1st order compensators

1) Phase lead element

( )
<
+

=
=

>
<
+
+
=
90
1
1
arcsin
max
1
T max
controller - PD : 0
1 , 0 usually
1 ,
1
1
|
|

|
e
|
|
|
|
at lead phase imum
Ts
Ts
s
C
G

Bode plot of lead compensators




Other representation: ( )
T
m
m
s
s
s G
z
h
z h
z
R
1
, 1 ,
1
1
= =
+
+
=
e
|
e
e

Maximum phase lead at m
h z
e

Effect: e
d
can be increased because phase shift is reduced
G
0
unchanged for
e e << =
z
T
1

usually the maximal phase lead is used at e
d


Caution: gain has to be adjusted
decay of the gain plot is reduced
sensor noise is amplified esp. if is | small
use in a region where the decay is 40 dB/decade
problematic for non-minimum phase plants
e
z
then has to be made large small effect at e
d


When to use a lead compensator:
- stabilization
- improvement of speed of response and/or damping
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2
2) Gain reducing compensator (phase lag)

0
5
10
15
20
10
-2
10
-1
10
0
10
1
-60
-50
-40
-30
-20
-10
0
P
h
a
s
e

/

G
r
a
d
o = 0.10
B
e
t
r
a
g

/

d
B
e T
o = 0.50
o = 0.17
o = 0.25

Bode plot of lag compensators


o e
o
o
= T at phase the of minimum
1 ,
1
(s) G
R
<
+
+
=
sT
sT


Other form: ( )
( )
T
m
s G
n s s
m
s
s
R
m
n
n s
1
,
1
,
1
1
= =
+
+
=

e
o
e
e


PI-Controller:
( )
sT
s G
R
1
1+ =
(45 phase shift at
e =
1
T
)

Effect: - Increase the gain at low frequencies
- better tracking/ better disturbance rejection at low frequencies
- additional phase lag up to 10/T
thus reduced phase margin unless e
d
T >10 /

3

Higher order compensators

- multiple lag elements not convenient, phase too negative for
small e, creeping of the response

- multiple lead elements necessary for large phase lead (>90)
problems with sensor noise
(approximate multiple differentiation)

- lead-lag element (real PID) standard compensator


( )
( )
s T
s T
s T
s T
K s G
R C
2
2
1
1
1
1
1
1
| o
o
+
+

+
+
=

PID:
( )
D V
V
D
I
R C
T T
sT
sT
sT
K s G <<
|
|
.
|

\
|
+
+ + = ,
1
1
1


0
-90
j
e (log)
(log)


Zeros of the real PID-controller:


( )
D V I n n
D V n n
T T T T T
T T T T
+ =
+ = +
2 1
2 1

Often it is reasonable to compensate the smallest pole of the plant by a
controller zero. Using a lead-lag-compensator, both the bandwidth and
the damping and the behaviour at low frequencies can be improved
independently.