User’s Manual

COMPENSATION DESIGN
Model: CD-02
(Rev : 01/04/2010)

Manufactured by:
Techno Instruments
261/16, Civil Lines
Roorkee-247 667 UK
Ph.: 01332-272852, Fax: 274831
Email: [email protected]
[email protected]
Website: www.sestechno.com
 CONTENTS

Section Page

Copyright, Warranty, and Equipment Return 1

1. Objective 2
2. Equipment Description 2
2.1 Analysis of Data 2
2.2 Uncompensated System 2
2.3 Compensation Circuit 3
2.4 Power Supply 3
3. Background Summary 3
3.1 Performance Specifications 3
3.2 Design Philosophy 5
4. Experimental Work 7
4.1 Bode Plot of the Plant 7
4.2 Lag Network Design 7
4.3 Lead Network Design 7
5. Typical Results 8
6. References 11
7. Appendix - I 12
8. Packing List 13
9. Technical Support 14
10. List of Experiment 15
 COPYRIGHT AND WARRANTY

Please – Feel free to duplicate this manual subject to the copyright restriction given below.

COPYRIGHT NOTICE

The Techno Instruments Model CD-02 Compensation Design manual is copyrighted and all
rights reserved. However, permission is granted to non-profit educational institutions for
reproduction of any part of this manual provided the reproduction is used only for their
laboratories and is not sold for profit. Reproduction under any other circumstances, without
the written consent of Techno Instruments is prohibited.

LIMITED WARRANTY

Techno Instruments warrants this product to be free from defects in materials and
workmanship for a period of one year from the date of shipment to the customer. Techno
Instruments will repair or replace, at its option, any part of the product which is deemed to be
defective in material or workmanship. This warranty does not cover damage to the product
caused by abuse or improper use. Determination of whether a product failure is the result of
manufacturing defect or improper use by the customer shall be made solely by Techno
Instruments. Responsibility for the return of equipment for warranty repair belongs to the
customer. Equipment must be properly packed to prevent damage and shipped postage or
freight prepaid. (Damage caused by improper packaging of the equipment for return shipment
will not be covered by the warranty). Shipping costs for returning the equipment, after repair,
will be paid by Techno Instruments.

EQUIPMENT RETURN

Should this product have to be returned to Techno Instruments, for whatever reason, notify
Techno Instruments BEFORE returning the product. Upon notification, the return
authorization and shipping instructions will be promptly issued.

Note : No equipment will be accepted for return without an authorization.

When returning equipment for repair, the units must be packed properly. Carriers will not
accept responsibility for damage by improper packing. To be certain the unit will not be
damaged in shipment, observe the following rules:
1. The carton must be strong enough for the item shipped.
2. Make certain there is at least two inches of packing material between any point on the
apparatus and the inside walls of the carton.
3. Make certain that the packing material can not displace in the box, or get compressed,
thus letting the instrument come in contact with the edge of the box.

Techno Instruments CD - 02 Page 1

COMPENSATION DESIGN MODEL CD-02
ERROR COMPENSATION

Hz GAIN PLANT
+ -

LEVEL
5 7 AMPLIFIER

3 9
FREQ 5 7
1 11
3 9
NETWORK ON

1 11
T TECHNO INSTRUMENTS, Roorkee

Panel Drawing of Compensation Design, Model CD-02

COMPENSATION DESIGN CD-02

1. OBJECTIVE
To design, implement and study the effects of different cascade compensation
networks for a given system.

2. EQUIPMENT DESCRIPTION
The unit has been designed with the objective of exposing the students to the problem
of control system compensation. A simulated system of ‘unknown dynamics’ is available
which may be studied both in the time and frequency domains. In addition, the forward gain
is variable, thus the system dynamics is adjustable in a wide range as well. The closed-loop
system presents an ‘unsatisfactory’ performance. A set of performance specifications is to be
prescribed by the teacher, and the student would design a suitable compensator. Necessary
theoretical background and design steps are explained in section 3, covering the s-plane and ω
-plane designs of both lag and lead networks. Compensation network so designed may be
easily implemented in the unit, and its effect on the performance may be evaluated. All
necessary facilities are built-in in the system. Only a measuring CRO and a few passive
components are needed for conducting the experiment. Referring to the block diagram of Fig.
1, the various sections of the unit are described below in some detail.

