Roll.

No:20EEE1002 Name:Aditya Srekar EE355 Control Systems Lab Expt 5

____________________________________________________________________________

Lead, Lag and Lead-Lag Compensators

Aim
To study and design and simulate using MATLAB simulink a lead, lag and lead-lag compensators using
passive components i.e Resistors and Capacitors.

Apparatus Used
MATLAB Simulink R2022b

Theory
Lead, lag, and lead-lag compensators are all types of control system components that can be used to
improve the performance of a system.

A compensator is a device or circuit that modifies the response of a system in order to achieve desired
performance. A lead compensator provides a phase lead to the system, while a lag compensator provides
a phase lag. A lead-lag compensator combines both of these effects.

The working principle of a lead compensator is based on the addition of a high-pass filter to the control
system. The high-pass filter introduces a phase lead that helps to improve the stability of the system. The
lead compensator is often used to increase the phase margin and improve the response speed of a
system.
A lead compensator adds a zero to the system transfer function at a frequency lower than the dominant
poles of the system. The zero introduced by the lead compensator produces a phase lead, which improves
the stability and transient response of the system. The lead compensator also increases the gain of the
system at high frequencies, which can be useful in reducing the steady-state error of the system.

The transfer function of a lead compensator can be written as:

Gc(s) = K*(1+T1s)/(1+T2s)

Where K is the gain, T1 is the time constant of the zero, and T2 is the time constant of the pole introduced
by the compensator. The value of T1 is chosen to be much smaller than T2, which produces a significant
phase lead at high frequencies.

The working principle of a lag compensator is based on the addition of a low-pass filter to the control
system. The low-pass filter introduces a phase lag that helps to reduce the sensitivity of the system to
changes in the input signal. The lag compensator is often used to reduce the steady-state error of a system
and improve its steady-state response.
A lag compensator adds a pole to the system transfer function at a frequency lower than the dominant
poles of the system. The pole introduced by the lag compensator produces a phase lag, which reduces the

1
 Roll.No:20EEE1002 Name:Aditya Srekar EE355 Control Systems Lab Expt 5
____________________________________________________________________________
sensitivity of the system to high-frequency noise and disturbances. The lag compensator also increases the
gain of the system at low frequencies, which can be useful in reducing the steady-state error of the system.

The transfer function of a lag compensator can be written as:

Gc(s) = K*(1+T1s)/(1+T2s)

Where K is the gain, T1 is the time constant of the zero introduced by the compensator, and T2 is the time
constant of the pole. The value of T1 is chosen to be much larger than T2, which produces a significant
phase lag at low frequencies.

The lead-lag compensator is a combination of both the lead and lag compensators. It includes both a
high-pass and a low-pass filter, which provides a phase lead at high frequencies and a phase lag at low
frequencies. The lead-lag compensator is often used to improve the transient response and steady-state
response of a system.
A lead-lag compensator combines both the phase lead and phase lag characteristics of the lead and lag
compensators. The transfer function of a lead-lag compensator can be written as:

Gc(s) = K*(1+T1s)/(1+T2s)(1+T3s)/(1+T4*s)

Where K is the gain, T1 and T3 are the time constants of the zeros introduced by the compensator, and T2
and T4 are the time constants of the poles. The value of T1 is chosen to be much smaller than T2, which
produces a significant phase lead at high frequencies. The value of T3 is chosen to be much larger than
T4, which produces a significant phase lag at low frequencies. The lead-lag compensator is often used
when a system requires both a fast response and a low steady-state error.

Lead, lag, and lead-lag compensators are used in control systems to improve the performance of a system
by adjusting its phase response. Lead compensators are used to increase the phase margin and improve
the response speed of a system, while lag compensators are used to reduce the steady-state error and
improve the steady-state response. Lead-lag compensators are a combination of both and can be used to
improve both transient and steady-state responses.

2
 Roll.No:20EEE1002 Name:Aditya Srekar EE355 Control Systems Lab Expt 5
____________________________________________________________________________

Lead Compensator

Circuit Diagram

Fig 5.1 Circuit diagram for a Lead Compensator

Theoretical Calculations
𝑜
Given C = 1microF Ꞷ = 10,000 rad/sec ϕ𝑚 = 45
𝑠𝑖𝑛(ϕ𝑚) = (1 − α)/(1 + α) ⇒ α = 0. 171

ω = 1/(𝑇 α) ⇒ 𝑇 = 0. 2418 𝑠𝑒𝑐

𝑇 = 𝑅1𝐶 ⇒ 𝑅1 = 241. 825 Ω
α = 𝑅2/(𝑅1 + 𝑅2) ⇒ 𝑅2 = 49. 88 Ω

Simulink Model

Fig 5.2 Simulink block diagram for Lead Compensator

3
 Roll.No:20EEE1002 Name:Aditya Srekar EE355 Control Systems Lab Expt 5
____________________________________________________________________________

Observation

Fig 5.3 Bode plot for Lead Compensator.

