Controller’s Design
Lead Compensator Design
Procedure in Time Domain
§ 10.5
1
Lead and Lag Compensators
n Lead and Lag compensators are systems with ONE
zero and ONE pole.
1
s+
Gc ( s ) = Kc T
1
s+
aT
n If a<1, the compensator is a lead network(zero>pole).
n If a>1, the compensator is a lag network (zero<pole).
Slide 2
Lead and Lag Compensators
1 1 1 1
- - - -
aT T T aT
a < 1: Lead Network a > 1: Lag Network
Slide 3
Lead Compensator Design Procedure
1. From the performance specifications, determine
the desired location for the dominant-closed
loop poles.
2. By drawing the Root Locus for the
uncompensated system, ascertain whether or not
the gain adjustment alone can yield the desired
closed-loop poles. If not, calculate the angle
deficiency f.
n f is the angle that should be added so that the total sum of the
angles is ±180o.
n This angle f must be contributed by the lead compensator.
Slide 4
Example
4
n Consider the system G (s) =
s ( s + 2)
Design a series lead-compensator so that the unity
feedback system has wn=4 rad/sec and z = 0.5
Therefore the
• Real part of closed-loop poles: -zwn = -2
• Imaginary part of closed-loop poles:
2
wd = wn 1 - z = 2 3
Slide 5
Example
n Draw the Root Locus of the uncompensated
system
4
G (s) =
s ( s + 2) Closed Loop
Poles
R(s)
+
G( s) Y(s)
Y (s) 4 4
= =
R (s) 2
s + 2s + 4 ( s + 1 + j 3 )( s + 1 - j 3 )
Slide 6
Example
Desired Pole
n From the Angle Criterion Location
4
Ð = -f1 - f2 = -90 - 120
s ( s + 2)
s =-2+ j 2 3
= -210o
f1 f2
Therefore, if we need to force the root locus to go
through the desired closed-loop pole, the lead
compensator must contribute
f = 30o = angle from additional zero – angle
from additional pole
Slide 7
Example Desired Pole
Location
1
s+
Gc ( s ) = Kc T
1 f
s+
aT
a and T determined from the angle 1 1
deficiency. - ? - ?
aT T
Problem: We can have different locations of poles and
zeros (different values of a), which one to choose?
Slide 8
Lead Compensator Design Procedure
3. Determine the location of the pole and zero of the
lead compensator so that it will contribute the
necessary f.
If no other requirements are imposed on the
system, try to make the value of a as large as
possible.
A larger value a value generally results in a larger
value of Kv which is desirable.
Slide 9
Lead Compensator Design Procedure
n I will present a procedure to
obtain the largest possible
value for a.
P
• Draw a horizontal line A
through point P (PA).
• Draw a line connecting P to f/2
the origin (PO). f/2
• Bisect the angle between PA 1
and PO (PB).
-
aT
• Draw 2 lines PC and PD with O
that make angles ±f / 2 with
the bisector PB.
C 1
• The intersections of PC and
D
-
PD with the real axis give the B T
locations of the pole and zero.
Slide 10
Example
n By following the procedure:
15o
Zero at s = -2.9 15o
-5.4
Pole at s = -5.4
1 1
T= = 0.345 aT = = 0.185 -2.9
2.9 5.4
a = 0.537
s + 2.9 4
Gc ( s ) G ( s ) = K c
s + 5.4 s ( s + 2 )
4 K c ( s + 2.9 ) K ( s + 2.9 )
= =
s ( s + 2 )( s + 5.4 ) s ( s + 2 )( s + 5.4 )
Slide 11
Example
n Determine the open-loop gain of the compensated
system from the magnitude condition.
KG ( s ) = 1
K ( s + 2.9 )
=1
s ( s + 2 )( s + 5.4 )
s =-2 + j 2 3
K = 18.7
s + 2.9
Kc =
18.7
= 4.68 Þ Gc ( s ) = 4.69
4 s + 5.4
Slide 12
Example 3 poles :
n Therefore, the closed s1,2 = -2 ± j 2 3
loop poles are placed
s3 = -3.4
at the desired points.
n The third pole s = -3.4
is close to the added
zero at s = -2.9.
Therefore, the effect
of this pole on the
transient response is
relatively small.
Slide 13
Example
n Note that the closed-loop poles other than the
dominant ones modify the response obtained
from the dominant poles alone.
n The amount of modification depends on the
location of these remaining closed-loop poles.
n The closed-loop zeros affect the response if
they are located near the origin.
Slide 14
Example
n The static velocity error constant Kv is:
K v = lim sGc ( s ) G ( s )
s ®0
s (18.7 )( s + 2.9 )
= lim
s ®0 s ( s + 2 )( s + 5.4 )
= 5.02sec-1
Through the previous procedure, a was made maximum to have the
largest value for Kv.
If it is desired to further increase the value of Kv, then we must alter
the lead to a lag-compensator or to a lead-lag compensator.
Slide 15
Example
The compensated system exhibits slightly
larger maximum overshoot. The settling time
of the compensated system is about one-half
that of the original system.
Slide 16
Continuous-time Lead Compensator
C2
R4
C1
R2
R3
-
R1 -
+
+
1 Ei(s)
s+ Eo(s)
Eo ( s ) R4C1 R1C1
=
Ei ( s ) R3C2 s + 1
R2C2
1
s+
= Kc T
1
s+
aT
Slide 17
