13/09/2023, 15:19 Control Systems - Compensators

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There are three types of compensators lag, lead and lag-lead

compensators. These are most commonly used.

Lag Compensator
The Lag Compensator is an electrical network which produces a sinusoidal
output having the phase lag when a sinusoidal input is applied. The lag
compensator circuit in the s domain is shown in the following figure.

Here, the capacitor is in series with the resistor R2 and the output is
measured across this combination.

The transfer function of this lag compensator is -

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13/09/2023, 15:19 Control Systems - Compensators

1
Vo (s) 1 s +
τ
= ( )
1
Vi (s) α s +
ατ

Where,

τ = R2 C

R1 + R2
α =
R2

From the above equation, α is always greater than one.

From the transfer function, we can conclude that the lag compensator has
one pole at s âˆ- ατ and one zero at s ∠- 1τ . This means, the pole will be
′
1 ′
= =

nearer to origin in the pole-zero configuration of the lag compensator.

Substitute, s = jω in the transfer function.

1
Vo (jω) 1 jω +
τ
= ( )
1
Vi (jω) α jω +
ατ

âˆ-1
-
ωτ ∠tan
âˆ-1
′ ′

Phase angle ϕ
′
= tan αωτ

We know that, the phase of the output sinusoidal signal is equal to the sum of
the phase angles of input sinusoidal signal and the transfer function.

So, in order to produce the phase lag at the output of this compensator, the
phase angle of the transfer function should be negative. This will happen
when α > 1.

Lead Compensator
The lead compensator is an electrical network which produces a sinusoidal
output having phase lead when a sinusoidal input is applied. The lead
compensator circuit in the s domain is shown in the following figure.

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13/09/2023, 15:19 Control Systems - Compensators

Here, the capacitor is parallel to the resistor R1 and the output is measured
across resistor $R_2.

The transfer function of this lead compensator is -

Vo (s) sτ + 1
= β( )
Vi (s) βsτ + 1

Where,

τ = R1 C

R2
β =
R1 + R2

From the transfer function, we can conclude that the lead compensator has
pole at s âˆ- and zero at s ∠- βτ .
′ 1 ′ 1
= =
β

Substitute, s = jω in the transfer function.

Vo (jω) jωτ + 1
= β( )
Vi (jω) βjωτ + 1

Phase angle ϕ = tan

∠-
′
1
-
ωτ ∠tan
′ âˆ-1
′

βωτ

We know that, the phase of the output sinusoidal signal is equal to the sum of
the phase angles of input sinusoidal signal and the transfer function.

So, in order to produce the phase lead at the output of this compensator, the
phase angle of the transfer function should be positive. This will happen when
0 < β < 1. Therefore, zero will be nearer to origin in pole-zero configuration
of the lead compensator.

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Lag-Lead Compensator
Lag-Lead compensator is an electrical network which produces phase lag at
one frequency region and phase lead at other frequency region. It is a
combination of both the lag and the lead compensators. The lag-lead
compensator circuit in the s domain is shown in the following figure.

This circuit looks like both the compensators are cascaded. So, the transfer
function of this circuit will be the product of transfer functions of the lead and
the lag compensators.

1
Vo (s) sτ 1 + 1 1 s +
τ2
= β( ) ( )
1
Vi (s) βsτ1 + 1 α s +
ατ2

We know αβ = 1.

1 1
Vo (s) s + s +
τ1 τ2
⇒ = ( )( )
1 1
Vi (s) s + s +
βτ1 ατ2

Where,

τ1 = R1 C 1

τ2 = R2 C 2

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