Chapter 9: Design Via Root Locus

Cont………

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2. Lead Compensation: Passive approximation of PD. Realized with a
passive network of TF,

Let us first look at the concept behind lead compensation design:

Solution: Many possible solution. So,

choose arbitrarily either
zC or pC. Then find the other.
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Example:

Design lead compensation to achieve:

(i) 30% OS
(ii) improve settling time by a factor of 2.

Sol.:
30%OS    0.358
Uncompensated system:

CL poles: p  1.007  j 2.627

1, 2

Gain, K  63.21
And the third pole, p  7.98
3

So, 2nd-order approximation is OK.

4 4
We can use settling time formula, T S    3.972
real  part 1.007 3
Problem: keep %OS=30, make TS 
3.972
 1.986
2

P    jd
d

d

This gives, d  5.252 So, P  2.014  j5.252

Compensated system:
Assume, zc  5

angle contribution (without from pc)

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So, an angle contribution of {-180˚ -(-172.69˚)}
= -7.31˚ is needed from the pc.
Thus,   7.31
2


5.252
 tan 7.31 
pc  2.014

 pc  42.96

The RL of the compensated system:

Dominant poles and gain:

p1, 2  2.014  j5.252
K  1423

Other poles: p3  43.8 and p4  -5.134

CL zero: z1  zc  5 5
2nd-order approximation is valid, since pole-zero are close and other pole is
more than 20 times the real part of the dominant pole.

HW: Design two other Lead Compensators for the same system with zc = -4 and
zc = -2
Comparison Table:

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9.4: Improving SSE and TR
1. PID Controller:
Method: (i) first improve TR (using a PD)
(ii) then improve SSE (using a PI)
Reverse order is also possible but not to be covered here.

PID controller design:

 Two zeros and 1 pole at origin

Can be assembled as:
1 zero + 1 pole at origin  PI
the other zero  PD
Design steps:
(1) Evaluate performance of uncompensated system
(2) Design PD controller to meet the TR specs
(3) Design PI controller to yield SSE
(4) Determine the gains, K1, K2 and K3. 7
Ex 9.5:

Design a PID controller so that (i) peak time reduces to 2/3 of the
uncompensated system, (ii) %OS = 20, (iii) SSE = 0 for step input.

Sol.:

20%OS   0.456
Step 1: Uncompensated system (gain design)

CL dominant poles: p  5.415  j10.57

1, 2

gain, K  121.5

the third pole, p  8.169

3

CL zero, z1  8
2nd-order approximation is valid. 8
  
TPO    0.297
imaginary  part 10.57

121.5  8 1
K PO   5.4  eO     0.156
3  6 10 1  K PO

z PD
Step 2: PD controller design:
We want peak time,
2 2  
TPN  TPO   0.297   0.198   d 
3 3 d  15.87
0.198

So, the imaginary part of the required CL dominant pole is 15.87.

Using the trigonometry,

d
  8.13
So, the required CL dominant poles,
p1, 2  8.13  j15.87

Total angle contribution of the OL poles at -3, -6, -10 and zero at -8 to this point
(-8.13 + j15.87) is -198.37˚.
So, angle contribution required from the compensator zero is 18.37˚. 9
Thus the PD controller is,

The RL for the PD-compensated system:

Other parameters: gain, K  5.34, third pole, p3  8.079, CL zeros, z1  8 and z2  55.92

2nd-order approximation is OK. 10

 TPN  0.198

5.34  8  55.92 1
K PO   13.27  eN     0.07
3  6 10 1  K PN

Step 3: PI controller design

Zero should be close to origin,

The RL for the complete system    0.456

The dominant CL poles,
p1, 2  7.516  j14.64

Gain, K  4.6

Other poles,
p3  8.099 and p4  0.468

CL zeros, z1  8, z2  55.92, and z3  0.5

2nd-order approximation is OK.
eF   0 Type 1 system 11
Determine K1, K2 and K3:

PID compensator: 4.6s  55.92s  0.5

GPID 
s



4.6 s 2  56.42s  27.96 
s

So, K1  259.5 K 2  128.6 K3  4.6

HW:
(1) Example 9.6  lag-lead compensator design
(2) Example 9.9  implementing a PID controller

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9.6: Physical Realization of Compensator/Controller

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Example 9.9: Implementing a PID Controller
Problem: Implement the PID controller of Example 9.5
Sol.:
The TF of the PID controller was: 

We know from the previous table:

TF of a PID controller =

So comparing the two equations:

4 unknows and 3 equations. So, assume a practical value for one parameter and
find the required values for other 3 parameters.
If,

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HW:
(1) Exmple 9.10  realizing a lead compensator
(2) Case Studies, Antenna control

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