Course roadmap

Control Systems Modeling Analysis Design

Laplace transform Time response

Design specs
• Transient
Lecture 21 Transfer function • Steady state
Root locus
Root locus: Lag compensator &
Models for systems Frequency response
Frequency domain
Lead-lag compensator design • electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Block diagrams • Routh-
Routh-Hurwitz
Design examples
Department of Mechanical Engineering Linearization • Nyquist

(Matlab simulations &) laboratories

1 2

Closed-loop design by root locus Lead and lag compensators (review)

Designable! Fixed! C(s) G(s)
C(s) G(s) Controller Plant
Controller Plant

ƒ Place closed-loop poles at desired location ƒ Lead compensator ƒ Lag compensator

Im Im
ƒ by tuning the gain C(s)=K.
C(s)=K.
ƒ If root locus does not pass the desired location, Re Re
then reshape the root locus
ƒ by adding poles/zeros to C(s).
C(s).
The reason why these are called “lead”
lead” and “lag”
lag” will be explained
Compensation in frequency response approach (later in this course).
3 4
 Compensator realization Compensator realization (cont’d)
ƒ One example, using operational amplifiers ƒ Transfer function

C1 C2
R4
R2
R1
R3
- -
vi(t)
(t) + + ƒ Lead compensator ƒ Lag compensator
vo(t)
(t)
Im Im

Re Re

5 6

Roles of lead and lag compensators Radar tracking system

ƒ Lead compensator (Done)
ƒ Improve transient response
ƒ Improve stability

ƒ Lag compensator (Today)

ƒ Reduce steady state error

ƒ Lead-lag compensator (Today)

ƒ Take into account all the above issues.

7 8
 Comparison of step responses
Lead-lag compensator design
(after lead compensation)
ƒ Consider a system C(s) G(s) Compensated system Uncompensated system (C(s
(C(s)=1)
)=1)
1.4
Controller Plant
1.2

ƒ Analysis of CL system for C(s)=1 1

ƒ Damping ratio ζ=0.5 Desired pole
ƒ Undamped natural freq. ωn=2 rad/s Im 0.8

ƒ Ramp-
Ramp-error constant Kv=2
Kv=2 0.6
ƒ Performance specification Lead compensator gives
0.4 • faster transient response
ƒ Damping ratio ζ=0.5
(shorter rise and settling time)
ƒ Undamped natural freq. ωn=4 rad/s Re 0.2
• improved stability
ƒ Ramp-
Ramp-error constant Kv=50
Kv=50
0
0 1 2 3 4 5
9 10

Error constants
How to design lag compensator
(after lead compensation)
ƒ Lag compensator
ƒ We want to increase ramp-error constant
ƒ Step-error constant 5
Unit ramp input
4

3 Take, for example, z=10p.

ƒ Ramp-error constant 2 ƒ We do not want to change CL pole location s1 so
1
Ramp response much (already satisfactory transient).
0
0 1 2 3 4 5
NOT SATISFACTORY!
Lag compensator can reduce steady-
steady-state error.
11 12
 Guidelines to choose z and p Root locus with lag compensator
ƒ The zero and the pole of a lag compensator ƒ Without compensator ƒ With compensator
should be close to each other, for
s1 s1

ƒ The pole of a lag compensator should be close

to the origin, to have a large ratio z/p, leading to
a large ramp-error constant Kv.
ƒ However, the pole of a lag compensator too
close to the origin may be problematic:
ƒ Difficult to realize (recall op-
op-amp realization)
ƒ Slow settling (due to closed-
closed-loop pole near the origin)

13 14

How to design lag compensator Root locus

ƒ For the desired CL pole With lead compensator With lead-
lead-lag compensator
Ro o t L o c u s Ro o t L o c u s
15 15

10 10
Desired pole
5 5
ƒ Take a small p (by trial-and-error!)
Imaginary Axis

Imaginary Axis
0 0

-5 -5

ƒ Lead-lag controller -1 0 -1 0

-1 5 -1 5
-6 -4 -2 0 -6 -4 -2 0
R e a l A x is R e a l A x is
15 16
 Comparison of step responses Comparison of ramp responses
5
1.4

1.2 4
Unit ramp input
1
3
0.8
Uncompensated
0.6 2
Uncompensated
With lead compensator
0.4
With lead-
lead-lag compensator With lead compensator
1
0.2 With lead-
lead-lag compensator
0 0
0 1 2 3 4 5 0 1 2 3 4 5
17 18

Summary and exercises

ƒ Controller design based on root locus
ƒ Lag compensator design
• Lag compensator improves steady state error.
ƒ Lead-
Lead-lag compensator design
• Lead-
Lead-lag compensator improves stability,
transient and steady-
steady-state responses.
ƒ Next, frequency response and Bode plot

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