EEL 2216

Control Theory
Chapter 6: Compensation Techniques
Pass Year Questions Revision

Self Test 2.1: A PD controller, GD(s) is added to the unity feedback system
shown in Figure below to improve the steady-state response.

Design the PD controller so that the steady-state error in response to a unit

step input can be reduced by a multiplication factor of 1/10 and the
damping ratio can be increased by a multiplication factor of 2 after adding
the PD controller.
(Main 2012/13)

Self Test 2.2: Figure below shows a unity feedback system

A compensator Gc s is to be designed so that the dominant closed-loop

poles have the damping ratio 0.5 and the natural frequency n 3rad / s .
(i) Using the technique of root locus, show that simple gain adjustment
cannot move the closed-loop poles to the desired locations.
(ii) Suggest a suitable compensator. Explain briefly your choice.
12.6s 2

G
s

(iii) A compensator with transfer function c

s p is considered.
Determine the values of K and p to locate the closed-loop poles as required.
(Main 2011/12)
3

Self Test 2.3 (wont be discussed): The forward path of a system with
unity feedback is given by,
K
G( s)
s( s 2)( s 4)
Design a phase lag compensator to meet the following specifications of the
closed-loop system:
Velocity error constant, Kv = 5.
Relative damping ratio, = 1
(Main 2008/09)

Answers for Self Test:

2.1: GD ( s) K D s K P 34.615s 100.011
2.2:
ii. Lead compensator
K C ( s 2) 12.6( s 2)
G ( s)

iii. C
( s p)
( s 4.8)
2.3: Required ratio of zero to pole,
K v ,compensated
z

13.33
p K v ,uncompensated
(s z)
( s 0.1)
G
(
s
)

Select z 0.1 , C
( s p) ( s 0.0075)