IV.1.

2 Cascade Compensation Networks

The compensation network may be chosen as follows:

M
K ∏ ( s + zi )
Gc ( s ) = n
i =1
4.1
∏ (s + p )
j =1
j

We shall study the first order compensator as the high order compensator can be implemented by
cascading several first order compensators.

A first order compensator:

K (s + z )
Gc ( s ) = 4.2
(s + p )
Goal: to select proper values of K, z, and p to provide a desired performance.

Phase-lead network: z < p , Phase-lag network: z > p ,

a) Phase lead network:

Ks Ks
Special case for phase lead network: z << p , and z → 0 , Gc ( s ) = ≈ , it is a
(s + p ) p
differentiator with the phase angle of 900 .

In general:

⎛ w ⎞
⎜ j + 1⎟
K (s + z ) K ( jw + z ) Kz ⎝ z ⎠ = K 1 + jwατ
Gc ( s ) = → Gc ( jw) = = 4.3
(s + p ) ( jw + p ) p ⎛⎜ w ⎞
j + 1⎟⎟
1
1 + jwτ
⎜
⎝ p ⎠
1 p K
Where τ = , α = , K1 =
p z α

The frequency response is shown in figure with

2
Φ ( w) = tan −1 (αwτ ) − tan −1 ( wτ ) 4.4

The maximum value of the phase lead occurs a frequency wm , where wm is the geometric mean
1 1
of p = and z = ,
τ ατ
⎛ α w τ − wτ ⎞
Equation 4.4 can be rewritten as Φ = tan −1 ⎜⎜ ⎟⎟ 4.5
⎝ 1 + ( w τ )2
α ⎠

⎛ ⎛ α wτ − w τ ⎞ ⎞
∂⎜⎜ tan −1 ⎜⎜ ⎟⎟ ⎟
⎟
∂Φ ⎝ + ( τ )2
α ⎠⎠
= ⎝
1 w
To determine the maximum phase lead angle, let = 0 , then we
∂w ∂w
1 1 1
Will have wm = zp = = 4.6
τ ατ τ α
1
Then substituting frequency for the maximum phase angle wm = , we have
τ α

⎛ α wτ − w τ ⎞ α / α − 1/ α α −1 α −1
tan Φ m = ⎜⎜ ⎟⎟ = = ⇒ sin Φ m = 4.7
⎝ 1 + (w τ ) α ⎠ w = 1+1 2 α α +1
2
1
τ α

3
b) Phase lag network:

K ( s + z ) Kz
Special case for phase lag network: z >> p , and p → 0 , Gc ( s ) = ≈ , it is a
(s + p ) s
integrator with the phase angle of − 900 .

In general:

⎛ w ⎞
⎜ j + 1⎟
K (s + z ) K ( jw + z ) Kz ⎝ z ⎠ = K 1 + jwτ
Gc ( s ) = → Gc ( jw) = = 4.8
(s + p ) ( jw + p ) p ⎛⎜ w ⎞
j + 1⎟⎟
1
1 + jwατ
⎜
⎝ p ⎠
1 z
Where τ = , α = , K1 = Kα
z p
The frequency response is shown in figure with
Φ ( w) = tan −1 ( wτ ) − tan −1 ( wατ ) 4.9

4
The maximum value of the phase lag occurs at frequency wm , where wm is the geometric mean
1 1
of z = and p = ,
τ ατ
⎛ wτ − wατ ⎞
Equation 4.9 can be rewritten as Φ = tan −1 ⎜⎜ ⎟⎟ 4.10
⎝ 1 + (w τ ) α ⎠
2

⎛ ⎛ wτ − wατ ⎞ ⎞
∂⎜⎜ tan −1 ⎜⎜ ⎟⎟ ⎟
⎟
∂Φ ⎝ + ( τ )2
α ⎠⎠
= ⎝
1 w
To determine the maximum phase lead angle, let = 0 , then we
∂w ∂w
1 1 1
Will have wm = zp = = 4.11
τ ατ τ α
1
Then substituting frequency for the maximum phase angle wm = , we have
τ α

⎛ wτ − wατ ⎞ 1/ α − α / α 1 − α 1−α
tan Φ m = ⎜⎜ ⎟⎟ = = ⇒ sin Φ m = 4.12
⎝ 1 + (w τ ) α ⎠ w = 1+1 2 α α +1
2
1
τ α

-1 0

-2 0

-3 0
φm

-4 0

-5 0

-6 0

-7 0
0 2 4 6 8 10 12 14 16 18 20
α

Examples of phase-lead or phase-lag compensators:

1) phase lead :

R4 R2
Gc = ( R1C1s + 1)
R3 R1

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 IV.3 Phase-lead design (bode diagram and root locus)

Phase-lead design basically adds the phase to the uncompensated network in order to increase the
phase margin to result a stable compensated system.

