Experiment 10 Student Manual

American International University- Bangladesh

Department of Electrical and Electronic Engineering
EEE 4101: Control Systems Laboratory

Title: Design of a lag and lead compensator via Root Locus

Introduction:

Control systems are always designed for a specific purpose. A good control system should
have the following properties:

1. It should operate with as little error as possible.

2. It should exhibit faster response and suitable damping in transient state i.e. the
controlled output should follow the changes in the reference input unduly large
oscillations or overshoots.
3. Its performance should not be affected by small changes in certain parameters.
4. It should be able to mitigate the effect of undesirable disturbances.
5. It should be able to adjust gain since the higher the gain, the smaller the steady-state
error, but the larger the percent overshoot.

To fulfill the above properties and to meet the various conflicting and demanding
specification, a control system usually requires some adjustment. This adjustment is called
compensation.

The main objectives of this experiment are following-

1. Design a lag compensator via Root Locus
2. Design a lead compensator via Root Locus
In this experiment, students will learn to design lag and lead compensator via Root Locus.

Theory and Methodology:

Lag Compensator:

Objective: To improve or reduce the steady state error.

Design Process:
𝐾𝑃𝑁 (𝑁𝑒𝑤 𝑜𝑟 𝑑𝑒𝑠𝑖𝑟𝑒𝑑 𝐾𝑝 ) 𝑍𝐶
=
𝐾𝑃𝑜 (𝑂𝑙𝑑 𝑜𝑟 𝑝𝑟𝑒𝑣𝑖𝑜𝑢𝑠 𝐾𝑝 ) 𝑃𝐶

Now, arbitrarily selecting a −𝑃𝐶 and then calculate −𝑍𝐶

Characteristic of lag Compensator:

(𝒔+𝒁 )
1. Generalized transfer function of lag compensator, 𝑮𝑪 = (𝒔+𝑷𝒄 )
𝒄
2. Error is improved but not driven to zero.
3. Pole at −𝑃𝐶 is small and negative.
4. Zero at −𝑍𝐶 is close to, and to the left of the pole at −𝑃𝐶 (i.e. 𝑃𝐶 < 𝑍𝐶 ).
5. Active circuits are not required to implement.

N.B: To modify the error, PI or lag compensator is used, but there is very negligible change
in desired transient response.

© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 1

Lead Compensator:

Objective: 1. To improve transient response

2. Zero at −𝑍𝐶 and pole at −𝑃𝐶 are selected to put design point on the root locus.

Design Process:

1. First evaluate the performance of the uncompensated system:

(a) ξ (zeta) is given, find dominant pole (old) from the root locus of uncompensated system,
𝑆𝑑𝑜𝑙𝑑 = −ξ𝜔𝑛 + 𝑗𝜔𝑛 √1 − ξ2
𝑆𝑑𝑜𝑙𝑑 = −𝜎𝑑 + 𝑗𝜔𝑑

4 4
(b) Now find old settling time, 𝑇𝑆𝑜𝑙𝑑 = ξ𝜔 = 𝜎
𝑛 𝑑

2. Evaluate the performance of the compensated system:

(a) From the question, find new 𝑇𝑆𝑛𝑒𝑤 and new 𝜔𝑛 [ξ will remain unchanged]
(b) Find dominant pole (new), 𝑆𝑑𝑛𝑒𝑤 = −ξ𝜔𝑛 + 𝑗𝜔𝑛 √1 − ξ2
𝑆𝑑𝑛𝑒𝑤 = −𝜎𝑑 + 𝑗𝜔𝑑
(c) Now, arbitrarily selecting a −𝑍𝐶
(d) Design the location of compensating pole, −𝑃𝐶
➢ Finding necessary angle (𝛳𝑃 ) to locate 𝑆𝑑𝑛𝑒𝑤 on root locus.
𝜔𝑑
➢ tan 𝛳𝑃 = 𝑃 −𝜎 then find, −𝑃𝐶
𝐶 𝑑

Characteristic of Lead Compensator:

(𝒔+𝒁 )
1. Generalized transfer function of lead compensator, 𝑮𝑪 = (𝒔+𝑷𝒄 )
𝒄
1. Zero at −𝑍𝐶 and pole at −𝑃𝐶 are selected to put design point on the root locus.
2. Pole at −𝑃𝐶 is more negative than zero at −𝑍𝐶 (i.e. −𝑃𝐶 > −𝑍𝐶 ).
3. Active circuits are not required to implement.

