Control Systems

- Compensator Design

Dr. S.J. Thiruvengadam

Professor
Department of Electronics and Communication Engineering
Thiagarajar College of Engineering
Madurai 625015
April 12, 2025 S J Thiruvengadam 1
 Control System Design
• Frequency Response Approach:
– Transient Response Performance
• Phase Margin, Gain Margin and Resonant Peak Magnitude
– Gives rough estimate of System Damping
• Gain Crossover frequency, Resonant Frequency and
Bandwidth

y hx  w
– Gives rough estimate on speed of transient response
– Static Error Constants
• Give the steady state accuracy

April 12, 2025 S J Thiruvengadam 2

 Control System Design…
•Design using Lead Compensator:

y hx  w
April 12, 2025 S J Thiruvengadam 3
 Control System Design…
• Design using Lead Compensator:
1. Determine gain K to satisfy the requirement on the given static
error constant.
2. Using the gain K thus determined, draw a Bode diagram of
G1  j 

Evaluate the phase margin. y hx  w

, the gain adjusted but uncompensated system.

3. Determine the necessary phase-lead angle to be added to the

system.
April 12, 2025 S J Thiruvengadam 4
• Add an additional 5" to 12" to the phase-lead angle required,
 Control System Design…
• Design using Lead Compensator:
4. Determine the attenuation factor α. Determine the
frequency where the magnitude of the compensated
system G1(jω) is equal to  20log 1.  
Select this frequency as the new gain crossover
frequency. This frequency corresponds to m   T
and the maximum phase shift occurs at this

y hx  w
frequency.
5. Determine the corner frequencies of the lead
compensator as follows: 1

Zero of lead compensator : T
1
Pole of lead compensator : T
April 12, 2025 S J Thiruvengadam 5
 Control System Design…
• Design using Lead Compensator:

6. Calculate constant Kc

7. Check the gain margin to be sure it is satisfactory. If

not, repeat the design process by modifying the pole-
zero location of the compensator until a satisfactory
result is obtained

y hx  w
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 Control System Design…

y hx  w
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 Control System Design…
• Phase Angle of Lead Compensator
 tan  1 T   tan  1  T 
• Differentiating with respect to 
 T T
 
 1  T 2 1  T 2
• The frequency at which the maximum phase angle

y hx  w
occurs 1
m 
T 
• Magnitude at 
m

April 12, 2025 S J Thiruvengadam 8

 Control System Design…
• Maximum Phase Angle of Lead Compensator
 1 
1
m tan 
 
  tan 1
 
• Applying the identity of tan(A-B)

 1 
1  1  1  
m tan   sin  1   

y hx  w
2    

April 12, 2025 S J Thiruvengadam 9

 Control System Design…
• Example 1
The open-loop transfer function is
4
G (s) 
s s  2 
Design a lead compensator for the system so that the
static velocity error constant K v, 20sec  1 , the phase
margin is at least 50°, and the gain margin is at least 10

y hx  w
dB.

April 12, 2025 S J Thiruvengadam 10

 Control System Design…
• Example 1
The open-loop transfer function is
4
G (s) 
s s  2 
Design a lead compensator for the system so that the
static velocity error constant K v, 20sec  1 , the phase
margin is at least 50°, and the gain margin is at least 10

y hx  w
dB.

April 12, 2025 S J Thiruvengadam 11

 Control System Design…
• Example 1
Ts  1 Ts 1
Gc ( s )G ( s ) K c G ( s ) KG ( s ) G1 ( s )Gc ( s )
 Ts  1  Ts 1
Ts  1 4K Ts  1
Gc ( s )G ( s ) KG ( s ) 
 Ts  1 s s  2   Ts  1

y hx  w
1. Find the value of K using Static Error constant

Ts  1 4 K
K v lim sGc ( s )G ( s ) lim s  K 10
s 0 s  0  Ts  1 s ( s  2)

April 12, 2025 S J Thiruvengadam 12

 Control System Design…
2. Phase Margin using Bode Diagram
4K
G1 ( j ) 
s ( s  2)
40

j ( j  2)
20

j (1  j 0.5 )

y hx  w
3. Required Phase Margin
• Required = 50
• Available = 17
• Balance: 33, Additional : 5, Total: 38

April 12, 2025 S J Thiruvengadam 13

 Control System Design…
4. Find the value of  from the required Phase Margin

 0.24
Note that the maximum phase-lead angle occurs at the geometric
mean of the two corner frequencies 1  T
The amount of the modification in the magnitude curve due to the

y hx  w
inclusion of lead compensator

• New Gain Crossover Frequency = 9 rad/sec

1 T
April 12, 2025 S J Thiruvengadam 14
 Control System Design…
5. Determine the corner frequencies corresponding to zero
and pole of the lead compensator are as follows:

