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Prestige Institute of Engineering & Science Indore (M.P.)

This document provides information about a laboratory experiment on lead-lag compensation using MATLAB Simulink. The objective is to study lead and lag compensators. It introduces lead-lag compensation networks that can be used to improve the performance of control systems. It describes the transfer functions of phase lead, phase lag and phase lead-lag networks. It also provides the equations to calculate parameters like gain crossover frequency, phase margin etc. Finally, it lists some MATLAB problems to design suitable compensators for given open loop transfer functions and satisfy specifications on steady state error, phase margin and gain margin.

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SagarManjrekar
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48 views

Prestige Institute of Engineering & Science Indore (M.P.)

This document provides information about a laboratory experiment on lead-lag compensation using MATLAB Simulink. The objective is to study lead and lag compensators. It introduces lead-lag compensation networks that can be used to improve the performance of control systems. It describes the transfer functions of phase lead, phase lag and phase lead-lag networks. It also provides the equations to calculate parameters like gain crossover frequency, phase margin etc. Finally, it lists some MATLAB problems to design suitable compensators for given open loop transfer functions and satisfy specifications on steady state error, phase margin and gain margin.

Uploaded by

SagarManjrekar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOC, PDF, TXT or read online on Scribd
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PRESTIGE INSTITUTE OF ENGINEERING & SCIENCE INDORE (M.P.

)
ELECTRICAL AND ELECTRONICS DEPARTMENT
CONTROL SYSTEMS LABORATORY

Roll No: __________________ Date: _____________

Remarks if any, Signature of lecturer:

EXPERIMENT No. 8

Objective:
Study of Lead and Lag Compensator using MATLAB Simulink.

Theory:-
If the performance of the control system is not upto expectations as per desired
specifications, then it is required that some change in the system is needed to obtain the
desired performance. The change can be in the form of adjustment of the forward path
gain or inserting a compensating device in control systems.
The gain adjustment improves the steady state accuracy of the system at
the cost of driving the system towards instability. However, improvement in steady
state performance of a control system by gain adjustment is possible in cases where the
system is found to be within the desirable stability limit even after altering forward
path gain. In such a cases a compensation network is introduced in the system.
The compensation network can be introduced in the system as shown below,

Figure 1 Arrangements for introducing compensation network in a control system


The compensation network introduces additional poles/zeros in the original system
thereby altering its original transfer function. The effect of adding zero to an unstable
system results in making the system stable as shown in root locus plots of Figure 2.

Figure 2 Unstable system made stable by adding a zero

Figure 2 shows the root locus plot of an unstable system for higher-path gain. Addition
of a zero to the system transfer function changes the shape of root locus as shown
below, which indicates the stable system for all values of forward path gain.
The networks used for cascade compensation are described below.

Phase Lead Compensation:-


Figure 3 shows a phase lead network wherein the phase of output
voltage leads the phase of input voltage for sinusoidal input.

Figure 3 Phase-Lead Network


The Transfer function of a phase lead network shown above is given by,
E o ( s)  (1  sT )
 (8.1)
E i ( s ) (1  sT )

Where, <1
R2
 and T  R1C
R1  R 2
The transfer function given by equation (8.1) can be expressed in sinusoidal form as
E o ( j )  (1  jT )
 (8.2)
Ei ( j ) (1  jT )
The pole zero configuration and bode plot for transfer function (8.2) is shown in
Figure 4.

Figure 4 Pole-zero configuration and Bode Plot for phase-lead network


The two corner frequencies are
1
 ; Lower corner frequency
T
1
 ; Upper corner frequency
T
The maximum phase-lead m occurs at mid frequency m between upper and lower
corner frequencies.
1 1  1 
 log10  m  log10    log10  
2 T   T  
1
 m  (8.3)
T
The phase angle E o ( j ) / E i ( j ) can be calculated as,
E o ( j )
  tan 1 (T )  tan 1 (T )
E i ( j )
1
At   m  the phase angle is m,
T
 1 
  m  tan 1  T   tan 1 (T )
 T 
 1 
 m  tan 1    tan 1 (  )
  

 1 
   
  m  tan 1   
 1 
1 
  
1
Or tan  m  (8.4)
2 
1
and sin  m  (8.5)
1
From pole-zero configuration of phase lead network, it is observed that the zero is
nearer to origin as compared to pole, hence the effect of zero is dominant, therefore, the
phase lead network, when introduced in cascade with forward path transfer function,
the phase shift is increased.
The bode plot of phase lead network reveals that the lead network allows
to pass higher frequencies and low frequencies are attenuated.

