Compensator

Er. Vinay Kumar

Department of Electronics Engineering
Kamla Nehru Institute of Technology, Sultanpur (U.P.)
[email protected]

© 2022 Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Compensator :
Compensation in control system are used for improving the performance specification
i.e., the transients and steady state response characteristics.

R(s) +– Compensator Procerss C(s)

Feedback

Type of Compensator
❖ Lead compensator
❖ Lag compensator
❖ Lead-Lag compensator

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lead Compensator :
➢ A system which has one pole and one dominating zero (The zero which is closer to the
origin then all over zeros is know as dominating zero.) is known as lead network.
➢ The transfer function of the lead compensator is

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lead Compensator :
The gain (DC gain) i.e. (𝛼 < 1) which result in attenuate the signal, to over come this
problem a gain produced by an amplifier is cascaded along with compensator.
Then new over all transfer function of compensator is

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lead Compensator :
Polar plot for lead compensator Bode plot for lead compensator
|GC|dB

m
1 2 log 
0
Img –270o
max

–180
o
=0 = Re
log 
0
–90
o

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lead Compensator :
Practical implementation of lead compensator C

R1
Vi(s) R2 V0(s)

Note :
1. A Lead compensator is a differentiating network
having characteristics similar to high pass filter.
2. Zero is closer then the pole.
3. It similar to PD controller.
4. It act as a differentiator.
5. It act as a pre-emphesis circuit.
© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lead Compensator :
Effect of lead compensator :
1. It improve the transient response of the system.
2. It increase the value of damping ratio (𝜉)
3. It reduce the oscillation and improve the stability.
4. It reduce the peak over shoot.
5. It decrease the tr and tp.
6. It increase the phase margin.
7. It increase the bandwidth.
8. It reduced SNR at output, SNRoutput < SNRinput.
9. It improve error constant up to some extent.

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lead Compensator :
Example :
1+0.6𝑠
A lead compensator having transfer function 𝐺𝐶 𝑠 = 1+0.2𝑠 . Find the maximum
phase provided by the compensator.

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lag Compensator :
A system which has one zero and one dominating pole is known as lag
network.
Transfer function of lag compensator

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lag Compensator :
Polar plot for lag compensator Bode plot for lag compensator

–270° Img

= =0
–180° Re |GC|d
1 m 2
log 
0
–90°


0
max
log 

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lag Compensator :
Practical Implement of lag compensator
R1

C
Vi(s) R2 V0(s)

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lag Compensator :

Note :
1. A lag compensator is an integrator network having characteristics similar to a low pass filter.
2. Pole is closer to origin then the zero.
3. It similar to the PI controller.
4. It act as a integrator.
5. It act as a de-emphesis circuit.

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lag Compensator :
Effect of lag compensator :
(1) It increase the error constant.
(2) It decrease the steady state error.
(3) Steady state response is improved
(4) It reduces the phase margin of system there for stability of system reduces.
(5) It decrease the band width of the system so SNR at output is increases.

Type-2 or higher order system becomes unstable when lag-compensator is applied.

To improve the steady state response of such system either lead or lag-lead
compensator can be used.

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lead - Lag Compensator :
With single lag or lead compensation may not satisfied design specifications. For an unstable
uncompensated system, lead compensation provide enough phase margin where as lag
compensation stabilize the system bat does not provide enough bandwidth. So we need multiple
compensation in cascade.
Transfer function of lead-lag compensator

j


0
–ZC2 –PC2 –PC1 –ZC1

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lead - Lag Compensator :
Bode plot for Lead-Lag compensator
|GC|dB

0dB log 

log 

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lead - Lag Compensator :
Practical Implementation of Lead-Lag compensator
C1

+ R1 +
C2
V0(s)
Vi(s)
R2
– –

Note : A lead lag compensator similar to a band pass filter.

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved
Lead - Lag Compensator :
Effect of Phase Lead-Lag compensation
1. It increases speed of the system.
2. It gain crossover frequency is a higher value.
3. Its improved accuracy.

© 2022 | Er. Vinay Kumar, Department of Electronics Engineering, KNIT, Sultanpur. All rights reserved