Controllers & Compensators

Introduction
A controller is a device which is used for improving the performance of the transient and steady state
response as per the requirement.
e (t ) Controller p(t ) Forward gain
R (s ) + C( s)
− G C(s ) GP(s )

Fig. A Basic block diagram of a controller

Integral
Proportional Controller Derivative Controller
Controller
t
d
p (t ) ∝ e (t ) p (t ) ∝ e (t ) p (t ) ∝  e (t ) dt
dt 0

t
d
p (t ) = K P e (t ) p (t ) = K D e (t ) p (t ) = K I  e (t ) dt
dt 0

E ( s)
P (s) = K P E (s) P ( s ) = K D s.E ( s ) P ( s) = K I .
s
P ( s) P ( s) P (s) K I
= KP = sK D =
E ( s) E (s) E ( s) s
K P → Proportional controller gain. ( K P > 1) , K D → Derivative Controller Gain ( K D > 1 ), K I →
Integral Controller Gain( K I > 1 ).

Proportional Derivative Proportional Integral Proportional Integral

Controller Controller Derivative Controller
(PD Controller) (PI Controller) (PID controller)
d
d
t
p (t ) ∝ e (t ) & p (t ) ∝ e (t )
p (t ) ∝ e (t ) p (t ) ∝  e (t ) dt dt
dt 0 t

and p (t ) ∝ e (t ) and p (t ) ∝ e (t ) and p (t ) ∝  e (t ) dt

0

d
t
p (t ) = K P e (t ) + K D e (t ) +
d dt
p (t ) = K D e (t ) + K p e (t ) p (t ) = K I  e (t ) dt + K p e (t ) t
dt 0 K I  e (t ) dt
0

K   K 
P ( s ) = ( sK D + K P ) E ( s ) P (s) =  I + K P  E (s) P ( s ) =  K P + sK D + I  E ( s)
 s   s 
P ( s) P ( s ) K I + s.K P P ( s) K
= sK D + K P = = K P + sK D + I
E ( s) E ( s) s E ( s) s

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Control System [SSC-JE & All State AE/JE] 2 GATE ACADEMY®
Comparison of Phase Lag and Lead Compensator
Characteristics Phase Lag Compensator Phase Lead Compensator
R1 C
+ +
+ +
R2 R1
Vin Vout
Vin R2 Vout
Electrical C
− −
Network − −
τ = R2C sec
τ = R1C sec
R + R2
β= 1 , β >1 R2
R2 α= , α <1
R1 + R2
Transfer 1 + τs α (1 + sτ)
function 1 + βτs (1 + αsτ)
jω jω

Pole - zero plot σ σ

− 1/ τ − 1/β τ −1/ατ −1/τ

Filter LPF HPF

G ( jω) , dB G ( jω) , dB
0 dB 1/βτ 1/τ
Magnitude ω (rad/sec) ec
/d
dB
plot 20
–
20

ω (rad/sec)
dB

1/τ 1/ατ
/d

0 dB
e
c

∠G( jω) ∠G( jω)

ωm
ω (rad/sec) φm
Phase Plot
φm ω (rad/sec)
ωm

1 1
ωm rad/sec rad/sec
τ β τ α
 1− β   1− α 
φm sin −1   sin −1  
 1+ β   1+ α 
Response It improves the steady state response. It improves the transient response.
Steady State No significant reduction in steady state
It reduces the steady state error.
Error error.
It decreases the margin of stability i.e. It increases the margin of stability i.e.
Stability
system becomes less stable. system becomes more stable.
Damping ratio It decreases the damping ratio. It increases the damping ratio.
Settling time It increases the settling time. It reduces the settling time.
Bandwidth It decreases the bandwidth. It increases the bandwidth.
It increases the maximum peak It decreases the maximum peak
MPO
overshoot. overshoot.
Gain crossover It decreases the gain crossover It increases the gain crossover
frequency frequency. frequency.
Dominant pole
Pole is dominant Zero is dominant
or zero
Type of
It acts as PI controller It acts as PD controller
controller
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GATE ACADEMY® 3 Controllers & Compensators

Lag-lead Compensator
1. It is used for improving the transient as well as steady state performance of the system.
2. In lag - lead compensator both phase lag and phase lead occurs but in different frequency region
(Phase lag at low frequency and phase lead at high frequency).
3. It acts like a Band stop filter.
4. Circuit diagram : Pole zero plot :
C1 Lead jω

s-plane
−PC 2 − Z C 2 − ZC 1 − PC 1
+ R1 + σ
R2 1 1 1 1
− − − −
vi (t ) Lag v0 (t ) ατ 2 τ2 τ1 βτ1
C2 Lead Lag
– –

