Lead Lag compensator using

frequency Response
Tejal Dave
 Bode Plot of uncompensated
System
Bode Diagram
Gm = -6.02 dB (at 7.07 rad/s) , Pm = -17.2 deg (at 9.77 rad/s)
50

0
Magnitude(dB)

-50

-100

-150
-90

-135
Phase(deg)

-180

-225

-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)
 Result of uncompensated system
GM = 0.5000
PM =-17.2390
PCF = 7.0711 rad/sec
GCF = 9.7714 rad/sec
Lag compensator will reduce GCF more, here we need
BW of 12.
Full lead compensator will increase GCF much.
Partial Lag compensation should be done. And then Lead
will be implemented then.
 Partial Lag compensation
Bode Diagram
Gm = -6.02 dB (at 7.07 rad/s) , Pm = -17.2 deg (at 9.77 rad/s)
50

0
Magnitude (dB)

-50

-100

-150
-90

-135 System: G1
Frequency (rad/s): 2.44
Phase (deg)

Phase (deg): -130

-180

-225

-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)
 Bode Diagram
Gm = -6.02 dB (at 7.07 rad/s) , Pm = -17.2 deg (at 9.77 rad/s)
50

System: G1
0 Frequency (rad/s): 3.73
Magnitude (dB): 15.6
Magnitude (dB)

-50

-100

-150
-90

-135 System: G1
Frequency (rad/s): 2.44
Phase (deg)

System: G1
Phase (deg): -130
Frequency (rad/s): 3.73
-180 Phase (deg): -147

-225

-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/s)
 Partial lag compensation
If full lag compensation is done, GCG at -130 is
2.4rad/sec.
But for Partial lag compensation, Let us choose GCF
higher than this 3.6 ad/sec.
Magnitude at 3.6 16db.
Mag1 =16.0733db
beta = 6.3630
Let us choose first cornet frequency 1/tau = 1 rad./sec
Lag compensator Transfer function
Transfer function:
s+1
-----------
6.363 s + 1
 Partial lag compensation
Bode Diagram
Gm= 7.5 dB (at 6.12 rad/s) , Pm= 20.6 deg (at 3.69 rad/s)
100

50
Magnitude (dB)

-50

-100

-150
-90

-135
Phase (deg)

-180

-225

-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/s)
 Lead compensator on G1*D(s)
alpha = 0.1572
Phim =46.7501
 Bode Diagram
Gm= 7.5 dB (at 6.12 rad/s) , Pm= 20.6 deg (at 3.69 rad/s)
100

System: cascadelag
50
Frequency (rad/s): 6.35
Magnitude (dB)

Magnitude (dB): -8.13

0

-50

-100

-150
-90

-135
Phase (deg)

-180

-225

-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/s)
NewGCF = 6.3010