Bode Plot Design For Compensation - SND Contents
Bode Plot Design For Compensation - SND Contents
é (1 + st ) ù
Gc ( s ) = ê ú (3.60)
ë (1 + a st ) û
where t represents the time constant.
The sinusoidal transfer function of lag compensator Gc(s) is given as,
é (1 + jwt ) ù
Gc ( jw ) = ê ú (3.61)
ë (1 + a jwt ) û
The magnitude and phase angle of Gc( jw) becomes,
1 + (wt )2
Gc ( jw ) = (3.62)
1 + (awt )2
ÐGc ( jw) = tan–1(wt) – tan–1(awt)(3.63)
Based on the sinusoidal transfer function shown in Eq. (3.61), the two corner frequencies are located at,
1 1
wc 1 = and wc 2 = (3.64)
at t
The Bode plot of the phase-lag compensator is given in Fig. 3.44. In this plot, the magnitude plot of
Gc( jw) is a straight line through 0 dB upto corner frequency w c1, and then it has a slope of –20 dB/decade
æ1ö
until corner frequency w c2, and after w c2, it becomes a straight line with a constant gain of 20log ç ÷ . In phase
èa ø
plot as shown in Fig. 3.44, as w is varied from 0 to ¥, the phase angle gets decreased from 0 to
a negative maximum value (fm) for w = wm and then it raises from this maximum value to 0.
0 dB
—
20log√a 20loga
−20
|Gc( jw)| dB
/de
(dB) cad
e
0°
fm
−45°
∠Gc( jw)
(degrees)
−fm
−90°
1 1 1
wc1 = wm = — wc2 =
at t√a t
The maximum phase lag occurs at the frequency wm, which is the geometric mean of the two corner
frequencies and is obtained as,
1 .1
=
at t
é 1 ù
\ wm = ê ú (3.65)
ët a û
é1 - a ù
tan fm = ê ú (3.66)
ë2 a û
é1 - a ù
or sin fm = ê ú (3.67)
ë1 + a û
From Eqs. (3.66) and (3.67), the maximum phase lag angle (fm) can be obtained as,
é1 - a ù é1 - a ù
fm = tan -1 ê ú or fm = sin -1 ê ú (3.68)
ë2 a û ë1 + a û
é 1 - sin fm ù
a=ê ú (3.69)
ë 1 + sin fm û
5. To find the new gain crossover frequency (w 'gc ): The new gain crossover frequency w 'gc is the frequency
pertaining to a PM of fn in the Bode plot of uncompensated system. If fgc is the phase of G( jw) at the
new gain crossover frequency, w 'gc , then,
fn = 180° + fgc
(or) fgc = –180° + fn (3.71)
Hence, the new gain crossover frequency, w 'gc is the frequency at which the phase of G( jw) is fgc.
6. Find the parameter, a, of the lag compensator. The magnitude of G( jw) at the new gain crossover
frequency w 'gc gives the value of a of the compensator.
Evaluate the dB gain at the new gain crossover frequency, w 'gc,
K 'gc = 20log a
K 'gc
log a =
20
( K gc' /20)
(3.72)
a = 10
That is, the lag compensator should provide an attenuation equal to the gain value of the uncompen-
sated system at w 'gc.
The open-loop transfer function of the overall phase-lag compensated system becomes,
1
Go ( s ) = Gc ( s )G ( s )
a
é 1 + st ù
Go ( s ) = ê ú G ( s ) (3.74)
ë 1 + sat û
9. Evaluate the PM of the compensated system. Find the phase angle of the compensated system at the
new gain crossover frequency w 'gc using the compensated transfer function Go(s).
The design gets accepted if the PM of the compensated system satisfies the given desired specifica-
tions; else, the design procedure is repeated until the given specifications are met. To repeat the pro-
cedure, the value of e shall be suitably changed.
Alternatively, sketch the Bode plot of the compensated system. Test whether the desired specifica-
æ1ö
tions are met; if not, redesign for a new choice of ç ÷ until the specifications are met.
