Controller and Compensator Design

Module-6

1 Dr. Vetriveeran Rajamani, SENSE, VIT

Outline
 Controllers – P, PI, PID controllers

 Realization of basic compensators

 Design of lag, lead, lag-lead series compensator

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Components of Automatic Control
System

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Controllers
 It is a device introduced in the system to modify the error
signal and to produce a control signal.
 The manner in which the controller produces the control
signal is called the control action.

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Controllers

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Proportional Controller (P-Controller)
 The P-Controller is the device that produces the control signal,
u(t) proportional to the input error signal, e(t).

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Proportional Controller (P-Controller)
 The P-Controller amplifies the error signal by an amount of Kp.
 Increases the loop gain by Kp
 The increase in loop gain improves steady state tracking
accuracy, disturbing signal rejection and relative stability.
 But increasing the gain to very large values may lead to
instability of the system.
 The drawback of the P controller is it leads to a constant
steady state error.

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P-Controller : S domain

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Integral Controller (I-Controller)
 The I-Controller is the device that produces the control signal,
u(t) integral to the input error signal, e(t).

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Proportional + Integral Controller
(PI-Controller)
 The PI-Controller is the device that produces the control
signal consisting of two terms: One proportional to the input
error signal and other integral to the input error signal, e(t).

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PI-Controller : S domain

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Proportional + Integral Controller
(PI-Controller)
 The advantages of both P and I controllers are combined
 The P action increases the loop gain and makes the system less
sensitive to variations of system parameters.
 The I action eliminates or reduces the steady state error
 The I action is adjusted by varying the integral time.
 The change of Kp affects both P and I parts of Control action

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Proportional + Integral + Derivative
Controller (PID-Controller)
 The PID-Controller is the device that produces the control signal consisting of
three terms: One proportional to the input error signal, second one integral
to the input error signal and the third one derivative to the input error signal .

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PID-Controller : S domain

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Proportional + Integral + Derivative
Controller (PID-Controller)
 The PID controller harvests all the advantages of Proportional,
integral and derivative control actions.
 The P controller stabilizes the gain but produces steady state
error.
 The I controller reduces or eliminates the steady state error.
 The D controller reduces the rate of change of error.

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The design of PI, PD, and PID controllers can be designed using the
following equations:

To design PD controller, put Ki = 0, then,

To design PID controller, first find Ki ,
to satisfy specified error constant, then
calculate Kd and Kp from

To design PI controller, put Kd = 0, then,

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Problems

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Problems

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Problems

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Problems

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Problems

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Problems

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Problems

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Problems

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Problems

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Problems

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Problems

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Problems

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Problems

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Problems

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Problems

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Problems

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Problems

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Problems

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Compensators
Closed Loop Sytem

compensator and controllers are generally added in series

to the plant to bring in a stability to the system

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COMPENSATORS
 A device inserted into the system for the purpose of satisfying
the specifications is called compensator.
 Definition:
 When a set of specifications are given for a system, then a suitable
compensator should be designed so that overall system will meet the given
specification.

 Types of electrical or electronic compensators:

 Lag compensator
 Lead Compensator
 Lead Lag Compensator

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Types of Compensator
 Lag Compensator
 Lead Compensator

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Phase Lead Compensator

G(s) = S
We expect a Phase lead compensator to add phase to
the system

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Phase Lag Compensator
G(s) = 1/S
We expect a Phase lag compensator to subtract phase from
a system

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Lead Compensator
The Transfer function of the lead compensator is given by

G(s) = (S+Z)/(S+P) ; Z<P.

Zero is placed near to the origin than the pole.

A plot for G(s) = (s+2)/(s+5)

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Lead Compensator

A plot for G(s) = (s+3)/(s+5) A plot for G(s) = (s+4)/(s+5)

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Lead Compensator

A plot for G(s) = (s+5)/(s+5)

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Lag Compensator
The Transfer function of the lead compensator is given
by
G(s) = (S+Z)/(S+P) ; P<Z.
Zero is placed near to the origin than the pole.
A plot for G(s) = (s+7)/(s+5)

In this case, a phase of 10 degree is subtracted

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COMPENSATORS
 Compensation is required in the following situations:
 When the system is absolutely unstable, then compensation is
required to stabilize the system and also to meet the desired
performance.
 When the system is stable, compensation is provided to obtain the
desired performance.

 The system with type 2 and above are usually absolutely unstable
system, hence lead compensator will be used which will increase the
margin of stability.
 The system with type 1 and 0, stability is achieved by adjusting the
gain, in these cases any of the 3 compensators will be used

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LAG Compensator
 A compensator having the characteristics of a lag network is
called as lag compensator.
 If a sinusoidal signal is applied to a lag network, then in the steady state
the output will have a phase lag with respect to the input.
 It results in a large improvement in steady state performance, but
results in slower response due to reduced bandwidth.
 The attenuation due to lag compensator will shift the gain cross over
frequency to a lower frequency point where the phase margin is
acceptable.
 Lag compensator is a low pass filter.
 If the pole introduced by the compensator is not cancelled by a zero in
the system, then the lag compensator will increase the order of the
system by one.

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S-Plane representation of Lag Compensator

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S-Plane representation of Lag Compensator

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Frequency response of LAG Compensator

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Frequency response of LAG Compensator

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Frequency response of LAG Compensator

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Problem

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Design Steps

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Design Steps

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Design Steps

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Problem

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 LEAD COMPENSATOR

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 LEAD COMPENSATOR

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Procedure for Design of LEAD Compensator using Bode Plot:

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Procedure for Design of LEAD Compensator using Bode Plot:

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