Modern Control System

EKT 308

Design of Feedback
Control Systems
Control System Design: Concerned with the arrangement , or the
plan , of the system structure and the selection of suitable
components and parameters.
Compensator: Additional component or circuit that is inserted into
a control system to compensate for deficient performance.
Types of Compensation:
i) Cascade Compensation ( figure 1.a)
ii) Feedback Compensation (figure 1.b)
iii) Output Compensation (figure 1.c)
iv) Input Compensation (figure 1.d)
Types of Compensation
Figure 1: Types of compensation
Cascade Compensation Networks
). ( process
specified with the cascaded is ) ( function network on Compensati
s G
s G
c
[
[
=
=
+
+
=
n
j
j
M
i
i
c
c
p s
z s K
s G
s G
1
1
) (
) (
) (
, ) ( of form General
Consider the following first order compensation transfer function
) (
) (
) (
p s
z s K
s G
c
+
+
=
The compensation network is called phase-lead network if
|z| < |p|
1 Clearly,
} or , {here,
1
] 1 [
1
] 1 [

1 ) / (
] 1 ) / ( )[ / ( ) (
) (
by, given is network the of response frequency The
1 1
>
= =
'
+
+
=
+
+
'
=
+
+
=
+
+
=
o
o ot t
et
eot
et
t e
e
e
e
e
z p
j
j K
j
j K
p j
z j p Kz
p j
z j K
s G
c
) ( tan ) ( tan ) ( ) (
by, given is response frequency of Angle
1 1
et oet e e |

= Z = j G
c
Because zero occurs first on the frequency axis, we obtain a phase-lead
characteristic, as shown in the following figure 3.
Figure 3: Bode diagram of phase lead network.
Example of phase lead compensation network
2
2 1
2 1 2 1
2 1 2 1
1
2 1
2
1
1
2
2
1 2
2
1
2
and )] /( [ define, us Let
1 )] /( [
1

) /( 1
) /(
)
1
|| (
) (
) (
) (
network, the of function Transfer
R
R R
C R R R R
Cs R R R R
Cs R
R R
R
Cs R
Cs R
R
R
sC
R R
R
s V
s V
s G
c
+
= + =
+ +
+

+
=
+
+
=
+
= =
o t
1 clearly Where,
1
1 1
) (
function, r on transfe compensati lead - phase a obtain we Thus,
2
2 1
>
+
=
+
+
=
R
R R
s
s
s G
c
o
t
ot
o
Phase Lag network
Consider the following first order compensation transfer function
) (
) (
) (
p s
z s K
s G
c
+
+
=
The compensation network is called phase-lag network if
|z| > |p|
Example of phase lag network
1 ) (
1

) /( 1
) /( 1
) (
) (
) (
network, lag - phase the of function Transfer
2 1
2
2 1
2
+ +
+
=
+ +
+
= =
Cs R R
Cs R
Cs R R
Cs R
s V
s V
s G
in
o
c
network. lag - phase a get we Thus, plane. - in the origin the to
closer lies pole the and | z | | p | , 1 / ) ( As
) /( 1 and / 1 ,
1
1
1
) (
obtain, we , / ) ( and defining, By
2 2 1
2 2 1 2
s
R R R
p z where
p s
z s
s
s
s G
R R R C R
c
< > + =
= =
+
+
=
+
+
=
+ = =
o
ot t
o ot
t
o t
Frequency response of the transfer is given by,
eot
et
e
j
j
j G
c
+
+
=
1
1
) (
) and ( of values different for two
figure in the shown is ) ( negative with diagram Bode
2 1
o o o
e |
Figure 5 : Bode diagram of the phase lag network.
Phase Lag Design using Bode Diagram
T jw
jwT
jw G
c
o +
+
=
1
1
) (
network, lag phase of function Transfer
Steps to design an appropriate phase lag network.
1. Obtain Bode diagram for the uncompensated system. (Gain
adjusted for desired error constant).
2. Determine the phase margin. If insufficient, follow the remaining
steps.
3. Determine the frequency where the phase margin would be
satisfied, if the magnitude curve crosses 0-db at this freq. (allow 5
degree safety)
4. Place the zero one decade below the new cross over frequency.
5. Measure the necessary additional attenuation at the new
crossover freq



