ME451: Control Systems

Lecture 20
Root locus: Lead compensator design

Dr. Jongeun Choi

Department of Mechanical Engineering
Michigan State University

Fall 2008 1

Course roadmap
Modeling Analysis Design

Laplace transform Time response

Design specs
• Transient
Transfer function • Steady state
Root locus
Models for systems Frequency response
Frequency domain
• electrical • Bode plot
• mechanical
PID & Lead-
Lead-lag
• electromechanical Stability
Block diagrams • Routh-
Routh-Hurwitz
Design examples
Linearization • Nyquist

(Matlab simulations &) laboratories

Fall 2008 2
Closed-loop design by root locus
Designable! Fixed!
C(s) G(s)
Controller Plant

ƒ Place closed-loop poles at desired location

ƒ by tuning the gain C(s)=K. (for time domain specs)
ƒ If root locus does not pass the desired location,
then reshape the root locus
ƒ by adding poles/zeros to C(s). (How?)

Compensation
Fall 2008 3

General effect of addition of poles

ƒ Pulling root locus to the RIGHT
ƒ Less stable
ƒ Slow down the settling

Im Im Im

Re Re Re

Add a pole Add a pole

Fall 2008 4
General effect of addition of zeros
Im
ƒ Pulling root locus to the LEFT
ƒ More stable
ƒ Speed up the settling
Re

Add a zero
Im Im Im

Re Re Re

Fall 2008 5

Some remarks
ƒ Adding only zero
ƒ often problematic because such controller amplifies
the high-frequency noise.
ƒ Adding only pole
ƒ often problematic because such controller generates
a less stable system (by moving the closed-loop poles
to the right).
ƒ These facts can be explained by using
frequency response analysis.
ƒ Add both zero and pole!

Fall 2008 6
 Lead and lag compensators
C(s) G(s)
Controller Plant

ƒ Lead compensator ƒ Lag compensator

Im Im

Re Re

Why these are called “lead”

lead” and “lag”
lag”?
We will see that from frequency response in this class.
Fall 2008 7

Lead compensator
ƒ Positive angle contribution Test point Im

Re
-p 1 -z1

Fall 2008 8
 Lag compensator
ƒ Negative angle contribution Test point Im

Re
-z2 -p 2

Fall 2008 9

Roles of lead and lag compensators

ƒ Lead compensator (Today)
ƒ Improve transient response
ƒ Improve stability

ƒ Lag compensator (Next)

ƒ Reduce steady state error

ƒ Lead-lag compensator (Next)

ƒ Take into account all the above issues.

Fall 2008 10
 Radar tracking system

Fall 2008 11

Lead compensator design

ƒ Consider a system
C(s) G(s)
Controller Plant

Desired pole
ƒ Analysis of CL system for C(s)=1 Im
ƒ Damping ratio ζ=0.5
ƒ Undamped natural freq. ωn=2 rad/s
ƒ Performance specification
ƒ Damping ratio ζ=0.5 Re
ƒ Undamped natural freq. ωn=4 rad/s CL pole
with C(s)=1
C(s)=1
Fall 2008 12
 Angle and magnitude conditions
(review)
ƒ A point s to be on root locus ÅÆ it satisfies
ƒ Angle condition

Odd number

ƒ For a point on root locus, gain K is obtained by

ƒ Magnitude condition

Fall 2008 13

Lead compensator design (cont’d)

Evaluate G(s) at the desired pole.

o If angle condition is satisfied, Desired pole

Im
compute the corresponding K.
o In this example,

Angle condition is not satisfied.

Re
Angle deficiency
Fall 2008 14
Lead compensator design (cont’d)
To compensate angle deficiency,
design a lead compensator C(s)

satisfying Desired pole

Im

Re
There are many ways to design such C(s)!

Fall 2008 15

Lead compensator
ƒ Positive angle contribution Test point Im

Re
-p 1 -z1
ƒ Triangle

Fall 2008 16
 How to select pole and zero?
ƒ Draw horizontal line PA Desired pole Im

ƒ Draw line PO A P
ƒ Draw bisector PB

ƒ Draw PC and PD Re
B O
C
D
-p(=-5.4) -z(=-2.9)
ƒ Pole and zero of C(s) are shown in the figure.

Fall 2008 17

Comparison of root locus

ƒ G(s) ƒ G(s)C(s)

Im Im

Re Re

Improved stability!
Fall 2008 18
 How to design the gain K?
ƒ Lead compensator

ƒ Open loop transfer function

ƒ Magnitude condition

Fall 2008 19

Comparison of step responses

Compensated system Uncompensated system (C(s
(C(s)=1)
)=1)
1.4

1.2

0.8

0.6
Lead compensator gives
0.4 • faster transient response
0.2
(shorter rise and settling time)
• improved stability
0
0 1 2 3 4 5
Fall 2008 20
 Error constants

ƒ Step-error constant
5
Unit ramp input
4

ƒ Ramp-error constant 2

1
Ramp response

0
0 1 2 3 4 5

Lag compensator can be used to reduce

steady-state error. (Next lecture)
Fall 2008 21

Summary and exercises

ƒ Controller design based on root locus
ƒ General effects of addition of pole and zero
ƒ Lead lag compensator realization with op amp
ƒ Lead compensator design
• Lead compensator improves stability and
transient response.
ƒ Next, lag & lead-lag compensator design

Fall 2008 22