Nama : Priyo Bayu Ramadhan

ID : 13118084

Lag Compensator Design

A system with transfer function
1
𝐺(𝑠) =
𝑠(𝑠 + 1)(0.4𝑠 + 1)
is to be controlled in a closed-loop configuration. The purpose of closed-loop system is to
improve performance and stability as well. In this practicum, students must be able to find
a lead compensator such that closed-loop system fulfils the following criteria:
 Velocity error constant = 𝐾𝑣 = 5 sec–1.
 Phase margin at least 400.
 Gain Margin at least 10 dB.

a. Calculate static gain 𝐾1 .

Answer:
1
𝐾𝑣 = lim 𝑠𝐺(𝑠) = =1
𝑠→0 (1)(1)

5
𝐾𝑣′ = lim 𝑠𝐾1 𝐺(𝑠) = 5 → 𝐾1 = =5
𝑠→0 1

b. Find phase angle = –1800 + required phase angle.

Answer:
𝜑 = −180° + 40° = −140°

c. Chose a corner frequency that is one octave or one decade lower than the new gain
crossover frequency.
Answer:

For given phase angle of −140° at the gain crossover frequency, the frequency will be
𝜔𝑔𝑐 = 0.681
 Choose corner frequency one decade lower
𝜔𝑔𝑐
𝜔𝑐 = = 0.0681 = 𝑧
10

d. Determine the attenuation (-20 log(𝛽)) to bring the magnitude down to 0 dB at the
new gain crossover frequency.
Answer:
Zero = 0.0681
For safety add phase margin by 10 deg 𝜑𝑚 = 40° + 10° = 50°
𝜑 = −180° + 50° = −130°
Gain crossover frequency = 0.534 rad/s
Current TF Magnitude at those frequency=18.2 𝑑𝐵

e. Calculate gain 𝐾𝐶 .
Answer:
18.2 𝑝
𝛽 = 10− 20 = 0.123 = 𝑎𝑛𝑑 𝑡ℎ𝑒𝑛 → 𝑝 = 𝑧(0.123) = 0.0681(0.123) = 0.0084
𝑧
𝑧
𝐾1 = 𝐾𝑐 = 5 → 𝐾𝑐 = 5(0.123) = 0.615
𝑝

f. Evaluate the phase margin and gain margin of the compensated system.
Answer:
𝑠+𝑧 𝑠 + 0.0681
𝐺𝑐 (𝑠) = 𝐾𝑐 = 0.615
𝑠+𝑝 𝑠 + 0.0084