Compensators

PCC-EE-403 : Control Systems

Dr. Kaushik Das Sharma

SMIEEE (USA), MISCA (India)
Professor in Electrical Engineering
Systems Engineering Laboratory
Department of Applied Physics
University of Calcutta
Outline
 Some Good Books & Prerequisites
 Why a System to be Controlled
 Introductory Overview

 END Notes
 References
Text Books
Advanced Text Books
Reference Books
Prerequisites

 For Classical Control Systems

 Differential Equations
 Laplace Transform
 Basic Physics
 Ordinary and Semi-logarithimic graph papers
The Classical Control Strategy
COMPENSATORS
Basic Types

 Lead Compensator
 Lag Compensator
 Lag-Lead Compensator

Compensator Plant
R(s) C(s)
+ E(s) U(s)
Gc (s ) G (s )
-
Lead Compensator
The s-plane realization of Lead Compensator is as:
jw
1 s-plane
 zc  

1 σ
 pc  


The general form of the Lead Compensator:

( s  zc ) (s  1 )
Gc ( s )  K c  Kc  ,   zc  1,  0, K  0
( s  pc ) (s  1 ) p c
c

 s  1 
 K c  
 s  1 
Contd. …
Note that the Lead Compensator has zero-frequency gain of Kcα. For
the purpose of simplifying the design procedure, without loss of
generality, the gain Kcα is clubbed together with the plant transfer
function. So, the compensator is designed with unity zero-frequency
gain as:
s  1
Gc ( s ) 
s  1
At the implementation stage, the total required gain is appropriately
taken care of.
The sinusoidal transfer function of the Lead Compensator with unity
zero-frequency gain is as:
jw  1
Gc ( jw) 
jw  1
Since, α < 1, the compensator output leads the sinusoidal input
under steady state and hence the name Lead Compensator.
Physical Realization of Lead Compensator
R1
The Lead Compensator can be physically
realized with an passive electrical network as:
Ei C1 R2 Eo

s  1 
Eo ( s ) R2  R C 
   1 1
,
Ei ( s) R1  
sC1  1 
R2  s  
R1  1   R2 R C 
sC1  1 1
 
  R1  R2 
 
  R2 R  R   1,   R1C1  0
1 2
Maximum Lead Angle
 1  jw ) 
Gc ( s ) s  jw  Gc ( jw)   ,   1
 1  jw 
1  w2 2
The magnitude of Gc(jw): M 
1  w2 2 2
The phase angle of Gc(jw):   tan 1 w  tan 1 w
d
Let, at w=wm, phase angle is maximum, i.e. 0
dw
d d
 
dw dw

tan 1 wm  tan 1 wm  0 
 
 2
 2 2 2
0
1  wm  2 1  wm  
2 1 1  1  1 
 wm   wm     
 2      
Contd. …
So, the maximum frequency wm is the geometric mean of the two
corner frequency of the compensator.

Magnitude of Gc(jw) at w=wm, (freq. of max. phase lead):

1  jwm ) 1
Gc ( jw) w w  
m 1  jwm 
 1 1 

20 db/decade
Magnitude (decibels)

20

20 log1 
0

m
0°

0.1 1 10 100 104 105 106 107 108 109

wm  1  Frequency (rad/sec)
14
Lag Compensator
The s-plane realization of Lag Compensator is as:
jw
1 s-plane
 zc  

1 σ
 pc  


The general form of the Lag Compensator:

( s  zc ) (s  1 )
Gc ( s )  K c  Kc  ,   zc p  1,   0, K c  0
( s  pc ) (s  1 ) c

 s  1) 
 K c   
 s  1 
Contd. …
Note that here also the Lag Compensator has zero-frequency gain of
Kcβ. Again, for the purpose of simplifying the design procedure,
without loss of generality, the gain Kcβ is clubbed together with the
plant transfer function. So, the compensator is designed with unity
zero-frequency gain as:
s  1
Gc ( s ) 
s  1
At the implementation stage, the total required gain is appropriately
taken care of.
The sinusoidal transfer function of the Lag Compensator with unity
zero-frequency gain is as:
jw  1
Gc ( jw) 
jw  1
Since, β > 1, the compensator output lags the sinusoidal input under
steady state and hence the name Lag Compensator.
Physical Realization of Lag Compensator
R1
The Lag Compensator can be physically
realized with an passive electrical network as:
R2
Ei Eo
C2

s  1 
R2  1  R C 
Eo ( s ) sC2 1  1 1
  ,
Ei ( s ) R1  R2  1 R1  R2   
sC2 R2  1 
s  
 R1  R2   R C 
  R  2 2 
  2  
  R1  R2  R  1,   R2C2  0
2
Maximum Lag Angle & Magnitude
 1  jw ) 
Gc ( s ) s  jw  Gc ( jw)   ,   1
 1  jw 
1  w2 2
The magnitude of Gc(jw): M 
1  w2  2 2
The phase angle of Gc(jw):   tan 1 w  tan 1 w
d
Let, at w=wm, phase angle is maximum, i.e. 0
dw
1  1  1 
 wm     
     
Magnitude of Gc(jw) at w=wm, (freq. of max. phase lag):

1  jw ) 1
Gc ( jw) w w  
m 1  jw 
 1  1

20 log1 

- 20 db/decade
Magnitude (decibels)

-20

0°

m

0.1 1 10 100 104 105 106 107 108 109

wm  1  Frequency (rad/sec)
19
Lag-Lead Compensator
A Lag-Lead Compensator is a cascade combination of a Lag
compensator and a Lead Compensator.
The s-plane realization of Lag Compensator is as:
jw
1 1
 pc 2    zc1   s-plane
 2 1
1 1 σ
 zc 2    pc1  
2  1

The unity zero-frequency gain transfer function of the Lag-Lead

Compensator:
 s  1  s  1 
  1  2 
Gc ( s )    ,   zc1 p  1,   zc 2 p  1
1 1
 s    s    c1 c2
 1  2 

  1s  1)   2 s  1) 
   
  1s  1   2 s  1 
Contd. …
The sinusoidal transfer function of the Lag-Lead Compensator with
unity zero-frequency gain is as:
 jw 1  1  jw 2  1 
Gc ( jw)    
 jw 1  1  jw 2  1 
Lag Lead
Physical Realization of Lag-Lead
Compensator R1
The Lag-Lead Compensator can be physically
realized with an passive electrical network as:
R2
Ei C1 Eo
C2
R2  1
Eo ( s ) sC2

Ei ( s) R1
sC1
R2  1 
sC2 R1  1
sC1
s  1  s  1 
 R C  R C 
  1 1  2 2

s 2   1  1  1 s  1
 R1C1 R2C1 R2C2  R1 R2C1C2
Contd. …
Therefore,  1  R1C1 ,  2  R2C2 , R1 R2C1C2   1 2 &
1  1  1  1  1
R1C1 R2C1 R2C2  1  2
From this conditions, we have   1
It means that a single Lag-Lead Network does not permit us an
independent choice of α and β.
Keeping this in view, the sinusoidal transfer function can be rewritten as:
 
 jw 1  1  jw 2  1 
Gc ( jw)    
 jw 1  1  jw 2  1 
  
 1  1 1 1 12  2

20 db/decade
- 20 db/decade
Magnitude (decibels)

-20  40 log1 

0°

0.1 1 10 100 104 105 106 107 108 109

24
Frequency (rad/sec)