1 1 c
 c 4.41  18.4
T T 
6. Transfer Function of the lead compensator

y hx  w
s  4.41 0.227 s  1 K
Gc s   K c K c ; Kc 
s  18.4 0.054 s  1 
s  4.41 0.227 s  1
Gc s  41.7 10
s  18.4 0.054 s  1
7. Open loop transfer function G s G ( s ) 41.7 s  4.41 4
s  18.4 s  s  2 
c

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 Control System Design…

•Resultant Bode Diagram

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 Control System Design…
• Characteristic of Lag Compensator:
s 1 T Ts 1
Gc s   K c K c  ,  1
s 1 T  Ts 1

• Polar Plot of Lag Compensator

y hx  w
April 12, 2025 S J Thiruvengadam 17
 Control System Design…
• Bode Plot of Lag Compensator

y hx  w
April 12, 2025 S J Thiruvengadam 18
 Control System Design…
• Visualizing Lag Compensation

y hx  w
April 12, 2025 S J Thiruvengadam 19
 Control System Design…
• Example 2
The open-loop transfer function is
1
G (s) 
s s  10.5s  1
Design a lag compensator for the system so that the
static velocity error constant K,v 5sec  1 , the phase
margin is at least 40°, and the gain margin is at least 10

y hx  w
dB.

April 12, 2025 S J Thiruvengadam 20

 Control System Design…
• Example 2: Lag Compensator
Ts  1 Ts 1
Gc ( s )G ( s ) K c G ( s ) KG ( s ) G1 ( s )Gc ( s )
 Ts  1  Ts 1
Ts  1 4K Ts  1
Gc ( s )G ( s ) KG ( s ) 
 Ts  1 s s 1(0.5s  1)  Ts  1

y hx  w
1. Find the value of K using Static Error constant

Ts  1 K
K v lim sGc ( s )G ( s ) lim s  K 5
s 0 s  0  Ts  1 s ( s  1)(0.5s  1)

April 12, 2025 S J Thiruvengadam 21

 Control System Design…
2. Phase Margin using Bode Diagram

K
G1 ( j ) 
s ( s  1)(0.5s  1)
5

j ( j  1)(0.5 j  1)

y hx  w
3. Required Phase Margin
• Required = 40
• Available = -20(Unstable)
• Balance: 60, Additional : 12, Total: 72 (-128)

April 12, 2025 S J Thiruvengadam 22

 Control System Design…
4. Find the value of  from the required Phase Margin
 1
20 log    20   =10

• New Gain Crossover Frequency = 0.5 rad/sec

5. Determine the corner frequencies corresponding to zero

and pole of the lag compensator

• Zero of the lag compensator at

• Pole of the lag compensator at

y hx  w
1
T

1
T
0.1

0.01
rad/sec

rad/sec

April 12, 2025 S J Thiruvengadam 23

 Control System Design…
6. Transfer Function of the lag compensator
s  0.1 10 s  1 K
Gc s   K c K c  ; K c  0.5
s  0.01 100 s  1 

s  0.1
Gc s  0.5
s  0.01
7. Open loop transfer function

y hx  w
5(10 s  1)
Gc s G ( s ) 
s (100 s  1)( s  1)(0.5s  1)

April 12, 2025 S J Thiruvengadam 24

 Control System Design…
• Visualizing Lag Compensation

y hx  w
April 12, 2025 S J Thiruvengadam 25
 Control System Design…
Comments
• Lead Compensation
– Yields an appreciable improvement in transient
response and a small change in steady-state
accuracy.
– Accentuate high-frequency noise effects.
• Lag Compensation

y hx  w
– Yields an appreciable improvement in steady-state
accuracy at the expense of increasing the transient-
response time.
– Suppress the effects of high-frequency noise signals.

April 12, 2025 S J Thiruvengadam 26

 Control System Design…
• Characteristic of Lag – Lead Compensator:
s  1 T 1 s 1 T 2
Gc s   K c ,   1,   1
s   T1 s  1  T2
• Polar Plot of Lag –Lead Compensator

y hx  w
April 12, 2025 S J Thiruvengadam 27
 Control System Design…
• Bode Plot of Lag –Lead Compensator
  10; T2 10T1; K c 1

y hx  w
April 12, 2025 S J Thiruvengadam 28
 Control System Design…
• Example 3
The open-loop transfer function is
1
G (s) 
s s  1s  2 
Design a lag-lead compensator for the system to meet
the following specifications:

y hx  w
Static Velocity Error Constant: K 10sec  1
v
Phase Margin: At least 50°
Gain Margin: 10 dB or more.