Phase lead design steps using bode diagram:

1) Evaluate the uncompensated system phase margin when the error constants are satisfied.
2) Allowing for a small amount of safety, determine the necessary additional phase lead
3) Evaluate α from equation 4.7
4) Evaluate the 10 log α and determine the frequency where the uncompensated magnitude
curve is equal to − 10 log α . This frequency is the new 0-dB crossover frequency and
wm simultaneously.
1 1 p
5) Calculate the pole and zero, p = = wm α and z = =
τ ατ α
6) Draw the compensated frequency response. Check to validate the design. Finally, raise
1
the gain of the amplifier to account for the attenuation
α
Example 4.2 consider a unity feedback system with the transfer function

K
G ( s) = , we desire to obtain the dominate roots with wn = 3 and ξ = 0.5 . We wish
s ( s + 2)( s + 4)
to obtain a K v = 2.7 . Show that we require a compensator

7.53( S + 2.2)
Gc ( s ) = , determine the value of K that should be selected.
( s + 16.4)
ξ
Phase margin requirement φPM = = 500 , K = 2 * 4 * kv = 2 * 4 * 2.7 = 21.6 ,let K=22
0.01
22
1) PM of G ( s ) = is 22.70
s ( s + 2)( s + 4)
2) Phase lead φm = 50 − 22.65 = 27.350 → 500
α −1
3) sin Φ m = ⇒ α = 7.45
α +1
4) 10 log 10(α ) = −4.77 ⇒ wm = 6
1 1 p 16.4
5) p = = 6 7.45 = 6 * 7.45 = 16.4 and z = = = = 2.2
τ ατ α 7.45

7.53( S + 2.2)
Gc ( s ) =
( s + 16.4)

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 R( s)
lim e(t ) = lim s
t →∞ s →0 1 + Gc ( s )G ( s ) H ( s )

The steady state error of a system depends on the number of poles at the origin for
L( s ) = Gc ( s )G ( s) H ( s ) .
If the steady state accuracy is not sufficient, we will introduce an integration-type network Gc (s )
in order to compensate for the lack of integration in the uncompensated loop transfer function.

KI
Popular PI controller is defined as Gc ( s ) = K p +
s

Example 4.4: find out the ess for type 0 system with and without PI controller applied.
M
k Π ( s + zi )
G(s) = Q
i =1

Π ( s + pk )
k =1
a) Without the PI controller, assume H ( s ) = 1
1 A A A A
lim e(t ) = ess = lim sE ( s ) = lim s = = =
t →∞ s →0 s →0 1 + G (s) s 1 + lim G ( s ) 1 + G (0) M
s →0 Π zi
1+ k i =1
Q
Π pk
k =1
b) With the PI controller, assume H ( s ) = 1
1 A A As
lim e(t ) = ess = lim sE ( s ) = lim s = lim = lim =0
t →∞ s →0 s → 0 1 + G ( s )G ( s ) s s →0 K s → 0 s + K s + K G (0)
c 1 + ( K p + I )G ( s) p I
s
Transient performance can be adjusted to satisfy the system specification by adjusting K, Kp, KI.

Phase lag design steps using bode diagram:

1) Evaluate the uncompensated system phase margin when the error constants are satisfied.
2) Determine the phase margin of the uncompensated system and, if it is insufficient,
proceed with the following steps
3) Determine the frequency where the phase margin requirement would be satisfied if the
magnitude curve crossed the 0dB line. wc' . Allow for 5 degree lag.
4) Place the zero of the compensator one decade below the new crossover frequency wc'
5) Measure the necessary attenuation at wc' to ensure that the magnitude curve crosses at this
frequency.
6) Calculate α by noting that the attenuation introduced by the phase-lag network is
− 20 log α at wc' .
1 w
7) Calculate the pole as wp = = z , and the design is completed.
ατ α

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 Example 4.5 (10.14)a Robot will be operated by NASA to build a permanent lunar station.
The position control system for the gripper tool is shown in figure, where H(s)=1, and
R(s) Y(s)
+ Gc(s) G(s)
-

H(s)

5
G ( s) = , determine a compensator that will provide a phase margin of 450 .
s ( s + 1)(0.25s + 1)

1) Evaluate the uncompensated system phase margin when the error constants are satisfied.
Phase margin is 0.
2) Determine the phase margin of the uncompensated system and. It is insufficient, proceed
with the following steps
3) Determine the frequency where the phase margin requirement would be satisfied if the
magnitude curve crossed the 0dB line. wc' . Allow for 5 degree lag
Add 5 degree to 45 degree as the phase margin. So phase margin is 50 degree.
Find the frequency 0.598 at which phase margin is 50 degree so wc' = 0.598
4) Place the zero of the compensator one decade below the new crossover frequency wc'
wz = wc' / 10 = 0.0598
5) Measure the necessary attenuation at wc' to ensure that the magnitude curve crosses at this
frequency.
The attenuation is 16.9 dB
6) Calculate α by noting that the attenuation introduced by the phase-lag network is
− 20 log α at wc' .
20 log α = 16.9dB → α = 7
1 w
7) Calculate the pole as wp = = z , and the design is completed.
ατ α
1 wz
wp = = = 0.0598 / 7
ατ α
( s + 0.0598)
Gc ( s ) =
7( s + 0.0598 / 7)

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