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SYSTEM COMPENSATION

Compensation is the minor adjustment of a system in order to satisfy

the given specifications. Specification refers to the objective of a
system to perform and obtain the expected output after the system is
provided with a proper input. Some of the needs of the system
compensation are as specified.

PERFORMANCE SPECIIFICATIONS - Control systems are

designed to perform specified tasks. The requirements imposed upon
the control system are usually spelled out as performance
specifications. They generally relate to accuracy, relative stability and
speed of response. For routine design problems, performance
specifications may be given in terms of precise numerical value. In
other cases, they may be given partially in terms of numerical values
and partially in terms of qualitative statements. In the latter case, the
specifications may have to be modified during the course of design
since the given specifications may have to be modified during the
course of design since the design specifications may never be
satisfied (because of conflicting requirements) or may lead to a very
complicated system or may also be a system which in not an
economical system or an expensive system.

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Generally speaking, the performance specifications should not be

more stringent than necessary to perform the given task. If the
accuracy at steady state operation is of prime importance in a given
control system, then the performance specifications on the transient
response must not be rigid since such specifications will require
expensive components or make the system expensive. Most important
feature of the control system is to state the performance specifications
precisely so that they will yield an optimal control system for the
given purpose. In general the desired objectives must be achievable &
subjective based on the product features so that the cost of the product
is kept in mind before the same is designed.

TRIAL & ERROR APPROACH TO SYSTEM DESIGN - In

most practical cases, the design method to be used maybe determined
by the performance specifications applicable to the particular case. In
designing control systems, if the performance specifications are given
in terms of time domain performance measures, such as rise time,
maximum overshoot or settling time or frequency domain
performance measures such as Phase Margin, Gain Margin, resonant
peak value, or bandwidth, then, there is no other choice but to use the
method of trial and error approach based on Root Locus Method
and/or Frequency response method.

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The systems which may be designed by a trial and error approach are
usually limited to single input and single out put linear time invariant
systems. The designer seeks to satisfy all the performance
specifications by means of educated trial and error repetition. After a
system is designed, the designer checks to see if the designed system
satisfies all the performance specifications. If it does not, then design
process is repeated by adjusting parameter settings or by changing the
system configurations until the given specifications are met. Although
the design is based on the trial and error procedure, the ingenuity and
the know-how of the designer will play an important role in a
successful design.

In analysis we have seen that system a gain is adjusted to meet the

requirements of control system specification. However high gain
results in reduction of steady-state error but reduces stability of the
system when this is not found sufficient in the design of control
system. It is required to modify the shape of the actual plot. This is
done by redesigning the system and the control elements. This is
done by placing compensating elements in series or parallel. Series
compensation is placed in feed-forward loop. Parallel compensation
is placed in feed back loop.

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Compensation devices have been classified into three categories. The

first is phase-Lag, second is phase lead and the third is Lag-lead
Compensation.

General Consideration To Choose Compensating Devices

There are many specific criteria which can be used to determine

the form of compensating elements and the particulars value for
the parameters. However it is possible to make some generalized
characteristics which serve as guides to choose specific
compensating elements.

Firstly in the lower range of frequencies (Frequencies below

crossover point) it is desirable that the output of the system follow
the references variable with a minimum of error. This correspond
to a high dB level at low frequencies in BODE Diagram.

Secondly in the middle range frequencies (i.e. frequencies near the

crossover point) slope of attenuation curve should be limited to 20
db/decade. This generalization refers to systems which are
unstable.

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Third at high frequency range ( Frequencies above the crossover

point), it is generally desirable to attenuate as rapidly as possible
i.e greater negative attenuation.

It is therefore appropriate to point out that compensation is an area

which requires creative application of the basic principles to meet
the stated set of specification.

Series Compensation

This class of compensating device is illustrated in the fig where

the compensating element Gc is placed in series with the forward
transfer function G (S). This compensating element can be simple
lag, lead or Lag-Lead.
a) SERIES LEAD COMPENSATOR

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E(s) M(S)
R(S) C(S)

G(S) G1(S)

B(S)

R(S) Reference Variable

B(S) Feedback Signal
E(S) Error Signal
M(S) Modified Signal
C(S) Contolled Variable
G(S) Tranfer Fuction of the Compensator
G1(S) Transfer Function in the Feed Fowrward Path

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db

b) Series lag Compensator

E(s) M(S)
R(S) C(S)

G(S) G1(S)

B(S)

R(S) Reference Variable

B(S) Feedback Signal
E(S) Error Signal
M(S) Modified Signal
C(S) Contolled Variable

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G(S) Tranfer Fuction of the Compensator

G1(S) Transfer Function in the Feed Fowrward Path

db

c) Series lead lag or Lag lead.

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G(S) G1(S)

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db

Fig. iIllustrates a series of lead compenators which improves the

response ar frequencies near or above the crossover point or might
be utilized to allow higher system gain setting and still maintain a
desired degree of stability.

Fig. also illustrates a series of lead compenators which has lesser

utility in compensation.

