Design via Frequency

Response
CONTROL SYSTEMS I

Dr Mandu A. Jeffrey
.....

Department of Electrical Engineering

Faculty of Engineering and Technology
University of Botswana
Design via Frequency Response Learning Outcomes
After completing this Lecture, the student will be able to:
1. Use frequency response techniques to adjust the gain to meet a transient
response specification
2. Use frequency response techniques to design cascade compensators to
improve the steady-state error
3. Use frequency response techniques to design cascade compensators to
improve the transient response
4. Use frequency response techniques to design cascade compensators to
improve both the steady-state error and the transient response
5. Extrapolate the concepts and designs covered and apply them to
problems involving PI, PD, and PID compensation

You will also continue with the case study - Antenna azimuth position control system
that will serve to illustrate the principles in this lesson.

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 2
Design via Frequency Response Design via Frequency Response
Basis
1) First, an open-loop stable system is stable in
closed-loop if the open-loop magnitude
frequency response has a gain of less than 0
dB at the frequency where the phase
frequency response is 180°.
2) Second, percent overshoot is reduced by
increasing the phase margin, and the speed of
the response is increased by increasing the
bandwidth.
3) Finally, steady-state error is improved by
increasing the low-frequency magnitude
responses, even if the high-frequency
magnitude response is attenuated.

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 3
 Transient Response Specifications
𝜔𝑛2
2nd Order Underdamped System 𝐶(𝑠)
=
𝑅(𝑠) 𝑠 2 + 2𝜔𝑛 𝑠 + 𝜔𝑛2

𝜋
Time to peak: 𝑇𝑝 =
Time Response

𝜔𝑛 1−
2

𝑐max −𝑐final
%Overshoot: %𝑂𝑆 = × 100
𝑐final

−(𝜋 1− )
2
%𝑂𝑆 = 𝑒 × 100
−ln(%𝑂𝑆/100)
 =
π2 +ln2 (%𝑂𝑆/100)

Figure 4.14 Second order underdamped system STEP response

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 4
 Transient Response Specifications
𝐶(𝑠) 𝜔𝑛2
2ndOrder Underdamped =
𝑅(𝑠) 𝑠 2 + 2𝜔𝑛 𝑠 + 𝜔𝑛2
System
Time Response

−ln(0.02 1− )
2

Settling time: 𝑇𝑠 =
𝜔𝑛
4
𝑇𝑠 =
𝜔𝑛

Time to reach and stay within 98% to

102% of the final value

Figure 4.14 Second order underdamped system STEP response

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 5
 Transient Response Specifications
Damping Ratio and Closed-Loop Frequency Response
For a system with closed loop x.
transfer function:
Time Response

𝐶(𝑠) 𝜔𝑛2
𝑇 𝑠 = = 2
𝑅(𝑠) 𝑠 + 2𝜔𝑛 𝑠 + 𝜔𝑛2

Then:
𝜔𝑛2
𝑀 = |𝑇 𝑗𝑤 =
(𝜔𝑛2 −𝜔 2 )2 +42 𝜔𝑛2 𝜔 2
𝑀𝑝 occurs at frequency 𝜔𝑝
There is a relationship between the
peak magnitude, 𝑀𝑝 and damping
ratio, .
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 6
 Transient Response Specifications
Damping Ratio and Closed-Loop Frequency Response
 Note: 𝜔𝑝 is not the natural  Can plot 𝑀𝑝 vs %OS since  is related
frequency 𝜔𝑛 . However, we can to %OS
Time Response

assume that 𝑀𝑝 occurs at 𝜔𝑛 for

low values of .
 Note: There will be no peak at
frequencies above zero if  >
0.707. This limiting value of  for
peaking on the magnitude
response curve, should not be
confused with overshoot on the
step response, where there is
overshoot for 0 <  < 1. :
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 7
 Transient Response Specifications
Response Speed and Closed-Loop Frequency Response
• Another relationship between the
frequency response and time
Time Response

response is between the speed of

the time response (as measured by
settling, peak and rise times 𝑇𝑠 , 𝑇𝑝
and 𝑇𝑟 , respectively) and the
bandwidth of the closed-loop
frequency response.
• Bandwidth is defined as the
frequency, 𝜔𝐵𝑊 , at which the
magnitude response curve is 3 dB
down from its value at zero
frequency.
Can relate 𝜔𝑛 to 𝑇𝑠 , 𝑇𝑝 and 𝑇𝑟
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 8
 Bandwidth
Response Speed and Closed-Loop Frequency Response
.. ..
Time Response