2.1 Signal Sources

There are three built-in sources in the unit having the following specifications :
(a) Sine wave: Smoothly adjustable frequency from 25 Hz to 800 Hz in a single range.
Amplitude: 0-1 Volt p-p (variable)
(b) Square wave: Smoothly adjustable frequency from 25 Hz to 800 Hz in a single range.
Amplitude 0-1 Volt p-p (variable)
(c) Trigger: At the frequencies set above.
The frequency is displayed on a 4-digit frequency meter on the panel
All the above sources are derived from the same basic circuit and are therefore
synchronized. They are calibrated in frequency but uncalibrated in amplitude, are zero
balanced, and have a common ground.

2.2 Uncompensated System

A simulated system of ‘unknown dynamics’ forms the uncompensated system. The
circuits are pre-wired except for terminals in the open loop where a compensation network
may be inserted. The two sections of this system are :

(a) Plant: It is an active network simulation of a second order dynamic system. Its transfer
function is given by
K1
(sT + 1) 2
The values of K1 and T are not explicitly given but are determined through experimentation.

Techno Instruments CD - 02 Page 2

R COMPENSATION C
GAIN PLANT
+
-

SIGNAL
COMPENSATION
SOURCE

Fig.1. System Block Diagram

(b) Error detector-cum-gain: This block has two inputs (e1,e2) and an output (eo) related by
the expression, eo = K (e1+e2), where K is a variable gain. The value of K may be varied from
1 to 11 and may be read on the dial.

2.3 Compensation Circuit

This circuit consists of a pre-wired variable gain amplifier where-in the gain may be
varied from 1 to 11 and read on a dial. The circuit has provision for connecting a few passive
components in accordance with the design of compensator.

2.4 Power Supply

The set up has an internal ±12V IC regulated supply which is permanently connected
to all the circuits. A separate internal 5 Volt supply powers the frequency meter. The power
supply and all circuits are short circuit protected and will not get damaged even if wrongly
connected. No external DC supply should, however, be connected to the unit.
The above set up can be used to study the improvements caused by a variety of
compensation networks. Constraints on time available would however limit such study to
only one network in a normal laboratory period of 3 hours.

3. BACKGROUND SUMMARY
Practical control systems use a range of mechanical, electrical, hydraulic, thermal and
other type of components for their operation. Examples include motors, gears, amplifiers,
control valves, heat exchangers etc. The design of these components is usually based upon
requirements other than those which might be prescribed by the control engineer - for
example a specified transfer function. As a result, the control engineer is constrained to make
the best possible choice out of the components offered by the manufacturer. The system so
constructed may not be entirely satisfactory. Compensation network is designed at this stage
to modify the system characteristics and to force it to meet the specifications. Although
compensation elements are used at the output (load compensation) and in the feedback path
(feedback compensation), the most common form of compensation is the cascade
compensation where the compensation acts on the error signal. The principal advantage of
this configuration is that the signal level of the error is very low and the error is more
commonly electrical in nature. Thus the compensation network needs to be a low power
electrical network which is very easy to implement. Basic theory of compensation is
discussed in the following pages. However, a thorough understanding of control system
analysis is a prerequisite for this experiment.

3.1 Performance Specifications

Before taking up the design of a compensation network, it is necessary to evaluate the
performance of existing uncompensated system. This is done in terms of a number of
performance criterion which provide quantitative idea of the system performance. The design
of compensation network may be carried out either in the s-plane, through root locus diagram,
or in the frequency domain, using the Bode plot, Nyquist diagram and Nichol's chart. The
usual performance criterion applicable to the two approaches are given below.

Techno Instruments CD - 02 Page 3

 TOLERANCE
Mp BAND
OUTPUT STEADY
C (t) STATE
1.0
ERROR

0.5

td tr tp ts
TIME t

Fig. 2 Time Domain Performance Criterion

ωg
0db
GAIN
ω
MARGIN

G PHASE
MARGIN
-180º
ωp ω

(a) Open Loop Bode Plot

C (S)
R (S) 1
CUTOFF
0.707 BW RATE

Mr

ωr ω

(b) Closed Loop Frequency Response

Fig. 3. Frequency Domain Performance Sriterion

(a) Time-domain performance criterion: These are indicative of the performance of the
close-loop system in terms of its time response, most commonly the unit step response. Since
a control system is almost always required to function in real time, time-domain performance
criterion is a direct way of evaluating the system. Due to one-to-one correlation between s-
plane pole location and the resulting step response, the time-domain performance criterion
finds application in the root locus method of analysis and design. Referring to the unit step
response shown in Fig. 2, the various time domain performance criterion are :

