Automatic Control 2

Lecture-4
Introduction to Compensation

Dr. Mountasser Mohamed Ramadan

email: [email protected]
Lecture Outline
 Introduction
• A feedback control system that provides an optimum
performance without any necessary adjustment is
rare.

• In building a control system, we know that proper

modification of the plant dynamics may be a simple
way to meet the performance specifications.

• This, however, may not be possible in many practical

situations because the plant may be fixed and not
modifiable.

• Then we must adjust parameters other than those in

the fixed plant.
 Introduction
• In previous lectures, we have discussed root locus
method for loop gain adjustment.

• We have found that to achieve the desired system

response, it is possible to adjust the system
parameters but it is often not enough.
 Introduction
• It is then required to reconsider the structure of the
system and redesign the system.

• The design problems, therefore, become those of

improving system performance by insertion of a
compensator.

• Compensator: A compensator is an additional

component or circuit that is inserted into a control
system to equalize or compensate for a deficient
performance.
 Introduction
• Necessities of compensation
• A system may be unsatisfactory in：
Stability.
Speed of response.
Steady-state error.

• Thus the design of a system is concerned with the

alteration of the frequency response or the time
response in order to obtain a suitable system
performance.
 Compensation via Root Locus
• Performance measures in the time domain:
– Rise time tr;

– Peak time tp;

– Overshoot Mp;

– Settling time for a step input ts;

– Steady-state error for test inputs ess.

• These performance specifications can be defined in terms of

the desirable location of the poles and zeros of the closed-loop.

• Root locus method can be used to find a suitable compensator

Gc(s) so that the resultant root locus results in the desired
closed-loop root configuration.
 Compensation via Root Locus
• The design by the root-locus method is based on
reshaping the root locus of the system by adding poles
and zeros to the system’s open-loop transfer function
and forcing the root loci to pass through desired closed-
loop poles in the s plane.

• The characteristic of the root-locus design is its being

based on the assumption that the closed-loop system
has a pair of dominant closed-loop poles.

• This means that the effects of zeros and additional poles

do not affect the response characteristics very much.
 Compensator Configurations
• Compensation schemes commonly used for feedback
control systems are:

– Series Compensation

– Parallel Compensation
 Compensator Configurations
• The choice between series compensation and parallel
compensation depends on

– the nature of the signals

– the power levels at various points

– available components

– the designer’s experience

– economic considerations and so on.

 Commonly Used Compensators
• Among the many kinds of compensators,
widely employed compensators are the
– lead compensators

– lag compensators

– lag–lead compensators
 Commonly Used Compensators
• Among the many kinds of compensators, widely
employed compensators are the

– lead compensators

• If a sinusoidal input is applied to the input of a

network, and the steady-state output (which
is also sinusoidal) has a phase lead, then the
network is called a lead network.
 Commonly Used Compensators

• Among the many kinds of compensators,

widely employed compensators are the
– lag compensators
• If the steady-state output has a phase
lag, then the network is called a lag
network.
 Commonly Used Compensators
• Among the many kinds of compensators,
widely employed compensators are the
– lag–lead compensators
• In a lag–lead network, both phase lag and
phase lead occur in the output but in
different frequency regions.

• Phase lag occurs in the low-frequency

region and phase lead occurs in the high-
frequency region.
 Commonly Used Compensators
• We will limit our discussions mostly to lead, lag,
and lag–lead compensators realized by

– Electronic devices such as circuits using

operational amplifiers

– Electrical Networks (RC networks)

– Mechanical Networks (Spring-Mass-Damper

Networks).
 Effect of Addition of Poles on
Root Locus
• The addition of a pole to the open-loop transfer
function has the effect of pulling the root locus to
the right, tending to lower the system’s relative
stability and to slow down the settling of the
response.
 Effect of Addition of poles
K K
G(S )  Add a Pole at -1 G(S ) 
S S ( S  1)

Root Locus Root Locus

0.06 0.998 0.996 0.993 0.986 0.965 0.86 0.5 0.86 0.76 0.64 0.5 0.34 0.16

0.4
0.999 0.94
0.04
0.3

0.2
0.02 1 0.985

0.1

1.2 1 0.8 0.6 0.4 0.2 Imag Axis 1 0.8 0.6 0.4 0.2
0 1 0

-0.1
-0.02 1 0.985
-0.2

-0.3
-0.04
0.999 0.94
-0.4

-0.06 0.998 0.996 0.993 0.986 0.965 0.86 0.86 0.76 0.64 0.5 0.34 0.16
-0.5
-1.2 -1 -0.8 -0.6 -0.4 -0.2 0 -1 -0.9 -0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0.1 0
Real Axis Real Axis
Effect of Addition of poles
K
G(S ) 
S ( S  1)( S  2)
Root Locus

0.74 0.6 0.46 0.3 0.16

0.84
4

3
0.93
2

0.98
1
Imag Axis

6 5 4 3 2 1
0

-1
0.98

-2
0.93
-3

-4
0.84
0.74 0.6 0.46 0.3 0.16

-6 -5 -4 -3 -2 -1 0 1
Real Axis
 Effect of Addition of Zeros on Root Locus
• The addition of a zero to the open-loop transfer
function has the effect of pulling the root locus to
the left, tending to make the system more stable
and to speed up the settling of the response.

• Physically, the addition of a zero in the feed forward

transfer function means the addition of derivative
control to the system.

• The effect of such control is to introduce a degree of

anticipation into the system and speed up the
transient response.
 Effect of Addition of zeros

G(S ) 
K K ( S  3)
G(S ) 
S ( S  1) Add a zero at -3
S ( S  1)

Root Locus
0.8 Root Locus
0.84 0.72 0.58 0.44 0.3 0.14 2.5
0.96 0.92 0.85 0.74 0.56 0.3
0.6
2
0.92 0.982

0.4 1.5

0.98 1
0.2 0.996
Imaginary Axis

0.5
1.2 1 0.8 0.6 0.4 0.2

Imag Axis
0 0
8 6 4 2

-0.2 -0.5
0.98
0.996
-1
-0.4
0.92 -1.5

-0.6 0.982
-2

0.84 0.72 0.58 0.44 0.3 0.14 0.96 0.92 0.85 0.74 0.56 0.3
-2.5
-0.8
-1.2 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 -9 -8 -7 -6 -5 -4 -3 -2 -1 0
Real Axis
Real Axis
 Effect of Addition of zeros

K K ( S  3)
G(S )  Add a zero at -3 G(S ) 
S ( S  1)( S  2) S ( S  1)( S  2)

Root Locus
Root Locus
0.74 0.6 0.46 0.3 0.16
0.84
4 0.28 0.19 0.135 0.095 0.06 0.03 8
8
3 0.42 6
0.93 6
2
4
4
0.98
1 0.7
2
2
Imag Axis

6 5 4 3 2 1

Imag Axis
0
0
-1
0.98 -2
2
-2 0.7
-4
0.93 4
-3
-6
0.42 6
-4
0.84 -8
0.74 0.6 0.46 0.3 0.16 8
0.28 0.19 0.135 0.095 0.06 0.03
-6 -5 -4 -3 -2 -1 0 1
-3 -2.5 -2 -1.5 -1 -0.5 0
Real Axis Real Axis

Continued…..