Control System

Prof. Vikas Nandeshwar

Dept. of Instrumentation Engineering
VIT Pune
Compensation

2
Design by Root-Locus Method
 The root-locus approach to design is very powerful when the
specifications are given in terms of time-domain quantities, such as the
damping ratio and undamped natural frequency of the desired dominant
closed-loop poles, maximum overshoot, rise time, and settling time.
 The design by the root-locus method is based on reshaping the root
locus of the system by adding poles and zeros to the system’s open-loop
transfer function and forcing the root loci to pass through desired
closed-loop poles in the s plane.
 Consider a design problem in which the original system either is
unstable for all values of gain or is stable but has undesirable transient-
response characteristics. In such a case, the reshaping of the root locus
is necessary in the broad neighborhood of the 𝑗𝜔 axis and the origin in
order that the dominant closed-loop poles be at desired locations in the
complex plane. This problem may be solved by inserting an appropriate
lead compensator in cascade with the feedforward transfer function.
3
Series Compensation and Parallel Compensation

(a) Series compensation;

(b) parallel or feedback

compensation.

4
Commonly Used Compensators
 Lead Compensator
 If a sinusoidal input is applied to the input of a network, and the steady-
state output (which is also sinusoidal) has a phase lead.
 Lag Compensator
 If a sinusoidal input is applied to the input of a network, and the steady-
state output (which is also sinusoidal) has a phase lag.
 Lead-Lag Compensator
 If a sinusoidal input is applied to the input of a network, and the steady-
state output (which is also sinusoidal) has both phase lag and phase lead
occur in the output but in different frequency regions; phase lag occurs in
the low-frequency region and phase lead occurs in the high-frequency
region.

5
 Effects of the Addition of Poles
 The addition of a pole to the open-loop transfer function has the effect
of pulling the root locus to the right, tending to lower the system’s
relative stability and to slow down the settling of the response.

(a)Root-locus plot of
a single-pole system;

(b)root-locus plot of
a two-pole system;

(c)root-locus plot of
a three-pole system.

6
Effects of the Addition of Zeros
 The addition of a zero to the open-loop
transfer function has the effect of
pulling the root locus to the left,
tending to make the system more
stable and to speed up the settling of
the response. (Physically, the addition
of a zero in the feedforward transfer
function means the addition of
derivative control to the system. The
effect of such control is to introduce a
degree of anticipation into the system
and speed up the transient response.)

(a) Root-locus plot of a three-pole system;

(b), (c), and (d) root-locus plots showing effects of
addition of a zero to the three-pole system. 56
Lead or Lag Compensation
 The transfer function is

 where

8
Lead or Lag Compensation (Cont.)
 This network has a dc gain of

 This network is
 a lead network if

 a lag network if

9
Design by Root-Locus Method
 The root-locus approach to design is very powerful when the
specifications are given in terms of time-domain quantities, such as the
damping ratio and undamped natural frequency of the desired dominant
closed-loop poles, maximum overshoot, rise time, and settling time.
 The design by the root-locus method is based on reshaping the root
locus of the system by adding poles and zeros to the system’s open-loop
transfer function and forcing the root loci to pass through desired
closed-loop poles in the s plane.
 Consider a design problem in which the original system either is
unstable for all values of gain or is stable but has undesirable transient-
response characteristics. In such a case, the reshaping of the root locus
is necessary in the broad neighborhood of the 𝑗𝜔 axis and the origin in
order that the dominant closed-loop poles be at desired locations in the
complex plane. This problem may be solved by inserting an appropriate
lead compensator in cascade with the feedforward transfer function.
10
Lead Compensation Techniques Based on the Root-Locus Approach
 The designing a lead compensator for the system shown by the root-locus
method may be stated as follows:

1) From the performance specifications, determine the desired location for the
dominant closed-loop poles.
2) By drawing the root-locus plot of the uncompensated system (original system),
ascertain whether or not the gain adjustment alone can yield the desired
closed-loop poles. If not, calculate the angle deficiency 𝜑 . This angle must be
contributed by the lead compensator if the new root locus is to pass through the
desired locations for the dominant closed-loop poles.

11
Lead Compensation Techniques Based on the Root-Locus
Approach (Cont.)
3) Assume the lead compensator 𝐺𝑐 (𝑠) to be

where 𝛼 and 𝑇 are determined from the angle deficiency. 𝐾𝑐 is determined

from the requirement of the open-loop gain.