(i) Delay time td, defined as the time needed for the response to reach 50% of the final value
(ii) Rise time tr, the time needed for the response to reach 100% of the final value for the first
time
(iii) Peak time tp, the time taken for the response to reach the first peak of the overshoot
(iv) Maximum Overshoot MP, given by

M P = c(t P ) − c(∞) ×100%

c(∞)
(Its value indicates the relative stability of the system)
(v) Settling time ts, the time required by the system step response to reach and stay within a
specified tolerance band which is usually taken as ± 2% or ± 5%
(vi) Steady state error ess defined as
e ss = lim [r ( t ) − c( t )]
t →∞
The above performance criterion are very general and are valid for systems of any
order, however, their mathematical expression in terms of system parameters are available
only for a second order system. Root locus design therefore essentially relies on the
assumption that the system in question is of second order or approximately second order.
It may further be pointed out that all the above specifications may not be satisfied in a
given problem unless these are consistent. Usually one steady state specification and one
transient specification is required to be met by the system.

(b) Frequency-domain performance criterion: These are specifications indicated on the open
loop frequency response curves of the system i.e. Bode plot, Nyquist diagram or Gain
magnitude - phase shift plot or the closed loop frequency response of the system. Unlike the
time-domain specification, a number of the frequency-domain criterion are defined on the
closed loop characteristics. Frequency-domain approach to design is easily applicable to
systems with unknown dynamics by experimentally determining the frequency response.
However, the correlation between time and frequency response is not direct.
Referring to Fig. 3(a) (open loop Bode plot) and Fig. 3(b) (closed-loop frequency
response), the various performance criterion in the frequency-domain are given below:
(i) Gain Margin, is the amount by which the open loop gain may be increased at the phase
cross over frequency, ωP, to bring it to 0 dB.
(ii) Phase Margin, is the amount by which the phase of the open loop transfer function at the
gain cross over frequency, ωg, may be increased in the negative direction to bring it to -
180°.
(iii) Mr, Peak value of closed loop frequency response.

Techno Instruments CD - 02 Page 4

 R1

INTPUT C OUTPUT
ei eo

R2

(a) Network Structure

jω

X σ
1 1
− −
T βT

(b) Pole-Zero Configuration

1 1
Gc
βT T
0db
20 Log β ω

Gc
0db
ω

(c) Bode Diagram

Fig. 4 Lag Network Characteristics

(iv) ωr, Frequency at which the peak occurs.
(v) Bandwidth of the closed loop frequency response.
(vi) Cut-off rate of the closed loop frequency response at the high frequency end.
All the above specifications may not be satisfied in a given problem unless these are
consistent. Usually the steady state error along with phase margin specifications is required to
be satisfied.

3.2 Design Philosophy

In a control system, the forward path gain K is frequently adjustable. In general,
therefore, the gain may be chosen such that the system either satisfies the steady state
specification or the transient specification, but not both. The design of the compensation
network must then ensure that the other specification is now met without disturbing the first.
The most common form of compensation network is an R-C passive network having a pole
and a zero. This gives rise to 'lag' and 'lead' network depending upon the relative locations of
the pole and the zero. The characteristics of these networks are described below in some
detail.

Lag network: The lag network is shown in Fig. 4(a). Its transfer function may be expressed as
R 2 Cs + 1
G c (s) =
(R 1 + R 2 )Cs + 1
Substituting R2C = T, and (R1+R2)/R2 = β (>1), Gc(s) may be written in two alternative forms :
Ts + 1
G c (s) = …Form I
βTs + 1
1 (s + 1/T)
= . …Form II
β (s + 1/βT)
Form I is directly suitable for frequency-domain design while Form II with the 1/β factor
cancelled by an amplifier, is suitable for root locus design. Pole zero configuration and the
Bode diagram of the lag network are shown in Fig. 4(b) and (c) respectively. It may be noted
that the network exhibits a low pass character and introduces a negative phase angle.