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 Bandwidth
Response Speed and Closed-Loop Frequency Response
.. NOTES:
Time Response

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Frequency Response Techniques Phase Margin vs %OS and 
Damping ratio and %OS
−ln(%𝑂𝑆/100)
 =
π2 +ln2 (%𝑂𝑆/100)

 Percent overshoot is reduced

by increasing the damping
ratio
 Phase margin is increased by
increasing the damping ratio
Percent overshoot is reduced
by increasing the phase
margin

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 11
Design via Frequency Response Transient Design via Gain Adjustment
Procedure:
1. Draw the Bode magnitude and
phase plots for a convenient value
of gain.
2. Determine the required phase
margin from the percent overshoot.
3. Find the frequency, 𝜔𝑀 , on the
Bode phase diagram that yields the
desired phase margin, CD, as
shown on the diagram.
4. Change the gain by an amount AB
to force the magnitude curve to go The amount of gain adjustment is the additional gain
through 0 dB at 𝜔𝑀 . needed to produce the required phase margin.
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 12
Design via Frequency Response Transient Design via Gain Adjustment
Example 11.1
x
x

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Design via Frequency Response Example 11.1
Bode magnitude and phase plots for a convenient value of gain.
G(s)=100K/s(s+100)(s+36)
Do 2 plots on the same graph
𝐾 = 1  0dB
𝐾 = 3.6  11.13dB (as in textbook)
G11p1a=zpk([ ],[0,-100, -36],1*100)
G11p1b=zpk([ ],[0,-100, -36],3.6*100)
bode(G11p1a, G11p1b)

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Design via Frequency Response Example 11.1
Paste plot

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Design via Frequency Response Example 11.1
Determine the required phase margin from the percent overshoot
%OS=9.5%
−ln(%𝑂𝑆/100)
= = 0.6
π2 +ln2 (%𝑂𝑆/100)

2
 𝑀 = tan−1
−2 + 1+4
2 4

𝑀 = 59.2

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 16
Design via Frequency Response Example 11.1
Find the frequency, ωΦM , on the Bode phase diagram that yields the desired
phase margin, CD, as shown on the diagram.

From the Bode plot:.

Phase plot ….
𝑀 = 59.2
 point C = -120.8)
 𝜔𝑀 = 14.8 rad/s

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 17
Design via Frequency Response Example 11.1
Change the gain by an amount AB to force the magnitude curve to go
through 0 dB at 𝜔𝑀
𝜔𝑀 = 14.8 rad/s
Magnitude plot when ω = 14.8 rad/s
AB = 55.31dB when K=1
Required: K= 10^(55.31/20) = 582.8

AB = 44.2 dB when K=3.6 (11.13dB)

Required: K = (10^(44.2/20))*3.6 = 583.9

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 18
Design via Frequency Response Example 11.1
Summary

For K = 583.9

58,390
G(s) =
𝑠(𝑠+100)(𝑠+36)

(Type 1 system)

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 19
Design via Frequency Response Example 11.1
Plot G(s) to Confirm:
G11p1c=zpk([ ],[0,-100, -36], 583.9*100)
bode(G11p1a,G11p1c)

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 20
Design via Frequency Response LAB2-1 Skill-Assessment 11.1

Demonstrate
Competency
in Matlab

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 21
Design via Frequency Response Steady State Design via Lag Compensation
Rationale:
 Lag compensators (reference is to
the phase lag) enable you to design
for steady-state error without
appreciably affecting the transient
response.
 Lag compensators are similar to PI
controllers: 1/(s+a) form.
 The function of the lag compensator:
1. To improve the static error
constant by increasing only the
low-frequency gain without any
resulting instability, and
2. To increase the phase margin
of the system to yield the
desired transient response

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 22
Design via Frequency Response Steady State Design via Lag Compensation
 The uncompensated system
is unstable, since the gain at
180° is greater than 0 dB
 The lag compensator, while
not changing the low-
frequency gain, does reduce
the high frequency gain.
 Thus, the low-frequency gain
of the system can be made
high to yield a large Kv
without creating instability.
 This stabilizing effect of the
lag network comes about
because the gain at 180° of
phase is reduced below 0 dB.
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 23
Design via Frequency Response Steady State Design via Lag Compensation
..:

Through design:
 The magnitude curve
can be reshaped, as
shown, to go through
0 dB at the desired
phase margin.
 Both Kv and the
desired transient
response can be
obtained.

