Lead Controller Design

EL-Khazali Method
Two Controllers:
1st-order & 2nd-order Controllers:

First-Order Compensator:
 Lead Controller Design
EL-Khazali Method
First-Order Controller
 , is a NEW center of the controlled system
Controller phase contribution at is
 and
 =K

( 𝒔 𝝉 +𝝎 𝒄𝒏 )
¿ 𝑲𝒄
( 𝒔+ 𝝎 𝒄𝒏 𝝉 )
Lead Controller Design
EL-Khazali Method
 Lead Controller Design
EL-Khazali Method

Bode Diagram
80

60
Magnitude (dB)

40
= 0.1
20 = 0.25
= 0.5
= 0.7
0 = 0.9
= 0.97
= 0.99
-20
90
Phase (deg)

45

0
10 -4 10 -3 10 -2 10 -1 10 0 10 1 10 2 10 3
5
Frequency (rad/s)
 Lead Controller Design
EL-Khazali Method
 Notice that
 Define
 The gain is chosen to satisfy design requirements such as Kp,
Kv, and Ka, or or to satisfy a particular crossover
frequency
Step 1: Choose K such that:

at
the new crossover frequency

6
 Lead Controller Design
EL-Khazali Method
Step 2: Determine the phase angle of at and
denote it by.
Step 3: Let the desired phase margin of the
controlled system at be , then the order of the
Lead Controller is determined from:

Step 4: Solve for

 Lead Controller Design
EL-Khazali Method
 Step 5: Check your design by plotting the bode diagram of
the open-loop controlled system .
 Repeat the previous steps when necessary.

Remark 1: If ; , and to guarantee a minimum phase

compensator, then n compensators each of order , centered at
, can be cascaded to achieve the desired phase and gain
margins.

8
 Example

 Example 1. Consider the following system that was reported in [a,b].

 The design requirements are: 1) steady-state error of 0.025 to unit ramp, and
2) phase margin (PM) of 45.5 ͦ at the gain crossover frequency rad/s.

Step0: Sketch the bode diagram of the uncompensated open-loop system

9
 Example: 1st-order

Step 1: To satisfy the given design objectives, the gain

is found first such that

, which yields
, hence,

Example: 1st-order compensator

0 Bode Diagram

G(s) Uncontrolled Open-Loop System

-50
Magnitude (dB)

-100

-150

-200
-90

-135
Phase (deg)

-180

-225

-270
0 1 2 3 4
10 10 10 10 10
Frequency (rad/s)
Example: 1st-order controller

Bode Diagram
50 Gm = 6.87 dB (at 60 rad/s) , Pm = 21.5 deg (at 39 rad/s)
G(s) Uncontrolled Open-Loop System
0 KG (s)
Magnitude (dB)

-50

-100

-150

-200
-90

-135
Phase (deg)

System: KG (s)
-180 Frequency (rad/s): 39
Phase (deg): -159

-225

-270
0 1 2 3 4
10 10 10 10 10
Frequency (rad/s)
 Example 1: 1st-order compensator

The phase margin of , which is 24 ͦ less than the

desired one. Therefore,

Example: 1st-order
Bode Diagram
50 Gm = 11.3 dB (at 86.8 rad/s) , Pm = 45.5 deg (at 39 rad/s)
Bode Diagram

70
0 Gc(s)G(s)
G(s)
Magnitude (dB)
Magnitude (dB)

-50
68

-100
66

-150
64

-200
25
-90
System: sys
20 Frequency (rad/s): 39.1
Phase (deg): 24
Phase (deg)

-135
Phase (deg)

15

-180
10

5
-225
0
0 1 2 3
10 10 10 10
-270
0 1 Frequency (rad/s)
2 3 4
10 10 10 10 10
Frequency (rad/s)
Example: 1st-order
 Bode Diagram
Step Response
Gm = 17.1 dB (at 130 rad/s) , Pm = 60.3 deg (at 39 rad/s)
Step Response
100 1.4
1.4

1st-order
1st-ORDER
50 1.2 2nd-Order 2nd-ORDER
1st-order
Magnitude (dB)

1.2 2nd-Order
0 untitled1
1

-501
0.8
Amplitude

-100
0.8
Amplitude

0.6

-150
-45
0.6
0.4
-90
Phase (deg)

-135
0.4 0.2

-180
0
0.2 0 0.1 0.2 0.3 0.4 0.5 0.6
Time (seconds)
-225

-2700
0-1 50 0 100 150
1 200 2 250 3 300 350 4
 Lead Controller Design
EL-Khazali Method
Two Controllers:
1st-order & 2nd-order Controllers:

2nd-Order Compensator:
 2nd-order LEAD Compensators

You ONLY need the order of the compensator

and the gain Kc

𝒂𝒐 = 𝜶 𝜶 +𝟐 𝜶+𝟏 ,
𝜶
𝒂𝟐=𝜶 − 𝟐 𝜶 +𝟏 ,

=
 2nd-order Lead Compensator

Controller

¿ 𝟒 𝜶𝒕𝒂𝒏((𝟐 − 𝜶) 𝝅
𝟒 )
α : order of the controller
 2nd-order LEAD Compensators

FOD centered at different frequencies

1
10
Magnitude

0
10

-3 -2 -1 0 1 2 3
10 10 10 10 10 10 10
Frequency (rad/s)

50

40
Phase (degrees)

30
wc3 = 0.1 rad/s wc3 = 1 rad/s wc3 = 10 rad/s
20

10

0 -3 -2 -1 0 1 2 3
10 10 10 10 10 10 10
Frequency (rad/s) 20
 Comparison between 1st-&2nd-order
;
,
LEAD Compensators
To appreciate the robustness and the simplicity of
the proposed class of compensators,
Bode Diagram
20

1- Consider
15
a 1st-order Lead Compensator:
Magnitude (dB)

10
2- 25nd-order_Lead Compensator:
Integer-order lead compensator
0 Fractional-order lead compensator

-5
60
Phase (deg)

30

21
0
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)
 El-Khazali Method
Controller Design
The goal of the LEAD controller design is to:
1- Achieve a desired phase margin, ,
at𝝎(𝒄𝒏 ), i.e.;

( ( ) ( ))
𝑨𝒓𝒈 𝑮𝒄
𝒋𝝎
𝝎 𝒄𝒏
𝑮
𝒋𝝎
𝝎 𝒄𝒏
=
𝜶𝝅
𝟐
+ 𝜽 𝒔 =− 𝝅 + 𝝓𝒎

or
2-Maintain a desired gain margin, 𝒈 , of the
closed-loop system at the phase crossover
𝒎

frequency, , of the open-loop system; thus,

𝝎 𝒄𝒏
 El-Khazali Method

Order and gain of the controller are

calculated from:
𝝓𝒎 − 𝝅 − 𝜽 𝒔
𝜶=
𝝅 /𝟐
Gain of Compensator

If
 LEAD CONTROLER
El-Khazali Method

 Example

Example 1: Consider an open-loop system

described by . Suppose it is desired to
design a lead controller to stabilize the
uncontrolled system, and to obtain a phase
margin and a gain margin .

1- Suppose that the cross-over frequency of the controlled

system is the same as that of the uncontrolled one.
2- Sketch the bode diagram for the given G(s)
 Example
Bode Diagram
100 Gm = -Inf dB (at 0 rad/s) , Pm = -25.4 deg (at 0.475 rad/s)

50
Magnitude (dB)

-50 Wcn = 0.475

-100

-150
-180
Phase (deg)

-225

-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/s)
 Example

Desired phase margin is 60.3 at Wcn =0.475

Uncontrolled system phase at Wcn =0.475 is
equal to
Order of the compensator

ao = 3.8589, a2=0.05, a1=4.106
Kc = 1, why?

𝟑 . 𝟖𝟓𝟗 𝒔 𝟐+𝟏 . 𝟗𝟓 𝒔+ 𝟎 .𝟎𝟏𝟏𝟐𝟖

𝑮𝒄 =
𝟎 .𝟎𝟓 𝒔 𝟐+ 𝟏 .𝟗𝟓 𝒔 +𝟎 . 𝟖𝟕𝟎𝟕
 Example
Bode Diagram
200 Gm = 37.5 dB (at 6.04 rad/s) , Pm = 60.3 deg (at 0.475 rad/s)

Compensated System
100 Uncompensated System
Magnitude (dB)

-100

-200
-90

-135
Phase (deg)

-180

-225

-270
-4 -3 -2 -1 0 1 2 3
10 10 10 10 10 10 10 10
Frequency (rad/s)
 Example
3 Closed-loop System Step Response

1
Amplitude

0
Uncompensated System
Compensated System

-1

-2

-3
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)
 Example

 For the same system, suppose we need to move the crossover

frequency from Wco=0.475 rad/s to Wco=5 rad/s
 Magnitude of the system at Wco = 5 rad/s = -54.1 dB. Hence, we
need to shift this point by adding gain to the compensator