Lead network: The lead network is shown in Fig. 5(a). Its transfer function may be expressed as
R2 R 1Cs + 1
G c (s) = .
R 1 + R 2 R 1R 2 Cs
+1
R1 + R 2
Substituting R1C = T, and R2/(R1+R2) = α (<1), Gc(s) may be written in two alternative forms:
α (sT + 1)
G c (s) = …Form I
(sαT + 1)
s + 1/T
= …Form II
s + 1/αT

Techno Instruments CD - 02 Page 5

 C

R1

OUTPUT
INPUT ei eo
R2

(a) Network Structure

jω

X
0
1 1
−
αT T

(b) Pole-Zero Configuration

Gc-WITH AMPLIFIER

Gc
-20 Log α
0db
1 ω
1
T −
αT

(c) Bode Diagram

Gc

φm
0
ω

Fig. 5 Lead Network Characteristics

Form I with the factor α cancelled by an amplifier is suitable for frequency domain design,
while Form II is directly suitable for root locus design. Pole zero configuration and the Bode
diagram of the lead network are shown in Fig. 5(b) and (c) respectively. It may be noted that
the lead network exhibits a high pass character and has a positive phase angle. It may be
further shown that the maximum lead angle φm produced by this network is given by
1- α 1
sin φ m = , and is at the frequency, ωm =
1+ α αT
Using these networks, the design may be carried out either in the frequency domain or in the
s-plane as described below :
(a) Design in the frequency domain: The design here begins with the Bode diagram of the
open loop system where the forward path gain has been adjusted so as to satisfy steady-state
requirements in terms of ess or error coefficients. Transient specification, usually given in
terms of the phase margin, is now checked. An improvement in the phase margin can be
attempted by one of the following methods :
(i) If required phase margin is likely to be obtained at a lower frequency, the gain cross-over
frequency may be brought down by using the high frequency attenuation of the lag
network.
Note that the lag network does not disturb the low frequency gain set earlier. Care needs to be
exercised to ensure that the negative phase angle of the lag network does not affect the phase
margin substantially.
(ii) A positive phase angle may be added by inserting a phase lead network so that the phase
margin improves. This requires a phase lead network with amplifier so that the low
frequency gain of the system remains unaltered. Also, due to the high pass character of
this network, the gain cross-over frequency has a tendency to shift to higher frequencies
causing a lowering of the phase margin. This fact too needs to be taken care of in the
design.
(b) Design in the s-plane: The s-plane design starts with a root locus sketch of the system.
Thus the transfer function of the system must either be available or it should be computed
from the experimental frequency response data. For this design, specifications may include
steady-state error ess or error coefficients and a transient response specification in terms of
peak overshoot/damping ratio/settling time. Based on the transient response specifications,
the desired closed loop pole location in the s-plane is marked. Following two possibilities
now exist :
(i) If the root locus passes through the desired location determined above then the value of K
is selected so as to place the closed loop poles at the proper location. Next the factor by
which Kv, the velocity error coefficient, (or Kp, Ka etc. depending on the type number)
needs to be multiplied for steady state specifications to be met, is calculated. This
multiplication of Kv (by β) is effected by the lag compensator transfer function of Form II
when the 1/β factor is cancelled by an amplifier of gain β. The value of T is chosen so
that a very small shifting of the root locus diagram is caused by the negative phase angle
of the lag compensator.
(ii) If the root locus diagram does not pass through the desired location then a positive phase
angle must be added to force the root locus diagram to pass through it. This is achieved by
a lead network with appropriately chosen poles and zero. Finally the value of steady-state
error is evaluated and minor adjustment in the compensator pole/zero is made as
necessary.
Techno Instruments CD - 02 Page 6
4. EXPERIMENTAL WORK
All the four compensation design problems outlined above may be attempted on the
present setup unless the performance specification chosen are outside the physical limitations
of the system. A substantial amount of experimentation and graphical design is involved in
each, which is rather time consuming. It is therefore recommended that only one network may
be designed and tested in a usual laboratory class. In the following pages experimental
procedure for frequency domain design is presented. A reader having adequate knowledge of
s-plane methods may however undertake root locus design as well.

4.1 Bode Plot of the Plant

As a first step the magnitude-frequency and phase-frequency plots are to be sketched
from experimental data.
• Disconnect the COMPENSATION terminals and apply an input, say 1 V p-p, to the plant
from the built in sine wave source. Vary the frequency in steps and calculate plant gain in
dB and phase angle in degrees at each frequency. Sketch the Bode diagram on a semilog
graph paper.
• From the low frequency end of the magnitude plot, obtain the error coefficient and the
steady state error.
• Calculate the forward path gain K necessary to meet the steady state error specifications.
• Set the above value of K, short the COMPENSATION terminals and observe the step
response of the closed loop system. Compute the time-domain performance specifications,
namely, MP, tP, ess and ζ.
• Shift the magnitude by 20 log10 (K), and obtain the value of phase margin. Compare with
the given specifications of phase margin.