èt ø
■ EXAMPLE 3.26 ■
é K ù
The open-loop transfer function of a unity feedback type-1 system is given by, G ( s ) = ê ú.
ë s ( s + 1) û
Design a suitable phase-lag compensator so that the PM is at least 48° and the steady-state error is less
than or equal to 0.5 for ramp input.
Solution
1. To find gain K of the given transfer function.
Given, ess £ 0.5 for ramp input.
1
ess =
Kv
1 1
\ Velocity-error constant, K v = = =2
ess 0.5
we know, K v = lim sG ( s ) H ( s )
s ®0
K
K v = lim s × ×1
s ®0 s ( s + 1)
Kv = K = 2
é 2 ù
G(s) = ê ú
ë s ( s + 1) û
é 2 ù
G(s) = ê ú
ë s ( s + 1) û
For s = jw,
é 2 ù
G ( jw ) = ê ú
ë jw ( jw + 1) û
The factors corresponding to the open-loop transfer function are tabulated in Table 3.20.
æ 1 ö
ç ÷ wc = 1 rad/sec –20 dB/decade –40 dB/decade
è jw + 1 ø
The phase angle f(w) for various values of w is tabulated in Table 3.21.
\ PM of compensated system, fn = fd + e
fn = fd + e = 48° + 5°
fn = 53°
fgc = –180° + fn
so, fgc = –180° + 53° = –127°
From the Bode plot, in Fig. 3.46, the frequency pertaining to a phase of –127° is 0.7 rad/sec.
\ New gain crossover frequency w 'gc = 0.7 rad/sec
w rad/sec
8
7
6
5
4
100
1 100
9
8
7
6
5
4
de
3
ca
de
2
B/
0d
wgc = 1.25 rad/sec
1
10 −4 10
9
8
7
6
1.0 1.0
PM = 38°°
Log-magnitude plot
1
9
8
7 0.7
0.7
Phase-angle plot
6
5
fgc = −127°°
ade
3
B/dec
2
−20 d
1
0.1 0.1
9
8
7
6
5
4
1 0.01
+60 +40 +20 0 dB −20 −40 −90° −120° −150° −180°
G ( jw ) w = w ' = K 'gc = 12 dB
gc
K 'gc = 20log a = 12
a = 10 (12/20)
a = 3.9811
1
\ Pole of the lag compensator pc =
at
1 1
pc = =
3.9811 ´ 14.29 56.89
pc = 0.0176
\ The transfer function of phase-lag compensator is,
é a (1 + st ) ù
Gc ( s ) = ê ú
ë (1 + sat ) û
é 3.9811(1 + 14.29s ) ù
Gc ( s ) = ê ú
ë (1 + 56.89s ) û
8. The open-loop transfer function of the compensated system is given by,
1
Go ( s ) = × Gc ( s ) × G ( s )
a
1 é 3.9811(1 + 14.29s ) ù é 2 ù
=
3.9811 êë (1 + 56.89s ) úû êë s ( s + 1) úû
é 2(1 + 14.29s ) ù
Go ( s ) = ê ú
ë s (1 + 56.89s )(1 + s ) û
The block diagram of lag compensated system is shown in Fig. 3.47.
1 Gc(s) G(s)
a
é 2(1 + 14.29 jw ) ù
Go ( jw ) = ê ú
ë jw (1 + 56.89 jw )(1 + jw ) û
fo (Go ( jw )) = tan -1 14.29w - 90° - tan -1 56.89w - tan -1 w
f 'gc = tan -1 (14.29 ´ 0.7) - 90° - tan -1 (56.89 ´ 0.7) - tan -1 (0.7)
f 'gc = 84.29° - 90° - 88.56° - 34.99°
f 'gc = -129.26°
\ The PM of the compensated system is,
fon = 180° + f 'gc
= 180° - 129.26 °
fon = 50.74°
Hence, the PM of the compensated system is 50.74° greater than the desired PM of at least 48°.
Thus, the lag compensator design satisfies the requirement and so the design is acceptable.
