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Notes On Control Systems 05
Notes On Control Systems 05
Controller Design
A compensator or controller placed in the forward path of a control system will modify the
shape of the loci if it contains additional poles and zeros.
In compensator design, hand calculation is cumbersome, and a suitable computer pakage is
generally used.
Compensator
PD
PI
PID
Characteristics
One additional zero
One additional zero and a pole at origin
Two additional zeros and a additional pole at origin
Example
A control system has the open-loop transfer function,
A PD compensator of the form Gc ( s )
achieve the performance specification:
G f ( s)
K
; k 1.
s ( s 2)( s 5)
K1 and a
Original Controller
PD compensator design
When PD compensator is used, we actually add a zero in the open-loop transfer function.
Potential locations of zero include:
1. At s 1 ,
2. At s 2 ,
3. At s 3
G (s) H (s)
K1 ( s 1)
s ( s 2)( s 5)
G (s) H (s)
K1 ( s 2)
s ( s 2)( s 5)
G (s) H (s)
K1 ( s 3)
s ( s 2)( s 5)
Summary
Of the three compensators considered, only option 2 meets the performance specifications. The
recommended compensator is therefore, Gc ( s ) 12.8( s 2) .
The time-domain responses for the four conditions are shown in Figure below.
1.
R1 R2
Eo ( s )
R2
R1Cs 1
R
/
Cs
Ei ( s ) R 1
R1 R2Cs R1 R2
2
R1 1/ Cs
s zc
s 1/ R1C
s 1/
s [( R1 R2 ) / R2 ] / R1C s pc s 1/
;
zc
pc
The pole-zero configuration is shown in figure above on the right side. The zero frequency gain
is cancelled by an amplifier of gain 1/ .
B. Lag Compensator
Gc ( s )
R2 1/ Cs
1 R2Cs
R1 R2 1/ Cs 1 ( R1 R2 )Cs
s 1/ R2C
R2
s 1/ R2C
R R2
R2
1/ R2C 1
s R1 R2 s
/ R2C
R2
R1 R2
1 s 1/
s 1/
where, R C and
2
R1 R2
1
R2
C. Lag-lead Compensator
Gc ( s )
1
1
s
R1C1
R2C
2
1
1
1
1
s
R1R2C1C2
R1C1 R2C2 R2C1
s2
s 1/ 1
s 1/ 2
;
s 1/ 1 s 1/ 2
where, 1, 1.
Comparing left and right side we get,
And,
.
R1C1 R2C2 R2C1 1 2 1 2
zc2
zc1
pc1
pc2
1
T ; 1
3. Gc ( s ) K c
1
s
T
z
p
4. Locate c and c so that the lead compensator will contribute necessary .
5. Determine K of the compensated system from magnitude condition.
s
2
This specifications imply that, 0.45 and n 1 . M P e / 1 and ts 4 / n
j 1 2
sd 1 j 2.
The desired dominant roots lie at
n
n
-line
sd
2
-19.8
-1.5
K
. 0.5, n 2.
s ( s 1)( s 4)
The desired dominant closed-loop poles are located at, sd 1 j1.73 . The angle condition
required from the lead compensator pole-zero pair is, 180 (120 90 30) 60o.
G f (s)
Example 02
Place a compensator zero close to the pole -1 at s = -1.2. Join the zero to sd and make an angle of
60 to the left of the line. The compensator pole will be found at -4.95. The open-loop transfer
function of the transfer function becomes,
K ( s 1.2)
G(s)
.
s ( s 1)( s 4)( s 4.95)
The gain K can be evaluated using magnitude condition at sd .
s s 1 sd 4 sd 4.95 1 j1.73 j1.73 j1.73 3 j1.73 3.95
K d d
=
sd 1.2
j1.73 0.2
1.99 1.73 3.463 4.312
K
29.527 30
or,
1.741
zc 1/
pc 1/
0.833
zc
0.2424
0.202
pc
G f (s)
K ( s zi )
s
i 1
n
(s p )
j r 1
The desired closed-loop pole location sd is indicated in figure below. It is required to improve
c
the system error constant to a specified value K e without impairing its transient response. To
accomplish this a lag compensator with pole-zero pair close to each other is required such that it
contribute a negligible angle at sd . Apart from being closed to each other, the pole-zero pair is
also located close to origin.