4.2 Lag Network Design

• From the Bode plot, find a frequency where PMactual = PMspecified + a safety margin (5°-
10°). This is new gain cross-over frequency ωg,new.
• Measure gain at ωg,new. This must equal the high frequency attenuation of the lag
network, i.e. 20 log β. Compute β.
• Choose Zc=1/T, at approx. 0.1 ωg,new and Pc=1/βT accordingly.
• Write the transfer function Gc(s) and calculate R1, R2 and C.
• Implement Gc(s) with the help of a few passive components and the amplifier provided for
this purpose. The gain of the amplifier must be set at unity.
• Insert the compensator and determine experimentally the phase margin of the plant.
• Observe the step response of the compensated system. Obtain the values of MP, tP, ess and ζ.

4.3 Lead Network Design

• From the Bode diagram obtained in section 4.1, calculate the required phase lead as
Phase lead needed (φm) = PMspecified - PMavailable + safety margin (5° to 10°)
• Calculate α for the lead network from
1 − sin φ m
α=
1 + sin φ m
Techno Instruments CD - 02 Page 7
 Y

B
Y0

X0 A X

Fig. 6 Phase and Gain Measurement on CRO

• Calculate new gain cross-over frequency ωg,new such that
Gω = 10 log α
g ,new

This step ensures that maximum phase lead shall be added at the new gain cross-over
frequency.
• The corner frequencies are now calculated from 1/T= α ωm and 1/αT=ωm/ α
• Implement Gc(s) with the help of a few passive components and the amplifier provided for
this purpose. The gain of the amplifier is to be set equal to 1/α.
• Insert the compensator and determine experimentally the phase margin of the plant with
compensator.
• Observe the step response of the compensated system. Obtain the values of MP, tP, ess and ζ.
In addition to the above experiments, the measurement of frequency response of
closed loop system, both before and after compensation, would provide further insight.

5. TYPICAL RESULTS
Following are the results obtained on a typical unit.
(a) Frequency response measurements :
Input = 1 Volt p-p, sine wave; CRO in x-y mode
All measurements are in volts p-p
fHz A B xo yo Gain dB Phase in
degrees
16 0.5 2.2 0.1 0.4 12.86 - 10.4
31 0.5 2.0 0.2 0.8 12.04 - 23.58
40 0.5 1.65 0.4 1.35 10.37 - 54.9
80 0.5 0.5 0.48 0.90 5.57 - 71.3
100 0.5 0.72 0.46 0.68 3.17 - 109.2
200 0.5 0.25 0.3 0.16 - 6.02 - 140.2
300 0.5 0.12 0.22 0.05 - 12.4 - 155.4
400 0.5 0.07 0.16 0.024 - 17.07 - 160.0
800 0.5 0.017 0.08 0.035 - 29.37 - 168.1
These measurements are carried out by the ellipse method (or by a double trace CRO).
If the input and output of a system, given as input x = Acos(ωt), and output y = Bcos(ωt-θ),
are fed to the x and y plates of the CRO respectively, the resulting trace is an ellipse (Fig. 6)
given by
y2 + (B2/A2)x2 - 2(B/A)xy cosθ = B2 sin2θ
Measurements of intercepts on x and y axes and peak values in these directions yield
Gain = B/A = yo/xo; or 20 log (B/A) dB, and
Phase θ = - sin-1(xo/A) = -sin-1(yo/B)

Techno Instruments CD - 02 Page 8

 30

26

22

18 G(jω) with gain Required High Frequency

increased by 14 dB Attenuation, 20 log β = 10dB
14
13 dB
10

G (jω) with K=1

6
1
Gain dB

-2 1 10 100 1000
90 Hz
-6
Frequency (Hz)

-10

-14
9
-18

-22

-26

-30

Frequency (Hz)
0
1 10 100 1000
Phase (degrees)