■ EXAMPLE 3.27 ■
é K ù
A unity feedback control system has its open-loop transfer function as, G ( s ) = ê ú.
ë s ( s + 10)( s + 100) û
Design a compensator to satisfy the performance specifications as given below:
(i) Phase margin (PM) ³ 30°
(ii) Velocity-error constant, Kv = 32 sec–1.
Solution
1. Evaluation of gain K of the given transfer function,
Given, velocity-error constant, Kv = 32 sec–1
K v = lim sG ( s ) H ( s )
s ®0
é 32000 ù
G(s) = ê ú
ë s ( s + 10)( s + 100) û
In time-constant form,
é 32 ù
G(s) = ê ú
ë s (1 + 0.1s )(1 + 0.01s ) û
For s = jw,
é 32 ù
G ( jw ) = ê ú
ë jw (1 + 0.1 jw )(1 + 0.01 jw ) û
To construct log-magnitude plot:
The system gain is, K = 32
20logK = 20log32 = +30 dB
The factors corresponding to the open-loop transfer function are tabulated in Table 3.22. The
log-magnitude plot is shown in Fig. 3.48.
Table 3.22 Factors of G(s).
æ 1 ö
ç ÷ wc1 = 10 rad/sec –20 dB/decade –40 dB/decade
è 1 + 0.1 jw ø
æ 1 ö
ç ÷ wc 2 = 100 rad/sec –20 dB/decade –60 dB/decade
è 1 + 0.01 jw ø
The phase-angle plot for the evaluated values of f(w) is sketched in Fig. 3.48.
3. From the sketched Bode plot, the PM of the uncompensated system is 22°, but the required PM ≥ 30°.
So, now lag compensation is done to improve the PM.
4. Desired PM, fd = 30°
\ PM of compensated system, fn = fd + e
Let, e = 5°, so,
fn = fd + e = 30° + 5°
fn = 35°
1 1000
SEMI-LOG PAPER(5 CYCLES × 1/10°)
9
8
7
6
e
5
20log32 = +30 dB
ad
ec
4
/d
dB
3
0
−6
2
100 100
wgc = 16 rad/sec
1
9
8
e
cad
7
6
/de
5
wc1 = 10 rad/sec
dB
4 −40
3
PM = 22°°
1 10
= 11 rad/sec
9 10
8
7
6
5
4
3
wʹgc
1
1.0 1.0
Log-magnitude plot
9
Phase-angle plot
8
7
6
5
4
cade
3
B/de
2
−20 d
1
0.1 0.1
9
8
7
6
5
4
1 0.01
+60 +40 +20 0 dB −20 −40 −90° −110° −130° −150° −170° −190° −210°
−145° −180°
K 'gc = 20log a = 4
a = 10 (4/20)
a = 1.5849
7. Now, find the transfer function of the lag compensator:
1 w 'gc
\ Zero of the lag compensator zc = =
t 10
10 10
t= = = 0.909
w 'gc 11
1
\ Pole of the lag compensator pc =
at
1 1
pc = =
1.5849 ´ 0.909 1.4407
pc = 0.6941
\ The transfer function of phase-lag compensator is,
é a (1 + st ) ù
Gc ( s ) = ê ú
ë (1 + sat ) û
é 1.5849(1 + 0.909s ) ù
Gc ( s ) = ê ú
ë (1 + 1.4407 s ) û
8. The open-loop transfer function of the compensated system is given by,
1
Go ( s ) = × Gc ( s ) × G ( s )
a
1 é 1.5849(1 + 0.909s ) ù é 32 ù
=
1.5849 ëê (1 + 1.4407 s ) ûú ëê s (1 + 0.1s )(1 + 0.01s ) úû
é 32(1 + 0.909s ) ù
Go ( s ) = ê ú
ë s (1 + 1.4407 s )(1 + 0.1s )(1 + 0.01s ) û
The block diagram of the lag compensated system is shown in Fig. 3.49.