Pre-Lab Homework:

You must solve the following questions and make a short report on that before the start of the
lab-
1. Different configurations of Compensators and their applications
2. Get all the theoretical basics on active circuit and passive circuit realization of
compensators.
Apparatus:

Computer and MATLAB software installed in the Computer

Precautions:

Students should take the following precautions while conducting the experiment –

1. Check the computer if it is working; otherwise inform lab instructor,

2. Be careful while handling the power supply buttons of computers and to keep them
off when they are not needed,
3. Check if MATLAB is working correctly and beware of typing mistakes.
© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 2
Experimental Procedure:

Problem Statement 1: A unity negative feedback system which is operating with a damping
𝑲
ratio of 0.174 has the following transfer function: 𝑮(𝒔) = (𝒔+𝟏)(𝒔+𝟐)(𝒔+𝟏𝟎); Now-
(a) Find the steady state error for a unit step input.
(b) Design a lag compensator to improve the steady state error by a factor of 10.
(c) Evaluate the steady state error for a unit step input to your compensated system.

Design Process:
164.6
It is a type – 0 system, 𝑂𝑙𝑑 𝑜𝑟 𝑝𝑟𝑒𝑣𝑖𝑜𝑢𝑠 𝐾𝑃𝑜 = lim 𝐺(𝑠) = = 8.23
𝑠→0 20
[K=164.6 which was extracted from the Root Locus of Uncompensated System]
1 1
Thus, 𝑒𝑜𝑙𝑑 (∞) = 1+𝐾 = 1+8.23 = 0.1083
𝑃𝑜

0.1083 1
But, 𝑒𝑛𝑒𝑤 (∞) = = 0.01083 = 1+𝐾
10 𝑃𝑁

Rearranging and solving for the required, 𝐾𝑃𝑁 = 91.59

The improvement in 𝐾𝑃 from the uncompensated system to the compensated system is the
required ratio of the compensator zero to the compensator pole,

𝐾𝑃𝑁 (𝑁𝑒𝑤 𝑜𝑟 𝑑𝑒𝑠𝑖𝑟𝑒𝑑 𝐾𝑝 ) 𝑍𝐶 91.59

= = = 11.13
𝐾𝑃𝑜 (𝑂𝑙𝑑 𝑜𝑟 𝑝𝑟𝑒𝑣𝑖𝑜𝑢𝑠 𝐾𝑝 ) 𝑃𝐶 8.23

Arbitrarily selecting, −𝑃𝐶 = −0.01

Thus −𝑍𝐶 = 11.13𝑃𝐶 = −0.111

(𝒔+𝟎.𝟏𝟏𝟏)
Finally, transfer function of lag compensator, 𝑮𝑪 = (𝒔+𝟎.𝟎𝟏)

Fig: Cascaded Compensation

(𝒔 + 𝟎. 𝟏𝟏𝟏)
𝐂𝐨𝐦𝐩𝐞𝐧𝐬𝐚𝐭𝐨𝐫, 𝑮𝑪 =
(𝒔 + 𝟎. 𝟎𝟏)

𝑲
𝐏𝐥𝐚𝐧𝐭, 𝐆(𝐬) =
(𝒔 + 𝟏)(𝒔 + 𝟐)(𝒔 + 𝟏𝟎)

Simulation and Measurement:

© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 3

 Fig 1(a). Root Locus for Uncompensated System

Fig 1(b). Root Locus for Lag Compensated System

Fig 1(c). Output Response of Uncompensated and Lag Compensated System

© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 4
Problem Statement 2: A unity negative feedback system has forward transfer function,
𝐆(𝐬) = 𝐊 / [𝐬(𝐬 + 𝟒)(𝐬 + 𝟔)]. Find the location of compensating pole for designing three
lead compensator [Considering individually, −𝑍𝐶 = −5, −4, −2] that will reduce the settling
time by a factor of 2 while maintaining 30% overshoot.

Design Process:
1. First evaluate the performance of the uncompensated system:
−𝜋𝜉
( ⁄ )
(a) We know, %𝑂. 𝑆 = 𝑒𝑥𝑝 √1−𝜉 2 ×100
So, 𝜉 = 0.358. Now, find dominant pole (old)
from the root locus of uncompensated system,
𝑇ℎ𝑢𝑠, 𝑆𝑑𝑜𝑙𝑑 = −1.01 + 𝑗2.63
4 4 4
(b) Now find old settling time, 𝑇𝑆𝑜𝑙𝑑 = ξ𝜔 = 𝜎 = 1.01 = 3.96 𝑠𝑒𝑐
𝑛 𝑑
2. Evaluate the performance of the compensated system:

