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EEE 102 Control 08

The document discusses lag and lead compensators in control systems, detailing their transfer functions, characteristics, and physical realizations. Lag compensators improve steady-state behavior while preserving transient behavior, whereas lead compensators speed up transient response and increase stability margin. A lag-lead compensator combines both types to achieve desired system performance, with specific conditions for stability based on the system type.

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18 views11 pages

EEE 102 Control 08

The document discusses lag and lead compensators in control systems, detailing their transfer functions, characteristics, and physical realizations. Lag compensators improve steady-state behavior while preserving transient behavior, whereas lead compensators speed up transient response and increase stability margin. A lag-lead compensator combines both types to achieve desired system performance, with specific conditions for stability based on the system type.

Uploaded by

gloryjsingh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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EEE-102

Linear Systems and Control


EED, IITR
Dr. Sohom Chakrabarty

Lecture 8 – Lag and Lead Compensators


Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25
Lag Compensator
TF of a lag compensator:
𝜏𝑠 + 1
𝐺𝑐 − 𝑠 =
𝛽𝜏𝑠 + 1

• 𝛽 > 1 produces negative phase angle ∠𝐺𝑐 − 𝑗𝜔 for all frequencies.


1 1
• Zero at 𝑠 = − and pole at 𝑠 = − .
𝜏 𝛽𝜏
• Pole is closer to origin than zero.

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Lag Compensator
TF of a lag compensator:
𝜏𝑠 + 1
𝐺𝑐 − 𝑠 =
𝛽𝜏𝑠 + 1

• 𝛽 > 1 produces negative phase angle ∠𝐺𝑐 − 𝑗𝜔 for all frequencies.


1 1
• Zero at 𝑠 = − and pole at 𝑠 = − .
𝜏 𝛽𝜏
• Pole is closer to origin than zero.

• Improves steady-state behaviour


• Preserves transient behaviour

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Lag Compensator
Physical Realization:
1
𝑉𝑜 (𝑠) 1 𝑠+𝜏
=
𝑉𝑖 𝑠 𝛽 𝑠+ 1
𝛽𝜏

𝜏 = 𝑅2 𝐶
𝑅1 + 𝑅2
𝛽=
𝑅2

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Lead Compensator
TF of a lead compensator:
𝜏𝑠 + 1
𝐺𝑐 + 𝑠 =
𝛼𝜏𝑠 + 1

• 𝛼 < 1 produces positive phase angle ∠𝐺𝑐 + 𝑗𝜔 for all frequencies.


1 1
• Zero at 𝑠 = − and pole at 𝑠 = − .
𝜏 𝛼𝜏
• Zero is closer to origin than pole.

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Lead Compensator
TF of a lead compensator:
𝜏𝑠 + 1
𝐺𝑐 + 𝑠 =
𝛼𝜏𝑠 + 1

• 𝛼 < 1 produces positive phase angle ∠𝐺𝑐 + 𝑗𝜔 for all frequencies.


1 1
• Zero at 𝑠 = − and pole at 𝑠 = − .
𝜏 𝛼𝜏
• Zero is closer to origin than pole.

• Speeds up transient response


• Increases stability margin
• Increases system error constant to a limited extent.
Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25
Lead Compensator
Physical Realization:
1
𝑉𝑜 (𝑠) 1 𝑠 + 𝜏
=
𝑉𝑖 𝑠 𝛼 𝑠+ 1
𝛼𝜏

𝜏 = 𝑅1 𝐶
𝑅2
𝛼=
𝑅1 + 𝑅2

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Lag-Lead Compensator
This is a cascade arrangement of both lag and lead compensator.

The general form of this compensator is


𝜏𝑠 + 1 𝜏𝑠 + 1
𝐺𝐶 𝑠 =
𝛽𝜏𝑠 + 1 𝛼𝜏𝑠 + 1
where 𝛽 > 1 and 𝛼 < 1.

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Lag-Lead Compensator Realization
Physical Realization:
1 1
𝑉𝑜 (𝑠) 𝑠+𝜏 𝑠+𝜏
1 2
=
𝑉𝑖 𝑠 1 1
𝑠+ 𝑠+
𝛽𝜏1 𝛼𝜏2

𝜏1 = 𝑅1 𝐶1
𝜏2 = 𝑅2 𝐶2
𝑅2 𝑅1 + 𝑅2
𝛼= , 𝛽=
𝑅1 + 𝑅2 𝑅2

𝛼𝛽 = 1

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Compensator Selection
For Type-2 or higher, OL system is always unstable. Then lead compensators must
be used to increase stability margin.

For Type-1 and Type-0 systems, stable operation is always possible with reduced
gains in closed loop. Then lag, lead or lag-lead compensators can be used.

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25


Thank you!!

Dr. Sohom Chakrabarty, EED, IITR, Spring 2024-25

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