1 Gc(s) G(s)
a
f 'gc = tan -1 (0.909 ´ 11) - 90° - tan -1 (1.4407 ´ 11) - tan -1 (0.1 ´ 11) - tan -1 (0.01 ´ 11)
f 'gc = 84.29° - 90° - 86.39° - 47.73° - 6.28°
f 'gc = -146.11°
Therefore, the PM of the compensated system is,
fon = 180° + f 'gc
= 180° - 146.11°
fon = 33.89°
Thus, the PM of the compensated system is 33.89°°, which is ³30°, the desired PM given. Hence, the
designed phase-lag compensator satisfies the requirement and so the design is accepted.
é (1 + st ) ù
Gc ( s ) = ê ú (3.76)
ë (1 + b st ) û
with t as time constant.
The sinusoidal transfer function of lag compensator Gc(s) is given by,
é (1 + jwt ) ù
Gc ( jw ) = ê ú (3.77)
ë (1 + b jwt ) û
The magnitude and phase angle of Gc( jw) is written as,
1 + (wt )2
Gc ( jw ) = (3.78)
1 + ( bwt )2
Based on the sinusoidal transfer function shown in Eq. (3.77), the two corner frequencies are located at,
1 1
wc 1 = and wc 2 =
t bt
The Bode plot of the phase-lead compensator network is shown in Fig. 3.50. In this plot, the log-magnitude
1
plot of Gc( jw) is a straight line through 0 dB until wc 1 = , and then it takes a slope of +20 dB/decade until
t
1 æ1ö
corner frequency wc 2 = , and after wc 2, it is a straight line having a constant gain of 20log ç ÷ . In the phase
bt èbø
plot, as shown in Fig. 3.50, as w is varied from 0 to ¥, the phase angle gets increased from 0 to a positive
maximum value (fm) for w = wm, and then reduces to 0 from this maximum value.
|Gc( jw)|
(dB) e
ecad 20log 1
dB/d b
+20 20log 1
b
0 dB
+fm
+45°
∠Gc( jw) fm
(degrees)
0°
1
wc1 = wm = t 1 wc2 = 1
t b bt
The maximum phase lead occurs at the frequency wm, which is the geometric mean of the two corner
frequencies, and is obtained as,
Frequency of maximum phase lead,
wm = wc 1. wc 2
1 1
= ×
t bt
é 1 ù
\ wm = ê ú (3.80)
êë t b úû
At w = wm, f ®fm, so,
é1 - b ù
tan fm = ê ú (3.81)
ëê 2 b ûú
é1 - b ù
or sin fm = ê ú (3.82)
ë1 + b û
From Eqs. (3.81) and (3.82), the maximum phase lead angle (fm) can be obtained as,
é1 - b ù é1 - b ù
fm = tan -1 ê ú (or) fm = sin -1 ê ú (3.83)
ëê 2 b ûú ë1 + b û
It is known that b < 1, but to avoid the increase in signal-to-noise ratio, the value of b to be set not less than
0.07 and an optimal choice is b = 0.1. If the maximum phase lead fm to be contributed is greater than 60°,
then a cascade of two lead compensators shall be provided to meet the requirement, that is, each lead com-
pensator shall contribute to half the required phase angle.
The value of b can be determined from the maximum phase lead angle (fm) using,
é 1 - sin fm ù
b=ê ú (3.84)
ë 1 + sin fm û
3.6.2.1 Procedure for Phase-Lead Compensator Design
The phase-lead compensation design procedure to design compensator Gc(s) for the given plant G(s) with
adjustable gain parameter K is as given below.
