝑒𝑎𝑑 < 𝑝𝑙𝑒𝑎𝑑
 Lag pole/zero close to the origin - 𝑧𝑙𝑎𝑙𝑙 > 𝑝𝑙𝑎𝑙𝑙 ≈ 0

3/29/2022
 Improving Error and Transient Response
61

 PI (or lag) control improves steady-state error

 PD (or lead) control can improve transient response
 Using both together can improve both error and
dynamic performance
 PD or lead compensation to achieve desired transient
response
 PI or lag compensation to achieve desired steady-state error

 types of compensators:
 Proportional-integral-derivative (PID) compensator
 Lead-lag compensator

3/29/2022
 Lead-Lag Compensator
Design
Im
Phase lead-lag compensator −
1
−
1 1
− −
1
𝛽𝑇2 𝑇2 𝑇1 𝛼𝑇1 Re
𝑈(𝑠) 𝑠+𝑧 1 𝑠+𝑧2 𝑧1 < 𝑝1 (𝑙𝑒𝑎𝑑)
𝐺𝑐 𝑠 = 𝐸(𝑠) = 𝐾 ;
𝑧2 > 𝑝2 𝑙𝑎𝑔 −𝑧2 −𝑝2 −𝑝1 −𝑧1
𝑠+𝑝1 𝑠+𝑝2

• For lead-lag, (𝑧1, 𝑝1) is on the left of (𝑧2, 𝑝2) C1

Z1
• For lag-lead, (𝑧1, 𝑝1) is on the right of (𝑧 2, 𝑝 2) R1

• Equivalent RC circuit, (𝑍1 = 𝑅1

1+𝑅1𝐶1𝑠
, 𝑍2 = 𝑅2 +
1
𝐶 𝑠
) +
Z2
+
2 R2
𝑈(𝑠) 𝑍2 1+𝛼𝑇1𝑠 1+𝛽𝑇2𝑠
𝐺𝑐 𝑠 = = = e u
𝐸(𝑠) 𝑍1+𝑍2 1+𝑇1𝑠 1+𝑇2𝑠
C2
𝛼𝑇1 = 𝑅1 𝐶1 , 𝛽𝑇2 = 𝑅2𝐶2 , 𝛼𝛽 = 1 𝛼 > 1, 𝛽 < 1
- -
𝑇1 + 𝑇2 = 𝑅1𝐶1 + 𝑅2𝐶2 + 𝑅1𝐶2, 𝑇1𝑇2 = 𝑅1𝐶1𝑅2𝐶2

• Bode and Nyquist plots of

Nyquist Diagram Bode Diagram
1
lead-lag →
lead-lag →
0.8

Magnitude (abs)
lead-lag (T1=0.5, T2=0.005) and 0.6

0.4
10
0

lag-lead →
Imaginary Axis

lag-lead (T2=0.5, T1=0.005) 0.2

0
30

compensators with (=3, -0.2

 lag-lead lead-lag →

Phase (deg)
-0.4
0

=1/3)
-0.6

-0.8
lag-lead →
-1 -30
0 -2 0 2 4
0.5 1 1.5 2 2.5 3 10 10 10 10
Real Axis Frequency (rad/sec)
• A lead-lag compensator combines the effects of a lead
compensator with those of a lag compensator. The result is a
system with improved transient response, stability, and steady-
state error. To implement a lead-lag compensator, first design
the lead compensator to achieve the desired transient response
and stability, and then design a lag compensator to improve the
steady-state response of the lead-compensated system.