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 24
Design via Frequency Response Steady State Design via Lag Compensation
Lag Compensator:

where 𝑎 > 1

𝑠+0.1
Plot for Gc(s) =
𝑠+0.01

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 25
Design via Frequency Response Steady State Design via Lag Compensation
Design Frequency Range
 The range of high frequencies shown in the phase
plot is where we will design our phase margin.
 This region is after the second break frequency of
the lag compensator, where we can rely on the
attenuation characteristics of the lag network to
reduce the total open-loop gain to unity at the
phase-margin frequency.
 Further, in this region the phase response of the
compensator will have minimal effect on our design
of the phase margin.
 Since there is still some effect, approximately 5° to
12°, we will add this amount to our phase margin to
compensate for the phase response of the lag
compensator
…
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 26
Design via Frequency Response Topology: Lag Compensator
Design Procedure: Notes:
1) Set the gain, K, to the value that satisfies the
steady-state error specification and plot the
Bode magnitude and phase diagrams for this
value of gain.
2) Find the frequency where the phase margin is
5° to 12° greater than the phase margin that
yields the desired transient response (source).
 This step compensates for the fact that the
phase of the lag compensator may still
contribute anywhere from -5° to -12° of
phase at the phase-margin frequency.
…

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 27
Design via Frequency Response Topology: Lag Compensator
Design Procedure:
3) Select a lag compensator whose magnitude response yields a
composite Bode magnitude diagram that goes through 0 dB at the
frequency found in Step 2 as follows:
 Draw the compensator’s high-frequency asymptote to yield 0 dB for
the compensated system at the frequency found in Step 2. So, if the
gain at the frequency found in Step 2 is 20 log KPM, then the
compensator’s high-frequency asymptote will be set at -20 log KPM.
 Select the upper break frequency to be 1 decade below the
frequency found in Step 2;
 Select the low-frequency asymptote to be at 0 dB.
 Connect the compensator’s high- and low-frequency asymptotes
…
with a -20 dB/decade line to locate the lower break frequency.

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 28
Design via Frequency Response Topology: Lag Compensator
Design Procedure:
4) Reset the system gain, K, to compensate for any attenuation in the lag
network in order to keep the static error constant the same as that found
in Step 1.

Note:
From the above steps, you see that:
 We are relying upon the initial gain setting to meet the steady-state
requirements.
 Then, we rely upon the lag compensator’s -20 dB/decade slope to meet the
transient response requirement by setting the 0 dB crossing of the
…magnitude plot.

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Design via Frequency Response Lag Compensator Design

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Frequency Response Techniques Lag Compensator Design
Example 11.2 .. The gain adjusted, uncompensated
system:
Previous Solution: 5839∗100
G(s) =
𝐾 = 583.9 %𝑂𝑆 = 9.5% 𝑠(𝑠+100)(𝑠+36)
𝐾𝑣 = 16.22 From the plot:
𝑀 = 59.2 ‣ Phase margin of 69.2 occurs at a
frequency ω = 9.8 rad/s,
New Solution:
‣ Magnitude at ω = 9.8 rad/s is 24dB
10 fold improvement in 𝑒𝑠𝑠 :
‣ new 𝐾𝑣 = 162.2 The magnitude curve has to be
adjusted such that it is 0dB at this
‣ new 𝐾 = 5839 frequency (ω = 9.8 rad/s)
Increase phase margin by 10 for phase The lag compensator must provide
angle contribution of the compensator -24dB attenuation at ω = 9.8 rad/s
‣ 𝑀 = 10 + 59.2 = 69.2
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 31
Frequency Response Techniques Lag Compensator Design
Example 11.2 ..  Starting at the intersection of this
frequency with the lag
Lag Compensator Design: compensator’s high-frequency
asymptote, draw a -20 dB/decade
 The compensator must provide -24dB
line until 0 dB is reached.
attenuation at ω(9.8 rad/s)
The compensator must have a dc
 Draw the high frequency
gain of unity to retain the value of
asymptote at -24dB
𝐾𝑣 that we have already designed
 Select the compensators higher break by setting K = 5839.
frequency at 𝟎. 𝟗𝟖 𝐫𝐚𝐝/𝐬, ie 1 decade
 The lower break frequency is found
below ω
to be 𝟎. 𝟎𝟔𝟐 𝐫𝐚𝐝/𝐬.