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Fig. shows series lag lead or lead lag compensator device

depending upon the value of time constants T1 and T2, If T1>T2 it
is lead lag if T1<T2 it is lag lead.

Feed back Compensation:-

This is also called as parallel compensation. This may be used to

improve system stability, reduce system error and improve speed
of response of the system. The concept of feed back compensation
is illustrated in fig below.

G1(S) G(S)

H(S)

Feed Back Compensated System:-

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The type of compensation element transfer function can be similar

to those illustrated in fig. Under the discussion series
compensation, depending upon the nature of compensation
required.
Tachometer Feedback as Compensation Device:

This is commonly found in practical positioning of control

system. If the output of a certain element is a rotary position, a
tachometer Connected top the output provides a signal proportional
to the velocity thus a transfer function of a tachometer purloining
device is given by positioning system with tachonometer Feed
back

Physical Devices For system Compensation.

The necessity to compensate a control system ultimately leads the

designer to the realization of some physical devices that provides
the theoretical relationship of desirable output input. The
compensating element transfer function must have satisfactory
values of time constant and gain the physical devices may be
hydraulic. Mechanical or Electrical.

Simple LAG

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This is obtainable with mechanical or electrical element ‘A”

simple lag is a first order differential equation. If the signal to be
sensed is a displacement (translation of rotary) and a displacement
signal output may be compared with a reference input in some
fashion, this device would be quite satisfactory.

A good example of this device is hydro mechanical device that

could be used to obtain simple log is hydraulic servo mechanism.
It provides a high impedance i.e. It requires a low force to move
the value spool and power implication i.e. and output can be large
for a small input force.

b Lag- lead Compensation:

This device is an extremely versatile and useful compensating

device. A mechanical device can be obtained by the use of a
spring and two dashpots shown in fig.

Again it is importance that the position to be sensed in such a way

as not to apply a force at that point in the device or add appreciable
mass. In addition the spring and the dampers should be chosen so

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that the force required to produce motion Xj does effect the actual
deflection that is beyond sensed.

Mechanical Lag lead:

C2 dxo/dt= K (xj-xo)+ C1( dxi/dt-dxo/dt)

=mx .. Therefore [xo(s)/xi(s)]= T2s+1
______
T1S+1

Electrical Lag lead

Eo(s) = T2s+1
_______________
Ej (s) T1S+1

Mas
s

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SYSTEM COMPENSATION

Control Action:

The function of a controller is to produce a control signal (manufactured

signal) based on the error signal (deviation from required value) which
will minimize or eliminate the deviation.

Different types of controller are available with each one having its
own characteristic the designer has to choose the type of controller to
suit the specification of the control system. Root locus technique helps
in the selection of the controller.

Classification:

1. Proportional Controller
2. Integral Controller
3. Derivative Controller
4. Proportional plus integral controller (PI Controller)
5. Proportional plus Derivative controller (PD Controller)
6. Proportional plus Integral plus Derivative Controller (PID)
7. ON/OFF Controller

1. Proportional Controller

In this type of controller the manipulated signal is simply related

to the error signal by a constant.

M(t)= Kp e (t)
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Srinidhi.R, Faculty,, Mechanical Engineering, SJCE, Mysore5700068 Session III: 21/11/2006

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 VTU e-learning Courseware
www.getmyuni.com Control Engineering (ME55)

M(s)= Kp E(s)
Kp -> Gain of Proportional Controller

Characteristics of Proportional Controller (High Gain)

1. Closed loop Response improves

2. It gives fast response
3. It can improve steady state error and Rise time.
4. High gain may lead to instability due to high oscillation

Draw Backs (Low gain)

1. It gives heavily damped response

2. It gives large steady state error

Example: Non-investing operational Amplifiers

E(t)= R1
---------- m(t)
R1+R2

M(t)= R1+R2
---------- e(t)
R1
M(t) = Kp e(t) where Kp = R1+R2
----------
R1
( M(s)= Kp E(S)

2. Integral Controller

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If the manipulated signal of the controller is proportional to time

integral of error signal it is called Integral Control Action.

R (s) +

dm(t)
_____ = K1 e(t)
Dt

m(t) = K1 e(t) dt

M(s) = K1 E(S)
----
S

M(S) K1
____ = _____
E(S) S

The integral controller gives a output which is ramp the integral

control action is also called reset control Integral control action is
used whenever the steady state error is too large.

Characteristics

1 Slows down system Response.

2 It increases setting and Rise time.

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Ex: Integrator using operation Amplifies follow by sign inverter

3 Derivative Controller

The control action of derivative controller is given by the

following equation

M(t) = Kd dc(t)
-- --- Where Kd is the gain of derivative controller
dt

M(s) = Kd SE (S)

M(S)
____ = Skd

E(S)

Characteristic of Derivative Controller

1 It can produce significance correction before magnitude of

actuating error becomes too large
2 It tends to increase stability of the system
3 It adds damping to the system hence large values of gain which
will improve accuracy can be used.