1. Find the open-loop gain K of the given plant so that it satisfies the given steady-state error requirement.
2. Sketch the Bode plot of the uncompensated system with the evaluated open-loop gain K.
3. From the Bode plot, measure the gain crossover frequency wgc and the PM of the uncompensated system.
4. Evaluate the additional amount of phase angle to be provided by the lead network for realizing the
desired PM using,
fm = fd – f + e(3.85)
where,
fm — Maximum phase lead angle to be provided by lead compensator network
fd — Desired PM of the given specifications
f — PM of uncompensated system
e — Additional phase lead contribution to shift the gain crossover frequency
The value of e is determined based on the slope of the log-magnitude plot within the gain crossover
frequency region. e = 5° is a suitable choice for a slope of –40 dB/decade and e = 15° to 20° for a slope
of –60 dB/decade. For value of fm being greater than 60°, cascade of two lead compensators should be
realized with each compensator contributing to half of the required angle.
5. Find the transfer function of the lead compensator Gc(s).
Using the calculated maximum phase lead of the compensator (fm), compute the parameter b of the
lead compensator to be,
é 1 - sin fm ù
b=ê ú (3.86)
ë 1 + sin fm û
æ 1 ö
From the Bode plot, find the frequency at which the magnitude of G( jw) is -20log ç ÷ dB. This
ç b÷
è ø
frequency is the new gain crossover frequency w 'gc and is also wm (wm = w 'gc ).
Calculate t using the relation,
1
wm =
t b
1
t= (3.87)
wm b
éæ 1ö ù
ê çs + ÷ ú
é b (1 + st ) ù ê è t ø ú
Gc ( s ) = ê ú= (3.88)
ë (1 + b st ) û ê æ s + 1 ö ú
êç ú
ëè bt ÷ø û
6. Find the overall transfer function of the compensated system. The block diagram of the phase
lead-compensated system is shown in Fig. 3.51.
The open-loop transfer function of the overall phase lead-compensated system becomes,
1
Go ( s ) = , Gc ( s ) × G ( s ) (3.89)
b
é 1 + st ù
Go ( s ) = ê ú G ( s ) (3.90)
ë 1 + sbt û
7. Sketch the Bode plot of the compensated system and check whether the desired specifications
are satisfied. If the specifications are met, the design is accepted; else, redesign by choosing
e = 5° more than the previous design. The design procedure is carried out until all the specifications
are met.
■ EXAMPLE 3.28 ■
é K ù
The open-loop transfer function of a type-1 unity feedback system is given by, G ( s ) = ê ú.
ë s ( s + 1) û
Design a phase-lead compensator to satisfy the specifications given below:
Solution
1. Find the open-loop gain K.
Given, the velocity-error constant, Kv = 12 sec–1
K v = lim sG ( s ) H ( s )
s ®0
é K ù
With G ( s ) = ê ú and H(s) = 1,
ë s ( s + 1) û
K
K v = lim s × ×1 = K
s ®0 s ( s + 1)
\ K = K v = 12
Therefore, the open-loop transfer function becomes,
é 12 ù
G(s) = ê ú
ë s ( s + 1) û
2. Sketch the Bode plot of the uncompensated system.
For s = jw,
é 12 ù
G ( jw ) = ê ú
ë jw ( jw + 1) û
The magnitude and phase angle of G( jw) is given by,
é 12 ù
G ( jw ) = ê ú
ëê w 1 + w úû
2
ÐG ( jw ) = -90° - tan -1 (w )
æ 1 ö
ç ÷ wc = 1 rad/sec –20 dB/decade –40 dB/decade
è ( jw + 1) ø
1
SEMI-LOG PAPER(5 CYCLES × 1/10°)
9
20log12 = +21.58 dB
w rad/sec
8
7
6
5
4
1
100 100
9
8
7
6
5
4
3
e
cad
wgc = 3.3 rad/sec
2
/de
dB
10
1 10
−40
9
8
7
6
5
4
wc1 = 1 rad/sec
3
PM = 16°°
1
1.0 1.0
9
8
Log-magnitude plot
7
Phase-angle plot
6
5
4
ade
3
B/dec
2
−20 d
1
0.1 0.1
9
8
7
6
5
4
1 0.01
+60 +40 +20 0 dB −20 −40 −90° −120° −150° −180°
3. From the Bode plot in Fig. 3.52, for the uncompensated system,
Gain crossover frequency, wgc = 3.3 rad/sec
and PM, f = 16°
The system requires a PM of at least 40° and the available PM is 16°, so a lead compensator is to be
designed to improve the PM.