0.063 (𝑠+0.98)
Gc(s) =
(𝑠+0.062)
ω = 9.8

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 32
Frequency Response Techniques Lag Compensator Design
Example 11.2
 The compensated systems forward transfer function is
0.063 (𝑠+0.98) 5839∗100 36,786(𝑠+0.98)
Gc(s)G(s) = =
(𝑠+0.062) 𝑠(𝑠+100)(𝑠+36) 𝑠(𝑠+0.062)(𝑠+100)(𝑠+36)

Observations:
.
.
.

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Design via Frequency Response Lag Compensator Design
Plot in Matlab

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Frequency Response Techniques Lag Compensator Design
Example 11.2
 The compensated systems forward transfer function is
0.063 (𝑠+0.98) 5839∗100 36,786(𝑠+0.98)
Gc(s)G(s) = =
(𝑠+0.062) 𝑠(𝑠+100)(𝑠+36) 𝑠(𝑠+0.062)(𝑠+100)(𝑠+36)

Characteristics of the compensated system (simulation results):

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Frequency Response Techniques Skill Assessment 11.2

Demonstrate
Competency in Matlab.

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Frequency Response Techniques Skill Assessment 11.2

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Design via Frequency Response Transient Design via Lead Compensation
 When designing the lag compensator to
improve the steady-state error, we
wanted minimal effect on the phase
diagram in order to yield an imperceptible
change in the transient response.
 However, in designing lead compensators
via Bode plots, we want to change the
phase diagram. Objective is to:
1. Increase the phase margin to reduce
the percent overshoot, and
2. Increase the gain crossover
frequency to realize a faster
transient response
 Lead compensators are similar to PD
controllers: (s+a) form.
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 38
Design via Frequency Response Transient Design via Lead Compensation
 The uncompensated system has a small
phase margin (𝐵) and a low phase-
margin frequency (𝐴).
 Using a phase lead compensator, the
phase angle plot (compensated system)
is raised for higher frequencies.
 At the same time, the gain crossover
frequency in the magnitude plot is
increased from 𝐴 rad/s to 𝐶 rad/s.
 These effects yield a larger phase
margin (𝐷), a higher phase-margin
frequency (𝐶), and a larger bandwidth.

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 39
Design via Frequency Response Transient Design via Lead Compensation
 The lead compensator (reference is to
the phase lead) increases the
bandwidth by increasing the gain
crossover frequency.
 At the same time, the phase diagram is
raised at higher frequencies.
 The result is a larger phase margin and
a higher phase-margin frequency.
 In the time domain, the result is lower
percent overshoots (larger phase
margins) with smaller peak times
(higher phase-margin frequencies)
 Note: Initial slope (which determines the
steady-state error), is not affected by
the design for the transient response.
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 40
Design via Frequency Response Topology: Lead Compensator
Lead Compensator:

where 𝛽 < 1

Plot for lead compensator

for various values of 𝛽
 Note that the peaks of the
phase curve vary in
maximum angle and in
the frequency at which
the maximum occurs
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 41
Design via Frequency Response Topology: Lead Compensator
Lead Compensator:  The frequency, ωmax , at which the
maximum phase angle, 𝜙max occurs is

 The maximum phase shift of the

compensator, 𝜙max , is
 The dc gain of the compensator
is set to unity with the coefficient
1/𝛽, in order not to change the
dc gain designed for the static
error constant when the  The compensator’s magnitude at ωmax is
compensator is inserted into the
system.