330 Hz
G(jω) 175 Hz

-90

45° 24°
-180

Fig. 7 Lag Compensator Design Example

 It is easy to see that for 90°<θ<180°, the major axis of the ellipse of Fig. 6 has a
negative slope and the phase angle is computed as θ = -180 + sin-1(xo/A).
(b) Bode plot: For the readings obtained above, the Bode plot is shown in Fig. 7. From it, the
approximate transfer function of the open loop system is obtained by drawing the low and
high frequency asymptotes and observing the values of low-frequency gain and corner
frequency. In the present set-up,
1
Corner frequency, f = 90 Hz, which gives T = = 0.00176
2π.90
1
 13 
and gain at low frequency = 13db, which gives K1= antilog   = 4.466
 20 
Thus, Plant Transfer Function is obtained as,
4.466
(1 + 0.001768s) 2
9
(c) Design: (Lag network)
Let the design requirement be
ess = 0.05 (5%)
Phase margin = 40°
Required value of error coefficient KP to meet ess specification is 19. Thus gain K needs to be
increased by 19/4.466 = 5(say), i.e. by 20 log(5) = 14 dB (approx.). With this value of open
loop gain, step response of closed loop system {Fig. I(a) of Appemdix-I} gives
MP = 50 %
tp = 1.6 m sec.
ess = 4 %
The gain setting of 5 must not be changed throughout this experiment.
The magnitude plot is redrawn by shifting up by +14 dB. From this plot
Gain cross over frequency ωg = 2π (330)
Phase Margin = 24°
Now, phase margin needed = 40° + 5° (safety margin) = 45°
This is available naturally at ω = 2π(175) which may be chosen as ωg,new.
High frequency attenuation needed = 10dB = 20log β, so that the value of β is 3.16.
Compensation network is thus chosen as
*ωg,new = ωg/10 = 2π(175)/10 = 1/T
Zc = 1/T = 2π(17.5), Pc = 1/βT = 2π(17.5)/3.16
T = R2C = 0.009094; β = (R1+R2)/R2 = 3.16
Component values for implementation
R1 = 19.64 kΩ ≈ 20 kΩ
R2 = 9.09 kΩ ≈ 9.1 kΩ
C = 1µF

Techno Instruments CD - 02 Page 9

* Note: The corner frequencies of the network are placed sufficiently lower than the desired
cross-over frequency, so that the phase lag contribution of the network at this cross over
frequency is made small. Usually the upper corner frequency of the network is placed 1/8 or
1/10 lower than the cross over frequency of the compensated system.
With the compensator inserted and compensator amplifier gain set to unity, step response Fig.
I(b) of Appendix-I gives
MP = 25 %
tp = 3 m sec.
ess = 3 %
It may be observed that compensation network has decreased the overshoot (smaller MP) of
the system while closely satisfying the ess requirements. Actual measurement of the phase
margin would confirm that compensation has brought it to 40° (approx.).
(d) Design: (Lead network)
Continuing with the same design requirement as before, viz.
ess = 0.05 (5%)
Phase margin = 40°

We now proceed with the lead network design. To satisfy the steady state specifications, the
open loop gain will need to be set to 5 as in the lag network example, leading to MP = 48 %,
ess = 5 %.
The gain setting of 5 must not be changed throughout this experiment.
The Phase Margin from Fig. 7 is read as 24°. Following the steps outlined in sec. 4.3,
Phase lead needed (φm) = 40° - 24° + 10° = 26°
1 − sin 26 1
α= = 0.39, = 2.56
1 + sin 26 α
10 log α = - 4.08 dB
ωm ( from Fig. 7) = 2π420 rad/sec = 2638.93 rad/sec
1 1 ω
= α ω m = 1648.0, and = m = 4225.6
T αT α
Time Constant T = R1 C
Choosing C = 0.01 µF, the resistances are computed as
T
R1 = = 60.67 kΩ ≈ 62 kΩ
C
α R1
R2 = = 38.78 kΩ ≈ 39 kΩ
(1 − α)
With the compensator inserted and its gain set to 1/α = 2.5, the response of the closed loop
system {Fig. I(c) of Appendix-I} yields:
MP = 25 %
tp = 1.3 m sec
ess = 3 %

Techno Instruments CD - 02 Page 10

An improved performance of the compensated system is obvious. Further, determination of
the closed loop frequency response would show a phase margin of approximately 40°.
Note: All the measurements in this experiment are carried out on a CRO and therefore these
may be accurate within a tolerance of about ± 5%. Further errors are caused by the non zero
bias current requirement of the operational amplifiers used. For better results it is suggested
that the gain settings of the system and compensation amplifier be actually measured. It is
also recommended that R1 and R2 may not exceed 100 kΩ approximately and only polyester
capacitors be used for C in the compensation network.
• The traces shown in Fig. I(a-c) in Appendix-I are obtained with a Tektronics Digital
Storage Oscilloscope, Type TDS 210