4. Determine fm.
The desired PM, fd = 40°
Additional phase lead, e = 5°
and PM of uncompensated system, f = 16°
\ Maximum phase lead angle, fm = fd – f + e
= 40° – 16° + 5°
fm = 29°
5. Find transfer function of the lead compensator Gc(s).
æ 1 ö æ 1 ö
= -20log ç ÷ = -20log ç ÷
ç b÷ è 0.3470 ø
è ø
= -20 ´ 0.2298
= -4.5967 dB
From the Bode plot of the uncompensated system, the frequency wm ( = w 'gc ) corresponding to a dB
gain of –4.5967 dB is noted to be 4.45 rad/sec.
w 'gc = wm = 4.45 rad/sec
Evaluate t using,
1 1
t= =
wm b 4.45 0.3470
t = 0.3815
With b = 0.3470 and t = 0.3815, the transfer function of the phase-lead compensator is given by,
é b (1 + st ) ù
Gc ( s ) = ê ú
ë (1 + sbt ) û
é 0.3470(1 + 0.3815 s ) ù
Gc ( s ) = ê ú
ë (1 + 0.1324 s ) û
6. The overall transfer function of the lead-compensated system is now given by,
1
Go ( s ) = Gc ( s )G ( s )
b
é 12(1 + 0.3815 s ) ù
Go ( s ) = ê ú
ë s (1 + 0.1324 s )(1 + s ) û
Fig. 3.53 shows the block diagram of the compensated system.
7. Sketch the Bode plot for the phase lead-compensated system Go(s).
From the Bode plot of the compensated system, it is noted that,
Gain crossover frequency = 4.46 rad/sec
and PM = 41.6°
Thus, the PM of the lead-compensated system is 41.6°, which is greater than the desired PM of at
least 40°. Hence, the PM of the compensated system is satisfactory and the design is accepted.
■ EXAMPLE 3.29 ■
é K ù
Consider a type-1 unity feedback system with its open-loop transfer function, G ( s ) = ê ú
ë s ( s + 1)( s + 2) û
Design a suitable compensator to satisfy the desired specifications as given below.
(i) Phase margin (PM) ³ 25°
(ii) Velocity-error constant, Kv = 45 sec–1.
Solution
1. Find open-loop gain K.
Given, velocity-error constant, Kv = 45 sec–1
K v = lim sG ( s ) H ( s )
s ®0
K
K v = lim s × × 1 = 45
s ®0 s ( s + 1)( s + 2)
K
= 45
2
K = 90
æ 1 ö
ç ÷ wc 2 = 2 rad/sec –20 dB/decade –60 dB/decade
è 1 + j 0.5w ø
The log-magnitude plot of open-loop transfer function G(s) is sketched in Fig. 3.54.
To construct phase-angle plot:
The total phase angle of the system is given by,
f(w) = –90° – tan–1(w) – tan–1(0.5w)
The phase angle f (w) for different values of w is tabulated in Table 3.27.
The phase-angle plot for the given transfer function is drawn in Fig. 3.54.
3. From the Bode plot in Fig. 3.54, for the uncompensated system,
Gain crossover frequency, wgc = 4.3 rad/sec
and PM, f = –52°
Since, PM is negative, the system is unstable and the lead compensation is carried out to make the
system stable and achieve desired PM. The required PM is to be at least 25°.
