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C1 C2
R4
R2
R1
R3
- -
vi(t)
(t) + + Lead compensator Lag compensator
vo(t)
(t)
Im Im
Re Re
5 6
7 8
Comparison of step responses
Lead-lag compensator design
(after lead compensation)
Consider a system C(s) G(s) Compensated system Uncompensated system (C(s
(C(s)=1)
)=1)
1.4
Controller Plant
1.2
Ramp-
Ramp-error constant Kv=2
Kv=2 0.6
Performance specification Lead compensator gives
0.4 • faster transient response
Damping ratio ζ=0.5
(shorter rise and settling time)
Undamped natural freq. ωn=4 rad/s Re 0.2
• improved stability
Ramp-
Ramp-error constant Kv=50
Kv=50
0
0 1 2 3 4 5
9 10
Error constants
How to design lag compensator
(after lead compensation)
Lag compensator
We want to increase ramp-error constant
Step-error constant 5
Unit ramp input
4
13 14
10 10
Desired pole
5 5
Take a small p (by trial-and-error!)
Imaginary Axis
Imaginary Axis
0 0
-5 -5
Lead-lag controller -1 0 -1 0
-1 5 -1 5
-6 -4 -2 0 -6 -4 -2 0
R e a l A x is R e a l A x is
15 16
Comparison of step responses Comparison of ramp responses
5
1.4
1.2 4
Unit ramp input
1
3
0.8
Uncompensated
0.6 2
Uncompensated
With lead compensator
0.4
With lead-
lead-lag compensator With lead compensator
1
0.2 With lead-
lead-lag compensator
0 0
0 1 2 3 4 5 0 1 2 3 4 5
17 18
19