The gain of the uncompensated
system at sd is given by
sd
j
n
r
Less than 10
sd sd p j
j r 1
K uc ( sd )
.
m
sd zi
a
i 1
For the compensated system, the
system gain at sd is
sd
K ( sd )
c
j r 1
m
s
i 1
sd p j
zi
a
g
b
.
c
uc
As a b , K ( sd ) K ( sd ) . The error constant of the compensated system is given by
m
K K ( sd )
c
e
zi
i 1
n
j r 1
zc
K uc ( sd )
pc
z
i 1
n
j r 1
zc
z
K euc c
pc
pc
zc
Kc
uce . Thus, of the lag compensator is nearly equal
pc K e
to the ratio of the specified error constant to the error constant of the uncompensated system.
Procedure for designing lag compensator is as follows:
1. Draw the root locus plot of uncompensated system.
2. Translate the transient response specifications into a pair of complex dominant roots.
Locate these roots in the uncompensated root locus plot.
3. Calculate the gain of the uncompensated system at the dominant root sd , and also
evaluate the error constant.
4. Determine the factor by which the error constant of the uncompensated system should be
increased to meet the specified value. Select a larger value.
5. Select zero of the compensator sufficiently close to the origin. As a guide we may
construct a line making an angle less than 10 with the -line from sd .
6. The compensated pole may be located at pc zc / . The pole-zero pair should
contribute an angle less than 5 at sd .
K
4
0.8 rad/sec . Thus, the desired dominant closed-loop poles
10 0.5
are required to be located at, sd n jn 1 2 0.4 j 0.7 .
Using the above data, n
sd
Uncompensated system
-4
-1
compensated system
uc
Now, K uc 0.8 0.9 3.7 2.66 ; and K v lim sG f ( s)
s 0
2.66
0.666 .
1 4
5
7.5 . We take as 10.
0.666
Locate zc on the root locus taking an angle of 6 from sd. From plot, zc 0.1 .
Thus, pc 0.1/10 0.01.
Now, for the compensated system locate the point sd that lies on the -line and the compensated
Now,
c
root locus using angle criterion. For the compensated system at sd K ( sd ) 2.2.
Thus, the open-loop transfer function of the compensated system is,
G(s)
Feedback Compensation
2.2( s 0.1)
.
s ( s 1( s 4)( s 0.01)
Though cascade compensation is quite satisfactory and economical in most cases, feedback
compensation may be warranted due to the following factors:
1. In nonelectrical systems, suitable cascade devices may not be available.
2. Feedback compensation often provides greater stiffness against load disturbances.
The net effect of applying feedback is to apply a zero to the open-loop transfer function, which
is the principal of lead compensation.
KA
Km
s2
Kf
s 10
(a)
K
s ( s 10)
2
(b)
M P 10%,
ts 4sec.
K
.
s ( s 10 s K )
2
K
0.
s 10s 2 K s
3
K ( s 1/ )
0.
s 2 ( s 10)
K ( s 1/ )
.
From this equation we have, G ( s ) 2
s ( s 10)
The previous equation shows that the net effect of rate feedback is to add a zero at s = -1/.
The root locus plot of the uncompensated system is shown in figure below.
It may be rewritten as,
84
-1.1
The desired dominant roots from the given specifications are calculated as, -1 j1.34. (sd- )
The angle contribution of the open-loop poles at this point is -2 x 128 - 8 = -264. Therefore
for the point sd on the root locus, the compensating zero should make an angle of
180 (264) 84o. The 84o line cuts the real axis at s = -1.1. Thus the open-loop transfer
function of the compensated system becomes,
K ( s 1.1)
G(s) H (s) 2
.
s ( s 10)
The value of K at sd is found as, 17.4. The velocity error constant K v is given by,
K
K v lim 2
1/
s 0 s 10 s K
If this K v is acceptable, then the design is complete; otherwise an amplifier is to be introduced
in the forward path outside the minor feedback loop.
KA
A
Km K f
s 2 ( s 10)