April 12, 2025 S J Thiruvengadam 29

 Control System Design…
• Example 3: Lag – Lead Compensator
T1s  1 T2 s 1 T1s 1 T2 s 1
Gc ( s ) K c K c
 T1s   T2 s  1  T1s   T2 s 1
   1   1 
   
lim
s  0 Gc ( s ) 1 if K c 1

y hx  w
1. Find the value of K using Static Error Constant

K K
K v lim sGc ( s )G ( s ) lim sGc ( s )  10, K 20
s 0 s 0 s ( s  1)( s  2) 2

April 12, 2025 S J Thiruvengadam 30

 Control System Design…
2. Phase Margin using Bode Diagram

K
G1 ( j ) 
s ( s  1)( s  2)
20

j ( j  1)( j  2)

y hx  w
3. Required Phase Margin
• Required = 50
• Available = -32(Unstable)

April 12, 2025 S J Thiruvengadam 31

 Control System Design…
4. Find the value of  from the required Phase Margin
• New Gain Crossover Frequency1 = 1.5 rad/sec
• New Gain Crossover Frequency2 = 0.15 rad/sec

 =10, m 54.9degrees

5. Determine the corner frequencies corresponding to zero

and pole of the lead compensator

• Zero of the lag compensator at

• Pole of the lag compensator at

y hx  w
1
T

1
T
0.15

0.015
rad/sec

rad/sec

April 12, 2025 S J Thiruvengadam 32

 Control System Design…
6. Transfer Function of the Lag-Lead compensator
s  0.7 s  0.15
Lead Compensator: Lag Compensator
s 7 s  0.015
 s  0.7   s  0.15 
Gc s    
 s  7   s  0.015 
7. Open loop transfer function

Gc s G ( s ) 
y hx  w
20( s  0.7)( s  0.15)
s ( s  7)( s  0.015)( s  1)( s  2)

April 12, 2025 S J Thiruvengadam 33

 Control System Design…

• Lead, Lag and Lead-Lag Compensators

– Lead compensation achieves the desired result
through the merits of its phase lead contribution
– Lag compensation accomplishes the result through
the merits of its attenuation property at high
frequencies.

April 12, 2025 S J Thiruvengadam 34

 Control System Design…

• Lead, Lag and Lead-Lag Compensators

– Lead compensation improves stability margins and
yields a higher gain crossover frequency (larger
Bandwidth) than is possible with lag compensation.
– A large bandwidth means reduction in the settling
time.
• If a large bandwidth or fast response is desired, lead
compensation should be employed.
• If, however, noise signals are present, then a large
bandwidth may not be desirable, since it makes the system
more susceptible to noise signals because of an increase in
the high-frequency gain.

April 12, 2025 S J Thiruvengadam 35

 Control System Design…

• Lead, Lag and Lead-Lag Compensators

– Lead compensation requires an additional
increase in gain to offset the attenuation
inherent in the lead network.
• This means that lead compensation will require a
larger gain than that required by lag compensation.
– A larger gain, in most cases, implies larger
space, greater weight, and higher cost.

April 12, 2025 S J Thiruvengadam 36

 Control System Design…

• Lead, Lag and Lead-Lag Compensators

– Lead compensation requires an additional
increase in gain to offset the attenuation
inherent in the lead network.
• This means that lead compensation will require a
larger gain than that required by lag compensation.
• A larger gain, in most cases, implies larger space,
greater weight, and higher cost.
– The lead compensation generates large signals in the
system. It is not desirable because they will cause
saturation in the system.
April 12, 2025 S J Thiruvengadam 37
 Control System Design…
• Lead, Lag and Lead-Lag Compensators
– Lag compensation reduces the system gain at higher
frequencies without reducing the system gain at lower
frequencies.
– Since the system bandwidth is reduced, the system
has a slower speed to respond.
– Because of the reduced high-frequency gain, the total
system gain can be increased, and thereby low
frequency gain can be increased and the steady-state
accuracy can be improved.
– Any high frequency noises involved in the system can
be attenuated.
April 12, 2025 S J Thiruvengadam 38
 Control System Design…
• Lead, Lag and Lead-Lag Compensators
– Lag compensation will introduce a pole-zero
combination near the origin that will generate a long
tail with small amplitude in the transient response.
– If both fast responses and good static accuracy are
desired, a lag-lead compensator may be employed.
– By use of the lag-lead compensator,
• The low-frequency gain can be increased
– An improvement in steady-state accuracy
• At the same time, the system bandwidth and stability margins
can be increased.
April 12, 2025 S J Thiruvengadam 39
 Control System Design…

• Lead, Lag and Lead-Lag Compensators

– Unit Ramp Response

Actual Lead Lag Lead-Lag

April 12, 2025 S J Thiruvengadam 40

 Control System Design…

• Lead, Lag and Lead-Lag Compensators

– Unit Step Response

Actual Lead Lag Lead-Lag

April 12, 2025 S J Thiruvengadam 41

Thank You

Mail: [email protected]

April 12, 2025 S J Thiruvengadam 42