However Derivative control action can never be used alone as it

takes corrective action on the rate of change of actual error rather
than actuating error itself. Any noise in the error signal amplifies
and given an erratic behaviour.

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4. Proportional plus Integral Control action

It is given by the following equation

Both Kp &Ti are adjustable change in t=Tj affects only internal control
action where as change in kp effects both proportional and integral;
control action.

Ex: PI Controller using operation amplifies

M1(t) = -Rs 1
--- e(t) ----- (e(t) dt
R1 R1 C2

= -( R2
--- e(t) + 1
------ e(t) dt)
R1 R1 C2

m(t) = -m1(t) R/R --sign inventor

m(t) = R2 1
---- e(t) + ____ e(t) dt
R1 R1C2

Taking L.T

M(s) = R2 1 E9S) R1 R2
__ E(s) + ____ ____ __ _

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R1 R1C2 S R2 R1

= R2 R2 1
__ E(s) + ____ ____ E(S)/S
R1 R1 R1C2

R2 1 1
__ = Kp (Constant) ____ ____ Ti= time Constant
R1
R2 C2 Ti

M(s)= E (S) (Kp + KP)

___
TjS

M(S) =Kp (1+ 1

____ ___
E(S) Tjs

= Kp( 1+Tjs)
____
Tjs

5. Proportional- Plus Derivitive Control action (P-D Controller)

The PD Controller is defined by the equation.

M(t)= Kpe(t) + Kp Td De(t)

_____

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Dt

M(s) = Kp E(s) + Kp Td SE (S)

= E(S) (Kp+KpTdS)

M(S)
____ =Kp(1+Tds)

E(S)

Then control action is considered as anticipatory i.e applying corrective

action ahead of the error. Determinative control action has not effect on
steady state error; however it speeds up response during transient phase.
Derivative action is effective only during transient phase.

m(1) = -R2 -R2 C1 de (t)

___ e(t) _____
R1 dt

M(t)= -m1(t)
= R2 C1 De(t) x (R2) xR1
____ e(t) + ______ ____ __

R1 dt R1 R2

= Kp e(t) + Td de(t) Kp
___
dt

R2
__ = Kp gain Proportional
R1
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Srinidhi.R, Faculty,, Mechanical Engineering, SJCE, Mysore5700068 Session III: 21/11/2006

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R1 C1 = Td (derivative time)

m(t)= Kp e (t) + Td de (t)

___ Kp
dt

M(s) = Kp E (s) + Kp Td S E (s)

M (s) = E (s){( kp (1+ Td s)}

M (s)
____ = kp (1+ Tds)
E (s)

6. Proportional –Plus- Integral Plus Derivative Controller

The PID Controller is given by

m (t)= Kp e (t) (+) + Kp t e (t) dt+ Kp Td de (t)

___ ____
Ti ∫ dt
o

Transforming Using L. T

M (s)= Kp E (s) Kp
___ E (s) + Kp Td S E (s)
TjS

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M(s) 1
____ = Kp ( 1+ ___ +Tds)
E (s) T js

Where Kp - Proportional gain

Ti  Integral Time
Td  Derivative Time.

Since there are three gain Kp, Ti, and Td each adjustable, then gives a
significant range.

These controllers are used extensively in industrial processed.

Setting of PID gain is called as tuning however tuning should be done
carefully as there are three gains.

m 1(t) = - R2 -1

__ e(t) _____ ∫ ei dy + R2 C1 e (t) dt

R1 R1C2

m (t) = -m1 (t)

m(t)= R2 e(t) + 1

___ ____ ∫ ei dt + R2 C1 e (t)dt

R1 R1C2

Transofrming using L.T

M(s) = R2 1 E(s)

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___ E (s) + ___ ____ + R2 C1 SE (s)

R1 R1C2 S

= R2 1 E(s) R2 R1
___ E (s) + ___ ____ x ___ x ___ + R C
R1 R1C2 S R1 R2 2 1

SE(s) x R2 R1
__ x ___
R1 R2

R2__ = Kp - Proportional gain

R1 R C  Derivitive time Td
1 1
R C = Tj →Integral time
2 2

.
. . M(s) Kp
___ = Kp + ___ + Kp Tds
E(s) Tjs

M(s) 1
___ = Kp + ( 1+ ___ + Tds
E(s) Tjs

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Srinidhi.R, Faculty,, Mechanical Engineering, SJCE, Mysore5700068 Session III: 21/11/2006

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Mass
F= m
F
x
Tra
:Mass
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nsl
*
Prope
Accel
rty or 7. ON – OFF Controller
ati
eratio
mean On OFF Controller are required to switch ON or OFF the
sn – Component at appropriate time. Switches relays times unit are used for
on the purposes. The main disadvantage with these ON/OFF Controller are
Kinet they consume significant voltage and current during their operation hard
al= m x wised electronic logic controller are also used they are cheap however
ic
they are complicated. Fluid logic systems are also available to install
energ and maintain.
Syy is
store
ste
d
ms
Mas
s

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