4. Find maximum phase lead angle, fm,
The desired PM, fd = 25°
Additional phase lead, e = 5°
1 1000
SEMI-LOG PAPER(5 CYCLES × 1/10°)
9
w rad/sec
20log45 = +33 dB
8
7
6
5
4
1
100 100
9
8
7
6
5
4
de
3
wgc = 4.3 rad/sec
ca
de
B/
2
0d
−6
10
PM = −52°°
1 10
9
8
7
6
5
wc1 = 1 rad/sec
2
wc2 = 2 rad/sec
1
1.0 1.0
9
Log-magnitude plot
8
Phase-angle plot
−40 dB/decade
7
6
5
4
2
ade
B/dec
1
0.1 0.1
9
8
−20 d
7
6
5
4
1 0.01
+60 +40 +20 0 dB −20 −40 −90° −120° −150° −180° −210° −240° −270°
(
The dB magnitude pertaining to wm = w 'gc is, )
1 1
= -20log = -20log = -6.8265 dB
b 0.2077
From the Bode plot of the uncompensated system the frequency wm, with respect to a dB gain of
–6.8265 dB is noted to be 5.6 rad/sec.
Now, wm = 5.6 rad/sec
1 é 1 ù é 1 ù
t= =ê ú=ê ú
wm b ë 5.6 0.2077 û ë 2.5519 û
t = 0.3918
With b = 0.2077 and t = 0.3918, the transfer function of the phase-lead compensator is given by,
é b 2 (1 + st )2 ù
Gc ( s ) = ê 2 ú
ë (1 + sbt ) û
é 0.0431(1 + 0.3918s )2 ù
Gc ( s ) = ê 2 ú
ë (1 + 0.0814 s ) û
6. The overall transfer function of the lead-compensated system is now given by,
Go ( s ) = Gc ( s ) × G ( s )
é 0.0431(1 + 0.3918s )2 ù é 45 ù
Go ( s ) = ê úê ú
û ë s (1 + s )(1 + 0.5 s ) û
2
ë (1 + 0.0814 s )
é 1.9395(1 + 0.3918s )2 ù
Go ( s ) = ê 2 ú
ë s (1 + s )(1 + 0.5 s )(1 + 0.0814 s ) û
7. Sketch the Bode plot for the phase lead-compensated system Go(s).
From the Bode plot of the compensated system, it is noted that,
Gain crossover frequency = 1.26 rad/sec
and PM = 47.1°
Thus, the PM of the lead-compensated system is 47.1°, which is greater than the required PM of
at least 25°. The PM of the lead-compensated system is found to be satisfactory and the design is
acceptable.
é æ 1 öæ 1ö ù
ê ç s + ÷ç s + ÷ ú
t1 øè t 2 ø ú
Gc ( s ) = êê è (3.91)
æ 1 öæ 1 öú
êç s + ÷ç s + ÷ú
êë è at1 øè bt 2 ø úû
é ab (1 + st1 )(1 + st 2 ) ù
Gc ( s ) = ê ú (3.92)
ë (1 + sat1 )(1 + sbt 2 ) û
1
with, t1 > 0, t2 > 0, a > 1, 0 < b < 1 and a = ×
b
The sinusoidal transfer function of the phase lag-lead compensator Gc(s) is given by,
1
As a = , we get, ab = 1, so,
b
æ 1 ö æ1ö æ1 ö æ 1 ö
wc 1 = ç ÷ ; wc 2 = ç ÷ ; wc 3 = ç ÷ ; wc 4 = ç ÷
è at1 ø è t1 ø è t2 ø è bt 2 ø
The Bode plot of the phase lag-lead compensator is sketched as shown in Fig. 3.56.
|Gc( jw)|
(dB)
0 dB
−20 20loga 20log 1
dB/
dec ecade b
ade dB/d
+20
+45°
∠Gc( jw)
0°
(degrees)
−45°
1 1 1 1
wc1 = wc2 = wc3 = wc4 =
at1 t1 t2 bt2
From the Bode plot, it is noted that the phase shift varies with respect to the input frequency, and as the
frequency increases, the phase angle varies from lag to lead. Hence, the phase lag and phase lead occur at
varied frequency regions.
fd = Desired PM
then, fn = fd + e (3.95)
with e = 5° as an additional phase lag contributed to shifting the gain crossover frequency.
5. From the Bode plot, for the new PM fn, find its respective gain crossover frequency w 'gc. If fgc is the
phase of G( jw) at w 'gc then,
fn = 180° + fgc
(or) fgc = –180° + fn (3.96)
Hence in the Bode plot of uncompensated system, the frequency pertaining to the phase fgc is the new
gain crossover frequency w 'gc.
