Dr.

Farzad Pourboghrat

Guideline for Lead and Lag Compensator Designs Using Frequency-Response Method Lead Compensator: D(s) = K
s +1 z s +1 p

, z<p.

1- Find the desired values of phase-margin PMd, cross-over frequency cd, and dc-gain Kd from the given specifications, (e.g., PMd100, cdBWn, e ss = lim sE(s) ).
s 0

2- Draw the Bode plot of KG(s), where K=Kd, and find the cross-over frequency c. 3- Find the lead ratio =
z p

1sin m 1+sin m

644 744 8 4PM 4 < 1 , where m = PM d G ( j c ) + 180 o + s , and

s = 10 o to 15o for safety. 4- Choose the lead compensator's zero z and pole p in the two sides of c (and cd), (e.g., choose z such that G ( jz ) z and p, (e.g., cd z p
z
1

and then find p =

).

Note: the desired cross-over frequency cd should be approximately in the mid-point between ). (Generally, c would be closer to z than p).

5- Check the closed-loop system's specifications.

s +1 z s +1 p

Lag Compensator: D(s) = K

, p<z.

1- Find the desired values of phase-margin PMd and dc-gain Kd from the given specifications, (e.g., and ess), and draw the Bode plot for KG(s), where K=Kd. 2- Select the desired cross-over frequency cd such that G ( jc d ) + 180 o = PM d + s , where

s = 5o to 10 o for safety. 3- Choose the lag compensator's zero as z = 4- Find the lag ratio, =
z p
cd c

, where c = 4 to10.

= KG ( jcd ) > 1 .
z

5- Select the lag compensator's pole as, p = Note: at m =

z

.
1 1

we must have G ( j m ) m > 180 o , where sin m = 1+ 1 .

6- Check the closed-loop system's specifications.