(a) From the question, find new 𝑇𝑆𝑛𝑒𝑤 and new 𝜔𝑛 [ξ will remain unchanged which is 0.358]
3.96
𝑇𝑆𝑛𝑒𝑤 = = 1.98 𝑠𝑒𝑐 and new 𝜔𝑛 = 5.62 𝑟𝑎𝑑/𝑠
2
(b) Find dominant pole (new), 𝑆𝑑𝑛𝑒𝑤 = −ξ𝜔𝑛 + 𝑗𝜔𝑛 √1 − ξ2
𝑆𝑑𝑛𝑒𝑤 = −𝜎𝑑 + 𝑗𝜔𝑑 = −2.012 + 𝑗5.25

(c) Now, arbitrarily selecting a −𝑍𝐶 = −5

(d) Design the location of compensating pole, −𝑃𝐶
➢ Finding necessary angle (𝛳𝑃 ) to locate 𝑆𝑑𝑛𝑒𝑤 on root locus.
𝜔𝑑
➢ tan 𝛳𝑃 = 𝑃 −𝜎 then find, −𝑃𝐶
𝐶 𝑑
Calculation:
𝜭𝑷 + 𝜭𝑷𝟎 + 𝜭𝑷−𝟒 + 𝜭𝑷−𝟔 − 𝜭𝒁−𝟓 = 𝟏𝟖𝟎° [From Root Locus of Lead Compensated System]
5.252 5.252 5.252
𝛳𝑃 + {180° − cos −1 (0.358)} + tan−1 ( ) + tan−1 ( ) − tan−1 ( ) = 180°
4 − 2.012 6 − 2.012 5 − 2.012

Thus, 𝛳𝑃 = 7.31°

𝜔𝑑 (𝒔+𝟓)
Now, tan 𝛳𝑃 = 𝑃 So, −𝑃𝐶 = −42.95 Finally, 𝑮𝑪 = (𝒔+𝟒𝟐.𝟗𝟓)
𝐶 −𝜎𝑑

Fig: Cascaded Compensation

(𝒔 + 𝟓)
𝐂𝐨𝐦𝐩𝐞𝐧𝐬𝐚𝐭𝐨𝐫, 𝑮𝑪 =
(𝒔 + 𝟒𝟐. 𝟗𝟓)

𝐏𝐥𝐚𝐧𝐭, 𝐆(𝐬) = 𝐊 / [𝐬(𝐬 + 𝟒)(𝐬 + 𝟔)]

Simulation and Measurement:

© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 5

 Root Locus for Un-compensated system
15
0.358

System: Gu
10 Gain: 63.2
Pole: -1.01 + 2.63i
Damping: 0.357
Overshoot (%): 30
5
Frequency (rad/sec): 2.81
Imaginary Axis

-5

-10

0.358
-15
-20 -15 -10 -5 0 5
Real Axis

Fig. 2(a) Root Locus for Uncompensated System

K=1423

Fig. 2(b) Root Locus for Lead Compensated System

Fig. 2(c): Output Response of Uncompensated and Lead Compensated System

© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 6
Questions for report writing:

1. Explain and comment Fig. 1(a), 1(b), 1(c) and 2(a), 2(b), 2(c) of the experiment briefly.
2. What changes did you notice for the position of arbitrarily selected zeros, −𝑍𝐶 =
−5, −4, −2 in Lead compensator design?
3. A unity negative feedback system which is operating with a closed loop response that has
𝑲
15% overshoot with a gain, K=146.6 has the following transfer function: 𝑮(𝒔) = 𝒔(𝒔+𝟐)(𝒔+𝟕);
Now-
(a) Find the steady state error for a unit ramp input.
(b) Design a controller/compensator to improve the steady state error by a factor of 20. Do
theoretical calculation only.
(c) Evaluate the steady state error for a unit ramp input to your compensated system.
(d) Evaluate how much improvement (%) of S.S.E was realized.

4. Realize a passive circuit to implement the Lead compensator whose transfer function is
given by:
𝒔+𝟒
𝑮𝒄 (𝒔) =
𝒔 + 𝟐𝟎. 𝟎𝟗

Discussion and Conclusion:

Interpret the data/findings and determine the extent to which the experiment was successful
in complying with the goal that was initially set. Discuss any mistake you might have made
while conducting the investigation and describe ways the study could have been improved.

Reference(s):

[1] Norman S. Nise, “Control Systems Engineering”, available Edition, John Wiley & Sons
Inc.
[2] Control System Laboratory Manual, American International University-Bangladesh
(AIUB), 2013

© Dept. of EEE, Faculty of Engineering, American International University-Bangladesh (AIUB) 7