Now, select the gain crossover frequency of the lag compensator, w 'gcl , such that it is higher than w 'gc .
(i.e., w 'gcl > w 'gc).
6. Evaluate parameter a, of the compensator. Let, the dB gain at the new gain crossover frequency of lag
compensator, w 'gcl,
K 'gcl = 20log a
( K gcl
' /20)
a = 10 (3.97)
7. Find the transfer function of the lag section. Place the zero of the lag compensator at one octave to one
decade below w 'gcl .
1 w 'gcl
\ Zero of the lag compensator zc 1 = = (3.98)
t1 10
10
and t1 =
w 'gcl
1
\ Pole of the lag compensator pc 1 = (3.99)
at1
1
so, t2 = (3.101)
wm b
Transfer function of lead compensator becomes,
éæ 1ö ù
ê çs + ÷ ú
t2 ø ú
Gld ( s ) = êê è
æ 1 öú
êç s + ÷ ú
êë è bt 2 ø úû
é b (1 + st 2 ) ù
Gld ( s ) = ê ú (3.102)
ë (1 + sbt 2 ) û
9. Find the transfer function of lag-lead compensator.
Transfer function of lag-lead compensator Gc ( s ) = Glg ( s )Gld ( s )
é a (1 + st1 ) ù é b (1 + st 2 ) ù
=ê úê ú
ë (1 + sat1 ) û ë (1 + sbt 2 ) û
1
As, a = , Gc(s) becomes,
b
é (1 + st1 )(1 + st 2 ) ù
Gc ( s ) = ê ú (3.103)
ë (1 + sat1 )(1 + sbt 2 ) û
10. Now, determine the open-loop transfer function of the compensated system. Fig. 3.57 shows the block
diagram of the phase lag-lead-compensated system.
Go ( s ) = Gc ( s ) × G ( s )
é (1 + st1 )(1 + st 2 ) ù
Go ( s ) = ê ú G ( s ) (3.104)
ë (1 + sat1 )(1 + sbt 2 ) û
11. Sketch the Bode plot of the compensated system and test whether the desired specifications are satisfied.
1
If the specifications are met, the design is accepted; else, redesign by selecting b, such that b < . The
design procedure is carried out until all the specifications are met. a
■ EXAMPLE 3.30 ■
Consider a type-1 unity feedback system whose open-loop transfer function is,
K
G(s) =
s (0.1s + 1)(0.25 s + 1)
Solution
1. Find the open-loop gain K.
Given, velocity error constant, Kv = 32
K v = lim sG ( s ) H ( s ) = 32
s ®0
K
lim s × × 1 = 32
s ®0 s (0.1s + 1)(0.25 s + 1)
K = 32
Therefore, the open-loop transfer function becomes,
é 32 ù
G(s) = ê ú
ë s (0.1 s + 1)(0.25 s + 1) û
æ 1 ö
ç ÷ – –20 dB/decade –20 dB/decade
è jw ø
æ 1 ö
ç ÷ wc1 = 4 rad/sec –20 dB/decade –40 dB/decade
è 1 + 0.25jw ø
æ 1 ö
ç ÷ wc 2 = 10 rad/sec –20 dB/decade –60 dB/decade
è 1 + 0.1 jw ø
The log-magnitude plot for the given G(s) is constructed in Fig. 3.58.
To construct the phase-angle plot of G(s):
The total phase angle f (w) of given G(s) is expressed as,
f(w) = –90° – tan–1(0.25w) – tan–1(0.1w)
For different values of w, f (w) is evaluated and is shown in Table 3.29.
The phase-angle plot for the given G(s) is drawn in Fig. 3.58.
3. From the Bode plot sketched in Fig. 3.58 for the uncompensated system, its,
PM = –19.5° (unstable system)
at gain crossover frequency wgc = 9.2 rad/sec.