4) If static error constants are not specified, determine the location of the pole
and zero of the lead compensator so that the lead compensator will contribute
the necessary angle 𝜑. If no other requirements are imposed on the system,
try to make the value of 𝛼 as large as possible. A larger value of a generally
results in a larger value of 𝐾𝑣 , which is desirable. Note that

5) Determine the value of 𝐾𝑐 of the lead compensator from the magnitude

condition. 60
EXAMPLE
 Consider the position control system with the feedforward transfer
function is

 It is desired to design a lead compensator 𝐺𝑐 𝑠 , so that the dominant

closed-loop poles have the damping ratio 𝜂 = 0.5 and the undamped
natural frequency 𝜔𝑛 = 3 𝑟𝑎𝑑/𝑠𝑒𝑐.

13
Solution
 The closed-loop transfer function for the system is

 The closed-loop poles are located at

 The damping ratio of the closed-loop poles is 𝜂 = 0.5

 The undamped natural frequency of the closed-loop poles
is 𝜔𝑛 = 3 𝑟𝑎𝑑/𝑠𝑒𝑐
 Because the damping ratio is small, this system will have
a large overshoot in the step response and is not
desirable.

14
Solution (Cont.)
 The desired location of the dominant closed-loop poles can be
determined from

 as follows:

15
Solution (Method -1)
 First, determine the necessary angle 𝜑 to be added
so that the total sum of the angles is equal to
± 180(2𝑘 + 1).
 The angle from the pole at the origin to the desired
dominant closed-loop pole at 𝑠 = – 1.5 + 𝑗2.5981 is
120°.The angle from the pole at 𝑠 =– 1 to the desired
closed-loop pole is 100.894°. Hence, the angle deficiency
is

 Thus, if we need to force the root locus to go

through the desired closed-loop pole, the lead
compensator must contribute 𝜑 = 40.894° at this
point.

16
Solution (Method -1)
 Then we bisect angle APO and take 40.894°/2 each side, then the
locations of the zero and pole are found as follows:

17
Solution (Method -1)
 Thus, 𝐺𝑐 𝑠 can be given as

 For this compensator the value of a is α = 1.9432/4.6458 = 0.418.

 The value of 𝐾𝑐 can be determined by use of the magnitude condition.

 Hence, the lead compensator 𝐺𝑐 𝑠 just designed is given by

 the closed-loop transfer function becomes

18
Solution (Method -2)
 If we choose the zero of the lead compensator at 𝑠 = −1 so that it will cancel
the plant pole at 𝑠 = −1, then the compensator pole must be located at 𝑠 = −3.

s given by

 The value of 𝐾𝑐 can be determined by use

of the magnitude condition.

 Hence, the lead compensator 𝐺𝑐 𝑠 just designed i

.
19
Lead Compensation Techniques Based on the Root-Locus Approach
 The designing a lag compensator
for the system shown by the root-
locus method may be stated as
follows:
1) Draw the root-locus plot for the uncompensated system whose open-loop transfer
function is 𝐺(𝑠) . Based on the transient-response specifications, locate the
dominant closed-loop poles on the root locus.
2) Assume the lag compensator 𝐺𝑐 (𝑠) to be

Then the open-loop transfer function of the compensated system becomes

𝐺𝑐 𝑠 𝐺(𝑠).
20
Lead Compensation Techniques Based on the Root-Locus
Approach (Cont.)
3) Evaluate the particular static error constant specified in the problem.
4) Determine the amount of increase in the static error constant necessary to
satisfy the specifications.
5) Determine the pole and zero of the lag compensator that produce the
necessary increase in the particular static error constant without appreciably
altering the original root loci. (Note that the ratio of the value of gain required
in the specifications and the gain found in the uncompensated system is the
required ratio between the distance of the zero from the origin and that of the
pole from the origin.)
6) Adjust gain 𝐾𝑐 of the compensator from the magnitude condition so that the
dominant closed-loop poles lie at the desired location.

21
Example
 Consider the control system shown. Design a lag compensator 𝐺𝑐 (𝑠) such
that the static velocity error constant 𝑘𝑣 is 50 sec −1 without appreciably
changing the location of the original closed-loop poles, which are at
𝑠 = − 2 ± 𝑗16.

22
Solution
 Assume that the transfer function of the lag compensator is

 Since 𝑘𝑣 is specified as 50 sec −1 , we have

 Thus

 Now choose then

23
Solution
 Choose 𝑇 = 10. Then the lag compensator can be given by

 The angle contribution of the lag compensator at the closed - loop pole
𝑠 = − 2 ± 𝑗16.

 which is small. The magnitude of 𝐺𝑐 (𝑠) at is 0.981. Hence the change

in the location of the dominant closed-loop poles is very small.

24
Solution
 The open-loop transfer function of the system becomes

 The closed-loop transfer function is

25
26