 Sketch the bode diagram for KcG(s)
 The phase margin is -78.7º
 Suppose one wishes to improve the phase margin to +45º, the compensator
has to add additional phase = 78.7+45 = 123.7º > 90º.
 Since the required phase improvement is > 90º, two compensators are needed,
which can be cascaded together, each of order 123.7/(2*90) = 0.6872
 Design two First-Order Lead Compensator each of order
 Design two biquadratic lead compensators,
 Example
Bode Diagram
150 Gm = -Inf dB (at 0 rad/s) , Pm = -78.7 deg (at 4.99 rad/s)

100
Magnitude (dB)

50

-50

-100
-180
Phase (deg)

-225

-270
-2 -1 0 1 2
10 10 10 10 10
 Example

Bode Diagram
150 Gm = -Inf dB (at 0 rad/s) , Pm = -78.7 deg (at 4.99 rad/s)
G(s)
100 KcG(s)
Magnitude (dB)

50

-50

-100

-150
-180
Phase (deg)

-225

-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/s)
 Example

 Two first-order controllers each of order

 Compensator dynamics (single stage):

𝑮 ( 𝒔 ) =𝟓𝟎𝟔 . 𝟗𝟗𝟎𝟕
( 𝟑 . 𝟗𝟖𝟖𝟐
𝟓
𝒔+𝟏 ) =( 4 0 4 . 4 s + 506 . 9907 ¿ ¿
𝒄

( 𝒔
𝟓
+𝟑 . 𝟗𝟖𝟖𝟐 ) ( 0 . 2 s + 3 . 988 )

System with SINGLE STAGE COMPENSATOR


 Example
Bode Diagram
Gm = -Inf dB (at 0 rad/s) , Pm = -16.8 deg (at 4.99 rad/s)
200
GcG (single stage compensator)
Single
100 stage compensator is NOT enough as
KcG(s)
Magnitude (dB)

G(s)
shown in the bode diagram
0

-100

-200
-180
Phase (deg)

-225

-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/s)
 Example: Two 1st-order compensators
Bode Diagram
Gm = 16.5 dB (at 18.4 rad/s) , Pm = 45.1 deg (at 4.98 rad/s)
200

System response with

G(s)
two first-order cascaded
System with two cascaded 1st-order compensators
100
controllers
Magnitude (dB)

( )
𝟐
𝟑 . 𝟗𝟖𝟖𝟐
0 𝒔+𝟏
𝟓
𝑮 ( 𝒔 ) =𝟓𝟎𝟔 . 𝟗𝟗𝟎𝟕
𝒄

( )
𝟐
𝒔
-100 +𝟑 . 𝟗𝟖𝟖𝟐
𝟓
-200
-90

-135
Phase (deg)

-180

-225

-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/s)
 Example: single-stage Biquad. compensators
Bode Diagram
200 Gm = -18 dB (at 1.91 rad/s) , Pm = -16.8 deg (at 4.99 rad/s)

Two 100
Biquad. compensators
G(s)
each
KcGcG(s) with single stageof order
BIQUAD compensator
Magnitude (dB)

-100

-200
-135
Phase (deg)

-180

-225

-270
-2 -1 0 1 2 3
10 10 10 10 10 10
Frequency (rad/s)
 Example: Two-stage Biquad. compensators
Bode Diagram
Gm = 29.6 dB (at 47.3 rad/s) , Pm = 45 deg (at 4.98 rad/s)
100
Compensated System with two-BIQUAD compensators

𝟐
50

(𝟑.𝟏𝟒𝟕𝒔 +𝟐𝟐.𝟗𝟒𝒔+𝟗.𝟗𝟓𝟗)
G(s): Uncompensated System

𝟐
Magnitude (dB)

-50

𝑮𝒄 ( 𝒔)=𝟓𝟎𝟔.𝟗𝟗𝟎𝟕×
-100

-150

-200
-90

𝟐
(𝟎.𝟑𝟗𝟖𝟒𝒔 +𝟐𝟐.𝟗𝟒𝒔+𝟕𝟖.𝟔𝟖) 𝟐
-135
Phase (deg)

-180

-225

-270
-2 -1 0 1 2 3
10 10 10 10 10 10
 Example: Comparison
150 Compensated System with two cascaded compensators

100 System with two 1st-order compensators

System with two Biquad. compensators
Magnitude (dB)

50

-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)
 Example: Comparison

Step Response with the two compensators

1.4 Step Response

1.2

0.8
Amplitude

0.6

0.4
Step response with two cascaded 1st-order compensators
Step tesponse with two cascaded Biquad compensators
0.2

0
0 0.5 1 1.5 2 2.5 3
Time (seconds)