Course roadmap
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
Block diagrams • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist
(Matlab simulations &) laboratories
1 2
Closed-loop design by root locus General effect of addition of poles
Designable! Fixed! Pulling root locus to the RIGHT
C(s) G(s) Less stable
Controller Plant Slow down the settling
Im Im Im
Place closed-loop poles at desired location
by tuning the gain C(s)=K.
C(s)=K. (for time domain specs)
If root locus does not pass the desired location, Re Re Re
then reshape the root locus
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
Pulling root locus to the LEFT Adding only zero
More stable often problematic because such controller amplifies
Speed up the settling the high-
high-frequency noise.
noise.
Re
Adding only pole
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).
These facts can be explained by using
frequency response analysis.
Re Re Re
Add both zero and pole!
5 6
Lead and lag compensators Lead compensator
Positive angle contribution Test point Im
C(s) G(s)
Controller Plant s
Lead compensator 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
Negative angle contribution Test point Im Lead compensator (Today)
Improve transient response
s
Improve stability
Lag compensator (Next)
Reduce steady state error
Re
-z2 -p 2
Lead-lag compensator (Next)
Take into account all the above issues.
9 10
Radar tracking system Lead compensator design
Consider a system
C(s) G(s)
Controller Plant
Desired pole
Analysis of CL system for C(s)=1 Im
Damping ratio ζ=0.5
Undamped natural freq. ωn=2 rad/s
Performance specification
Damping ratio ζ=0.5 Re
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)
A point s to be on root locus ÅÆ it satisfies Evaluate G(s) at the desired pole.
Angle condition
Odd number
o If angle condition is satisfied, Desired pole
Im
compute the corresponding K.
For a point on root locus, gain K is obtained by o In this example,
Magnitude condition
Angle condition is not satisfied.
Re
Angle deficiency
13 14
Lead compensator design (cont’d) Lead compensator
To compensate angle deficiency, Positive angle contribution Im
Test point
design a lead compensator C(s)
s
satisfying Desired pole
Im
Re
-p 1 -z1
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
Draw horizontal line PA Desired pole Im G(s) G(s)C(s)
Draw line PO A P
Draw bisector PB Im Im
Draw PC and PD Re
Re Re
B O
C
D
-p(=-5.4) -z(=-2.9)
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
Lead compensator 1.4
Compensated system Uncompensated system (C(s
(C(s)=1)
)=1)
1.2
1
Open loop transfer function
0.8
0.6
Lead compensator gives
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
Controller design based on root locus
General effects of addition of pole and zero
Lead lag compensator realization with op amp
Step-error constant
5
Unit ramp input
4
Lead compensator design
• Lead compensator improves stability and
3
transient response.
Ramp-error constant 2
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