Phase-Lag Network:-
Figure 5 shows a phase lag network wherein the phase of output voltage lags the phase
of input voltage for sinusoidal inputs.

Figure 5 Phase-Lag Network


The Transfer function of a phase lead network shown above is given by,
E o ( s ) 1  sT
 (8.6)
Ei ( s ) 1  s T
R1  R 2
Where, >1 and   , T  R2 C
R2
The transfer function given by equation (8.6) can be expressed in sinusoidal form as
E o ( j ) 1  jT
 (8.7)
E i ( j ) 1  jT
The pole zero configuration and bode plot for transfer function (8.7) is shown in Figure
6. The two corner frequencies are
1
 ; Upper corner frequency
T
1
 ; Lower corner frequency
T
Figure 6 Pole-zero configuration and Bode Plot for phase-lag network
The maximum phase-lag m occurs at mid frequency m between upper and lower
corner frequencies.
1  1   1 
 log 10  m  log 10    log 10  
2  T   T 

1
 m  (8.8)
T
The phase angle E o ( j ) / E i ( j ) can be calculated as,
E o ( j )
  tan 1 (T )  tan 1 (T )
E i ( j )
1
At   m  the phase angle is m,
T
1 
tan  m  (8.9)
2 

1 
and sin  m  (8.10)
1 

Note. As   1 , (1   ) /(1   ) is negative indicating that m is negative which means


that the phase angle is lagging.

Phase Lead-Lag Compensation:-


Introduction to phase-lead network in a control system shifts the gain
crossover point to a higher value and, therefore, the bandwidth is increased thus
improving the speed of response and overshoot is reduced but the steady state error
does not show much improvement.
The use of phase lag compensation network in a control system shifts the gain
crossover frequency point to a lower value thus decreasing the bandwidth and
improvement in steady state error is noted but speed of response is reduced.
The speed of response and, steady state error can be
simultaneously improved, if both phase-lag and phase-lead compensation is used.
However instead of using two separate lag and lead network, a single network known
as phase-lag-lead network shown in Figure is used which combines the effect of both
lag and lead networks.

Figure 7 Phase-Lag-Lead Network

The Transfer function of phase-lag-lead network is given as,


E o ( s) (1  sT1 ) (1  sT2 )
 (8.11)
E i ( s ) (1  sT1 ) (1  s T2 )
Lead Lag
Where, T1  R1C1 , T2  R 2 C 2 , <1, >1 and =1.

The Transfer function given by (8.11) can be expressed in sinusoidal form as


E o ( j ) (1  jT1 ) (1  jT2 )
 (8.12)
E i ( j ) (1  jT1 ) (1  j T2 )

The pole zero plot and bode plot for the transfer function (8.12) is shown in Figure 8.
Figure 8 Pole-zero configuration and Bode Plot for phase-lag-lead network

MATLAB PROBLEMS:-

1. The open loop transfer function of a unity feedback control system is given by,

Design a suitable compensator such that the system will have K v=10 and
P.M.=50.
2. The open loop transfer function of a unity feedback control system is given by,

It is desired that,
a) For a unit ramp input the steady state error of the output position be less
than 0.125 degrees/(degree/second).
b) The Phase margin P.M. .
c) The Gain margin G.M. .
NOTE:-
 First solve the problem on the paper and attach it with the Practical.
 Using MATLAB draw the Bode plot & compare it with your result.
 Take print out of the result and attach it with the practical.

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