5. Transfer function :
 s + Z C1   s + Z C 2 
GC ( s ) =    where, PC1 < Z C1 < Z C 2 < PC 2
 s + PC1   s + PC 2 
 1  1 
 s + τ  s + τ 
GC ( s ) =  1
 2
 where, α < 1, β > 1, τ1 > 0, τ2 > 0
 s + 1  s + 1 
 βτ1  ατ 
 2
Lag section Lead section

6. Frequency response :
GC ( jw) , dB 1 1 1 1
bt1 t1 t2 at2
w (rad/sec)
0 0 dB/dec 0 dB/dec
– 20 dB/dec +20 dB/dec

0 dB/dec

f
æ 1- a ö
fm = sin -1 ç ÷
è1+ a ø

w (rad/sec)
00

æ 1- b ö
fm = sin -1 ç ÷
è1+ b ø
7. Filter Behavior :
T ( jw) T ( jw)

A
A
2

Stop
Band

w (rad/sec) w (rad/sec)
0 wc1 wc 2 wC1 wC 2
(Practical response) (Ideal response)
 It’s a band stop filter (BSF) or band reject filter (BRF).

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Control System [SSC-JE & All State AE/JE] 4 GATE ACADEMY®
Lead-lag Compensator
1. It is used for improving the transient as well as steady state performance of the system.
2. In lead - lag compensator both phase lag and phase lead occurs but in different frequency region
(Phase lag at high frequency and phase lead at low frequency).
3. It acts like a Band pass filter.
4. Circuit diagram : Pole zero plot :
Lag jω

R1 s-plane
C1 −ZC 2 − PC 2 − PC 1 − ZC 1
σ
vi (t ) R2 C2 v0 (t ) 1 1 1 1
Lead − − − −
τ2 βτ2 ατ1 τ1
Lag Lead
5. Transfer function :
 s + Z C1   s + Z C 2 
GC ( s ) =    where, Z C1 < PC1 < PC 2 < Z C 2
 s + PC1   s + PC 2 
 1  1 
 s + τ  s + τ 
GC ( s ) =  1
 2
 where, α < 1, β > 1, τ1 > 0, τ2 > 0
s+ 1  s + 1 
 ατ  βτ 
 1 
 2 
Lead section Lag section

6. Frequency response :
GC ( jw) , dB

+ 20 dB/dec – 20 dB/dec

w (rad/sec)
0 0 dB/dec 1 1 1 1 0 dB/dec
t1 at1 bt2 t2
f
æ 1 - a ö
fm = sin -1 ç ÷
è1+ a ø

w (rad/sec)
00

æ 1- b ö
fm = sin -1 ç ÷
è1+ b ø

7. Filter Behavior Lead-lag Compensator :

T ( jw) T ( jw)

A
2 Pass band
Stop Stop
band band
w (rad/sec) w (rad/sec)
0 wC1 wC 2 0 wC1 wC 2
(Practical response) (Ideal response)

 It’s a band pass filter (BPF).

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 GATE ACADEMY® 5 Controllers & Compensators

Effect of Integral mode :

(i) It introduces a pole in the system.
(ii) It increases type of system.
(iii) It increases gain of system.
(iv) It decreases steady state error i.e. it improves steady state response.
(v) It decreases bandwidth of system.
(vi) It decreases speed of response of system.
(vii) It increases settling time of system.
(viii) It increases peak overshoot of system.
(ix) It decreases damping factor ξ of system.
Effect of derivative mode :
(i) It introduces a zero in the system.
(ii) It decreases type of system.
(iii) It decreases gain of system.
(iv) It increases steady state error.
(v) It increases bandwidth of system.
(vi) It increases speed of response of system.
(vii) It decreases settling time of system.
(viii) It decreases peak overshoot of system.
(ix) It improves transient performance of system.
(x) It increases damping factor ξ of system.
Effect of PD controller :
(i) It introduces a finite zero in the system.
(ii) It increases bandwidth of the system.
(iii) It increases speed of response of system.
(iv) It decreases settling time.
(v) It decreases peak overshoot of the system.
(vi) It increases damping factor of system.
(vii) It acts like a differentiator which amplifies noise.

Gate Academy Shop Address : Street 04, Narsingh Vihar, Katulbod, Bhilai 490022 (C.G.), Contact : 97131-13156 Online Test Series
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