Lab Session 05

Objective
Implement Compensator Design by pole placement using SISO tool in MATLAB.

Apparatus
 MATLAB

Introduction to Compensator
In redesigning a control system to alter the system response, an additional component is inserted
within the structure of the feedback system. It is this additional component or device that
equalizes or compensates for the performance deficiency. The compensating device may be
electric, mechanical, hydraulic, pneumatic, or some other type of device or network and is often
called a compensator.

Types of Compensation
 Cascade Compensation
 Feedback Compensation
 Output, or Load Compensation
 Input Compensation

Introduction to SISO Toolbox MATLAB

The Single Input Single Output Design Tool is a graphical-user interface (GUI) that allows you
to use root-locus, Bode diagram, and Nichols plot techniques to design compensators. Using
SISO Design Tool, you can graphically tune gains and dynamics of the compensator (C) and pre-
filter (F). In SISO Tool, plots are dynamically linked; for example, if you change the gain in the
root locus, it immediately affects the Bode diagrams as well.

Procedure
Let us consider Lead-compensator example, where the uncompensated loop transfer function is

1
G( s) 
s2
The specifications for the system are

 Settling time (with a 2% criterion), Ts ≤ 4 s

 Percent overshoot for a step input P.O. < 35%
 Enter the transfer function for the plant, G(s), in MATLAB command window or M-File.
sys=tf(1,[1 0 0])

 Type ‘sisotool’ in command prompt

sisotool

SISO Design Tool window appear as shown in figure 1.

Figure 1: SISO Design Tool

You can select control architecture based on controller position and number of feedback
loops as shown in figure 1. Here we select basic control architecture i.e. Cascade
compensation (C) with pre-filter (F).

 Click ‘System data’ to import data for compensation. Following window appear as shown
in figure 2
o G represent Plant TF
o H represent Feedback TF
o C represent Compensator TF
o F represent Pre-Filter TF
By selecting ‘Browser’ option, you can import system TF as shown in figure 2 < sys >.

 After clicking OK, following window appear representing root locus and bode plot of
Figure 2: Import Data
 G(s) TF. As we can see, two poles at origin and corresponding bode plot.

Figure 3: Root Locus and Bode Plot

 Multiple plots can be shown at a time as we select root locus and bode plot only. We can
also plot Nichlos graph.

Figure 4: Graphical Tuning

 Now we can add pole/zero at desired location simply by selecting pole/zero and place it
using bar as shown in figure 5. We can also add complex pole and zero depend on
requirement.

Figure 5: Pole/zero placement

Select Lead compensator option. In case of lead compensator, |zero| < |pole|.

 By adding pole and zero, root locus pass through desired location as shown by circle in
figure 6.
 Figure 6: Compensated System Root locus

 Compensator TF can be represented now as

Figure 7: Compensator Editor

 Step response to compensated system can be plot by selecting ‘Analysis Plot’ option and
Tick step response
 Figure 8: Step Response

Task
Design a lead compensator for following TF using SISO Tool MATLAB
1
G( s) 
s( s  1)

Design specs:
 rise time Tr ≤0.8 s
 Percent overshoot for a step input P.O. < 20%
Observations
I have designed a lead compensator that fulfilled the above design requirements;
2.7867(𝑠 + 1)
𝐶(𝑠) =
(9.34𝑠 + 1)
By adding this compensator to the original system the rise time tr has become 0.584 sec and
percentage overshoot O.S. has become 15.5%.

Comments
By adding a lead compensator, the net number of zeros and poles will be same (one zero and one
pole are added), but the added pole is a larger negative number than the added zero. Thus, the
result of a lead compensator is that the asymptotes' intersection is moved further to the left in the
complex plane, and the entire root locus is shifted to the left as well. This tends to increase the
region of stability and the system's response speed.