UNIT-V

STABILITY ANALYSIS IN
FREQUENCY DOMAIN

N.RanjitKumar Assist. Professor EEE

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Dept.SNIST.
 STABILITY ANALYSIS IN FREQUENCY DOMAIN

• Polar Plots- Nyquist Plots-Stability Analysis.

• CLASSICAL CONTROL DESIGN TECHNIQUES:

Compensation techniques – Lag, Lead, Lead-

Lag Controllers design in frequency Domain

N.RanjitKumar Assist. Professor EEE

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CONTROL SYSTEMS – COMPENSATORS

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 Necessary of Compensation
1) In order to obtain the desired performance of the system, we use compensating
networks. Compensating networks are applied to the system in the form of feed
forward path gain adjustment.

2) Compensate a unstable system to make it stable.

3) A compensating network is used to minimize overshoot.

4) These compensating networks increase the steady state accuracy of the system.
An important point to be noted here is that the increase in the steady state
accuracy brings instability to the system.

5) Compensating networks also introduces poles and zeros in the system thereby
causes changes in the transfer function of the system. Due to this, performance
specifications of the system change.
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CONTROL SYSTEMS – COMPENSATORS

Lead Compensator

Lag Compensator

Lag-Lead Compensator

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 Phase Lead Compensation
 A system which has one pole and one dominating zero (the zero which is

closer to the origin than all over zeros is known as dominating zero.) is known

as lead network. If we want to add a dominating zero for compensation in

control system then we have to select lead compensation network.

 The basic requirement of the phase lead network is that all poles and zeros of

the transfer function of the network must lie on (-)ve real axis interlacing each

other with a zero located at the origin of nearest origin.

 Given below is the circuit diagram for the phase lead compensation network.

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 Phase Lead Compensation Network.

From above circuit we get,

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• Equating above expression of I we get,

• Now determine the transfer function for the given network and the transfer
function can be determined by finding the ratio of the output voltage to the
input voltage. So taking Laplace transform of both side of above equations,

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• On substituting the α = (R1 +R2)/ R2 and T = {(R1R2) /(R1 +R2)} in the
above equation.
• Where, T and α are respectively the time constant and attenuation constant,
we have

• The above network can be visualized as an amplifier with a gain of 1/α. Let
us draw the pole zero plot for the above transfer function.

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 Pole Zero Plot of Lead Compensating Network
• Clearly we have -1/T (which is a zero of the transfer function) is closer to
origin than the -1/(αT) (which is the pole of the transfer function).
• Thus we can say in the lead compensator zero is more dominating than the
pole and because of this lead network introduces positive phase angle to the
system when connected in series.

Let us substitute s = jω in the above transfer function and also we have α < 1. On
finding the phase angle function for the transfer function we have

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• Now in order to find put the maximum phase lead occurs at a frequency let us
differentiate this phase function and equate it to zero. On solving the above
equation we get

• Where, θm is the maximum phase lead angle. And the corresponding

magnitude of the transfer function at maximum θm is 1/a.

Effect of Phase Lead Compensation
1. The velocity constant Kv increases.
2. The slope of the magnitude plot reduces at the gain crossover frequency so
that relative stability improves and error decrease due to error is directly
proportional to the slope.
3. Phase margin increases.
4. Response become faster.
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Advantages of Phase Lead Compensation

some of the advantages of the phase lead compensation-

• Due to the presence of phase lead network the speed of the system increases
because it shifts gain crossover frequency to a higher value.
• Due to the presence of phase lead compensation maximum overshoot of the
system decreases.

Disadvantages of Phase Lead Compensation

Some of the disadvantages of the phase lead compensation –

• Steady state error is not improved.

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 Lag Compensator
Definition: A lag compensator is a circuit that is designed
to generate a steady-state sinusoidal signal having a phase
lag to the applied input sinusoidal signal. This can also be
stated in a way that it is a circuit that is when provided with
a sinusoidal input produces a sinusoidal output signal
whose phase lags the applied input.

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 compensators are used in the control system in order to have the desired
output. Basically, the desired output through a control system is achieved
when the system properly controls the ongoing process inside it.

 However, for this purpose also, the system specifications must be proper.

 When certain parameters of the system are changed then this sometimes
leads to variations in the system specifications, and this causes
malfunctioning of the control system. This is the reason the control system
must be resigned.

 So, redesigning a control system to produces accurate results by adding an

external physical device is known as compensation. And the physical
device added to the system is known as a compensator.

 This addition of the external device introduces poles and zeros in the
transfer function of the system. This varies the performance parameter of
the system.