! ! !
/ ) /( 1 as pole the Calculate 7.
. frequency crossover new at the log 20 is network
lag phase by introduced n attenuatio that noting by Calculate 6.
c
Completed
z p
o e ot e
e o
o
= =
'

Phase lag design example

) 5 . 0 1 ( ) 2 (

function, transfer loop open following
with the ated) (uncompens system feedback unity a Consider
jw jw
K
jw jw
K
v
+
=
+
o
45 : margin Phase
20 : Target =
v
K
Steps:
Uncompensated Bode diagram is shown in figure 6.
Figure 6:
increased. be must margin phase So,
20 plot) Bode (from system ated uncompens in the margin Phase
o
=
10
log 20 db 20
: follows as find We
6) figure (from db 20
frequency, crossover new be to cause to necessary n Attenuatio
5 . 1 frequency, crossover new this 6, figure In
-130 50 -180 ) ( where , frequency Locate
50 for design lag), or (compensat factor safety for 5 Allowing
c
o
o o
=
=
=
'
=
'
= + =
o
o
o
e
e
e | e
c
66 . 66
66 . 6 15 . 0 / 1 Then,
015 . 0 10 / 15 . 0 and
15 . 0 10 / 5 . 1 So,
zero. below decade one pole the and
crossover the below decade one at zero put we Therefore,
p
z
=
= =
= =
= =
ot
t
e
e
) 66 . 66 1 )( 5 . 0 1 (
) 1 66 . 6 ( 20
) ( ) (
then, is system d compensate The
jw jw jw
jw
jw G jw G
c
+ +
+
=
Modern Control System
EKT 308

Design of Feedback
Control Systems (contd)
Lead-Lag Compensation
Figure 1: RC lead-lag network.
Provides the attenuation of phase lag network.
Provides the phase angle of the phase lead network.
Transfer function of lead-lag network
) /( 1
) /( ) 1 (
) 1 (

)) /( 1 || ( )) /( 1 (
)) /( 1 (
) (
) (
1 1
1 1
2
2 2
2
2 2
1 1 2 2
2 2
1
2
sC R
sC R
sC
sC R
sC
sC R
sC R sC R
sC R
s V
s V
+
+
+
+
=
+ +
+
=
) /( 1
) /( )) /( 1 )( 1 (
) 1 (

1 1
1 1 2 1 1 2 2
2 2
sC R
sC R sC sC R sC R
s C R
+
+ + +
+
=
1 2 1 1 2 2
1 1 2 2
1
1 1
1 1 2
1
1 1
2 2
2 2
) 1 )( 1 (
) 1 )( 1 (
1
) /( )
1
)( 1 (
) 1 (

R sC s C R sC R
s C R s C R
s C
s C R
sC R sC
s C
s C R
sC R
s C R
+ + +
+ +
=
+
+
+
+
+
=
) (
) (
1
2
s V
s V
1 ) (
) 1 )( 1 (
2 2 2 1 1 1
2
2 1 2 1
1 1 2 2
+ + + +
+ +
=
s C R C R C R s C C R R
s C R s C R
Denote,
1 and 1 ,
) 1 )( 1 (
) 1 )( 1 (
) (
) (
Now,
1. ,
and
, ,
2 1
2 1
1
2
2 2 1 1 2 1
2 2 2 1 1 1 2 1 2 2 2 1 1 1
< >
+ +
+ +
=
=
=
+ + = + = =
| o
t t
|t ot
o|
t t
t t |t ot
where
s s
s s
s V
s V
Clearly
C R C R
C R C R C R C R C R
network lag - Phase
) 1 (
) 1 (
network. lead - phase
) 1 (
) 1 (
2
2
1
1

+
+

+
+
s
s
s
s
t
|t
t
ot
Finding from root - locus

) cos(u =
axis. real the side negative the from
measured origin at locus root on point by the made angle the of
cosine the is locus root on the point any for ,
u
So
Thank You