6. REFERENCES
[1] K. Ogata, ‘Modern Control Engineering’, Prentice Hall of India Pvt. Ltd.
[2] B.C. Kuo, ‘Automatic Control Systems’ Prentice Hall of India Pvt. Ltd.
[3] Nagrath, I.J. and M. Gopal, ‘Control System Engineering’, Wiley Eastern Limited, 1975

Techno Instruments CD - 02 Page 11

 APPENDIX – I

Fig. I. (a). Uncompensated System

Fig. I. (b) Lag Network

Fig. I. (c) Lead Network

Techno Instruments CD - 02 Page 12

 PACKING LIST

1. Compensation Design, CD-02 : One

2. Patch Cords: 6 nos
(a) Red (12”) : Three
(b) Black (12”) : Three
3. Sample Components
(a) Condenser: 1µF, 0.01µF
(b) Resistance: 62K, 39K, 20K, 9.1K

Techno Instruments CD - 02 Page 13

 TECHNICAL SUPPORT

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* Phone : +91-1332-272852, 277118
* Fax : +91-1332 - 277118
* e-mail : [email protected]; [email protected]

Contacting for Technical Support

Before you call the Techno Instruments Technical Support staff it would be helpful to
prepare the following information:

• If your problem is with the Techno Instruments apparatus, note :

o Model number and S. No (usually listed on the label at the backside of instrument).
o Approximate age of the apparatus.
o A detailed description of the problem/ sequences of events may please be sent by
email or Fax.

• If your problem relates to the instruction manual, note;

Model number and Revision (listed by month and year on the front cover).
Have the manual at hand to discuss your questions.

Techno Instruments CD - 02 Page 14

 List of Control Laboratory Experiments manufactured by us
• Digital Control System
Study of microprocessor control of a simulated linear system
• A.C. / D.C. Servomotor study
Study of characteristics of a 2-phase a.c. motor/ d.c motor. It allows the determination of torque-speed
characteristics, inertia and friction parameters of an a.c. motor. Transfer function can also be evaluated in
this system. A digital display is available for time constant measurement.
• A.C. / D.C. Position Control
Study of an a.c. / d.c servomotor angular position control system.
• D.C. Speed Control
Study of a d.c. motor speed control system
• Temperature Controller System
To study a typical temperature control system (Compact Oven)
• PID Controller
Performance evaluation and design of PID Controller
• Study of Synchro Devices
Study of synchro transmitter-receiver pair with calibrated dials. Receiver can be used as control
transformer. Built-in balanced demodulator circuit. Digital display of ac/ dc voltages.
• Linear Variable Differential Transformer
Study of the performance characteristics of a LVDT.
• Magnetic Levitation System
Analysis and design of feedback control system to keep an object suspended in air.
• Stepper Motor Study
To study the operation and characteristics of a stepper motor with an 8085 based µP-Kit and user software
EPROM.
• Relay Control System
To analyze a simulated relay control systems.
• Compensation Design
To design a suitable cascade compensator for the given system and verify the resulting improvement.
• Study of Second Order Networks
Study of synchro transmitter-receiver pair with calibrated dials. Receiver can be used as control
transformer. Built-in balanced demodulator circuit. Digital display of ac/ dc voltages.
• Linear System Simulator
To study the performance of First, Second and Third order Systems.
• Potentiometric Error Detector
To study the performance of a potentiometer type d.c. position error detector.
• Light Intensity Control
P and PI control of light intensity with provision for disturbance and transient studies
• Microprocessor Device Controller
Study of 8085 µP based switching control of LED, Relay sequence, 7-Segment display. Besides it also allow
the study of switch state input through 8255 port and SID/ SOD operation of a microprocessor.
• Study of Temperature Transducers
Study of input-output characteristics of some common transducers like, thermistors (PTC and NTC),
thermocouple, semiconductor sensors
• Stroboscope
For measurement of shaft speed using stroboscope principle in harsh laboratory environment.
• Function Generator
10Hz-2MHz; Square/Sine/ Triangular; Amplitude 0-3V (p-p); 4 digit digital counter
• Study of Digital to Analog Convertor
Detailed study of D/A schemes – 4 bit weighted resistance, R-2R discrete network and 10-bit IC based
circuits with 8085 based µP-kit and interface for CRO included.

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