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 Phase Lag Compensator

 The phase lag compensator performs just reverse operation as that of

the lead compensator.
 It introduces a phase lag in the steady-state output when the input
signal is provided to it.
 A lag compensator has zero and dominating pole. A dominating pole
is the pole present nearest to the origin in comparison to all the other
poles in the s-plane.
 And the poles and zeros must be present on the negative real axis.

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The figure below represents the phase lag network

we will apply KVL in the above circuit. Suppose i(t) is the current flowing
through the loop. Thus, for loop 1,

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 We know to determine the response of the system; its transfer function must be
determined.
 The transfer function is given as the ratio of output to input in the frequency
domain.
 So, further we will take the Laplace transform of the above equation,

 Now considering loop 2,

 Again considering the Laplace transform:

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Further

On substituting the above value of I(s) in Laplace equation of input

loop, we will get,

On simplifying

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Further

The general expression is given as:

Hence, on comparison

Hence, this shows that the zero of the lag compensator will be
present at s = -1/T and pole will be at s = -1/βT.

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Since β is greater than 1, thus pole of the transfer function is more dominating than
the zero. The figure below represents the pole-zero plot of the lag compensator:

Generally, β is considered as 10. This is the reason when lag compensator is

serially connected to the control system; then a negative phase angle is introduced

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Lag Angle
 We have discussed the transfer function of the lag compensator. Now
proceeding towards determining the maximum lag angle offered by the
compensator at a certain frequency.

 Substituting s = jω

 Therefore, the magnitude will be given as:

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• So, the phase angle will be:

• The phase angle of the lag compensator shows similarity with the
lead compensator, which is given as:

• where the only difference is β>1

• Now we will determine the particular frequency at which phase
angle ɸ is maximum,

• Thus

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• Further,

• So, we will get,

• Furthermore,

• Thus, it is clear that at this particular frequency, phase lag will be maximal.
Here ωm is the geometric mean of two corner frequencies,

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Effect of Phase Lag Compensation

1) Gain crossover frequency increases.

2) Bandwidth decreases.

3) Phase margin will be increase.

4) Response will be slower before due to decreasing bandwidth, the rise time

and the settling time become larger.

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 Advantages of Lag Compensator
1. A phase lag network offers high gain at low frequency. Thus, it performs

the function of a low pass filter.

2. The introduction of this network increases the steady-state performance

of the system.

3. The lag network offers a reduction in bandwidth and this provides longer

rise time and settling time and so the transient response.

disadvantages of the phase lag compensation –
4. Due to the presence of phase lag compensation the speed of the system
decreases.

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 Phase Lag Lead Compensation
 With single lag or lead compensation may not satisfied design
specifications.
 For an unstable uncompensated system, lead compensation provides fast
response but does not provide enough phase margin whereas lag
compensation stabilize the system but does not provide enough bandwidth.
So we need multiple compensators in cascade.
 Given below is the circuit diagram for the phase lag- lead compensation
network.

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• Lag Lead Compensating Network

• Now let us determine transfer function for the given network and the transfer
function can be determined by finding the ratio of the output voltage to the
input voltage.

• On substituting the αT1 = R1C1, R2C2 = βT2, R1R2C1C2 = αβT1T2 and T1T2 =
R1R2C1C2 in the above equation (where T1, T2 and α, β are respectively the
time constants and attenuation constants).
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• We have

• Let us draw the pole zero plot for the above transfer function.

Pole Zero Plot Lag Lead Network

 Clearly we have -1/T (which is a zero of the transfer function) is far to the
origin than the -1/(βT)(which is the pole of the transfer function).
 Thus we can say in the lag-lead compensation pole is more dominating
than the zero and because of this lag-lead network may introduces positive
phase angle to the system when connected in series.

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Effects of Lag Lead Compensator
 The lead characteristics of the cascaded compensator provide
improvement in the overall bandwidth.
 Also, due to the use of the lag network, the steady-state performance
of the system gets improved.
 So, we can say, a lag lead network provides a quick response with
good accuracy.
 The low-frequency gain of the system is increased with this
network, thereby improving the steady-state response.
 Hence, we use a combination of lag and lead network as a
compensator to provide required compensation to the control
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Advantages of Phase Lag Lead Compensation
some of the advantages of phase lag- lead compensation-

1) Due to the presence of phase lag-lead network the speed of the system

increases because it shifts gain crossover frequency to a higher value.

2) Due to the presence of phase lag-lead network accuracy is improved .

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Thank you