Table 5.1 Observation Table for Lead Compensator

Sl.No Parameter Value

1. Resistance R1 241.4825 Ohm

2. Resistance R2 49.88 Ohm

3. Frequency at Phase of 45 deg 10k rad/sec

4. Magnitude Gain at Ꞷ -7.64 dB

4
 Roll.No:20EEE1002 Name:Aditya Srekar EE355 Control Systems Lab Expt 5
____________________________________________________________________________

Lag Compensator

Circuit Diagram

Fig 5.4 Circuit Diagram for Lag Compensator.

Theoretical Calculations
𝑜
Given C = 100 microF Ꞷ = 100 rad/sec ϕ𝑚 = 45
𝑠𝑖𝑛(ϕ𝑚) = (β − 1)/(β + 1) ⇒ β = 5. 828

ω = 1/(𝑇 β) ⇒ 𝑇 = 0. 4142 𝑠𝑒𝑐

𝑇 = 𝑅2𝐶 ⇒ 𝑅2 = 41. 42 Ω
β = (𝑅1 + 𝑅2)/𝑅2 ⇒ 𝑅1 = 200 Ω

Simulink Model

Fig 5.5 Simulink Block Diagram for a Lag Compensator

5
 Roll.No:20EEE1002 Name:Aditya Srekar EE355 Control Systems Lab Expt 5
____________________________________________________________________________

Observation

Fig 5.6 Bode plot for Lag Compensator

Table 5.2 Observation Table for Lag Compensator

Sl.No Parameter Value

1. Resistance R1 200 Ohm

2. Resistance R2 41.42 Ohm

3. Frequency at Phase of -45 deg 100 rad/sec

4. Magnitude Gain at Ꞷ -7.66 dB

6
 Roll.No:20EEE1002 Name:Aditya Srekar EE355 Control Systems Lab Expt 5
____________________________________________________________________________

Lead - Lag Compensator

Circuit Diagram

Fig 5.7 Circuit Diagram for Lead Lag Compensator.

Theoretical Calculations
𝑜
Given C1 = 1 microF C2 = 100 microFarad Ꞷ = 100 rad/sec , 10000 rad/sec ϕ𝑚 = 45
𝑠𝑖𝑛(ϕ𝑚) = (β − 1)/(β + 1) ⇒ β = 5. 828

ω = 1/(𝑇1 α) ⇒ 𝑇1 = 0. 2418 𝑠𝑒𝑐

𝑇1 = 𝑅1𝐶 ⇒ 𝑅1 = 241. 825 Ω

ω = 1/(𝑇2 β) ⇒ 𝑇2 = 0. 4142 𝑠𝑒𝑐

𝑇2 = 𝑅2𝐶 ⇒ 𝑅2 = 41. 42 Ω

Simulink Model

Fig 5.8 Simulink Block Diagram for Lead Lag Compensator

7
 Roll.No:20EEE1002 Name:Aditya Srekar EE355 Control Systems Lab Expt 5
____________________________________________________________________________

Observation

Fig 5.8 Bode Plot for Lead-Lag Compensator.

Table 5.3 Observation Table for Lead - Lag Compensator

Sl.No Parameter Value

1. Resistance R1 241.825 Ohm

2. Resistance R2 41.42 Ohm

3. Frequency at Phase of -45 deg 130 rad/sec

4. Magnitude Gain at Ꞷ1 -10.6 dB

5. Frequency at Phase of 45 deg 770 rad/sec

6. Magnitude Gain at Ꞷ2 -10.6 dB

8
 Roll.No:20EEE1002 Name:Aditya Srekar EE355 Control Systems Lab Expt 5
____________________________________________________________________________

Conclusions
Lead, Lag and Lead-Lag Compensators were simulated using Simulink and the output was
obtained as expected theoretically

For Lead Compensator, a Phase shift of +45o was added to the system at 10k rad/sec, the gain
of the system also increased at higher frequency than 10k rad/sec. This introduces a phase lead
of 45o in the system and compensates for any lagging output at 10k rad/sec.

For Lag Compensator, a Phase shift of -45o was added to the system at 100 rad/sec, the gain of
the system also decreased at frequency greater than 100 rad/sec. This introduces a phase lag
of 45o in the system and compensates for any leading output at 100 rad/sec.

For Lead-Lag Compensator, a Phase shift of -45o was added to the system at 130 rad/sec, the
gain of the system also decreased at frequency greater than 130 rad/sec. This introduces a
phase lag of 45o in the system and compensates for any leading output at 130 rad/sec. Also a
Phase shift of +45o was added to the system at 770 rad/sec, the gain of the system also
increased at a higher frequency than 770 rad/sec. This introduces a phase lead of 45o in the
system and compensates for any lagging output at 770 rad/sec. There is a shift in output
frequency at which phase of 45o occurs, this is because the difference between T1 and T2 is not
high enough as for better output T1 ( time constant of zero of system) must be much higher than
T2 (time constant of pole of system).

Applications
Lead, lag, and lead-lag compensators are commonly used in control systems to adjust the
response of a system to various inputs or disturbances. Here are some common applications of
these compensators:

Lead Compensator:
Used in systems that have a slow response or a small phase margin, such as in power systems
or motor control

Lag Compensator:
Used in systems that have a fast response or a large phase margin, such as in robotics or
aerospace control

Lead-Lag Compensator:
Used in systems that require both improved stability and faster response times, such as in
chemical process control or audio systems