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 42
Design via Frequency Response Topology: Lead Compensator
Design Procedure:
1) Find the closed-loop bandwidth required to meet the settling time, peak time,
or rise time requirement (see Eqs. (10.54) through (10.56)).
2) Since the lead compensator has negligible effect at low frequencies, set the
gain, K, of the uncompensated system to the value that satisfies the steady-
state error requirement.
3) Plot the Bode magnitude and phase diagrams for this value of gain and
determine the uncompensated system’s phase margin.
4) Find the phase margin to meet the damping ratio or percent overshoot
requirement. Then evaluate the additional phase contribution required from
the compensator.
5) Determine the value of β (see Eqs. (11.6) and (11.11)) from the lead compensator’s required
…
phase contribution.
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 43
Design via Frequency Response Topology: Lead Compensator
Design Procedure:
6) Determine the compensator’s magnitude at the peak of the phase curve (Eq.
(11.12)).

7) Determine the new phase-margin frequency by finding where the

uncompensated system’s magnitude curve is the negative of the lead
compensator’s magnitude at the peak of the compensator’s phase curve.
8) Design the lead compensator’s break frequencies, using Eqs. (11.6) and (11.9) to
find T and the break frequencies.
9) Reset the system gain to compensate for the lead compensator’s gain.
10) Check the bandwidth to be sure the speed requirement in Step 1 has been
met.
11) Simulate to be sure all requirements are met.
…

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 44
Design via Frequency Response Lead Compensator Design

Example:

1. Calculate the closed-loop bandwidth needed

to meet the speed requirement imposed by
𝑇𝑝 = 0.1 second and a 20% overshoot
‣ =0.456
‣ a closed-loop bandwidth 𝜔BW = 46.6 rad/s
…
is required
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 45
Design via Frequency Response Lead Compensator Design
Example:
2. In order to meet the specification of 𝐾𝑣 = 40, K must be set at 1440
 G(s)=1440*100/[s(s+36)(s+100)]
3. Plot the uncompensated system’s frequency response plots for K =1440
and determine the uncompensated system’s phase margin.
 The uncompensated system with K =1440 has a phase margin of 34° at
a phase-margin frequency of 29.6.
4. Find the phase margin to meet the damping ratio or percent overshoot
requirement. Then evaluate the additional phase contribution required from
the compensator.
 A 20% overshoot implies a phase margin of 48.1°.
In summary, our compensated system should have a
phase margin of 48.1° with a bandwidth 𝜔BW = 46.6 rad/s .
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 46
…
Design via Frequency Response Lead Compensator Design
Increase the phase margin by inserting a lead network that adds enough
phase to yield the required 48.1° phase margin
 Assume a correction factor of 10°. Thus, the total phase contribution
required from the compensator is 48.1° - 34° + 10° = 24.1°….
That is, 𝜙max = 24.1
5. Calculate: 𝛽 = 0.42 for ϕmax = 24.1
6. Calculate: 𝐺𝑐 𝑗𝜔max = 3.76dB at 𝜔max
7. Select 𝜔max to be the new phase-margin frequency
 The uncompensated system’s magnitude at this frequency must be -
3.76 dB to yield a 0 dB crossover at 𝜔max for the compensated system.
 The uncompensated system passes through -3.76 dB at
…
𝜔max = 39 rad/s.
 This frequency is thus the new phase-margin frequency.
Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 47
Design via Frequency Response Lead Compensator Design
..

8. Calculate: the lead compensator’s break frequencies using 𝜔max = 39 rad/s.

 1/𝑇 = 𝜔max 𝛽 = 25.3 and 1/𝛽𝑇 = 60.2
9. The compensator is given as:

where 2.83 is the gain required to keep the dc gain of the compensator at unity
The final, compensated open-loop transfer function is then

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 48
Design via Frequency Response Lead Compensator Design
The lead
compensated
system

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Design via Frequency Response Lead Compensator Design
Review of the Compensated System

Is it acceptable, or a redesign is needed?

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 50
Design via Frequency Response LAB2-3 Skill-Assessment 11.3

Demonstrate
Competency
in Matlab

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Design via Frequency Response Lag-Lead Compensator Design
Rationale:
 Lag compensators are used for steady state response design
 Lead compensators are used for transient response design
 In this section, lag-lead design, using a single, passive lag-lead network is
presented – to cater for both the transient and steady state requirements
 Lag-Lead compensators are similar to PID controllers
 The transfer function of a single, passive lag-lead network is:

The constraint is that the single

value  replaces the α for the lag
network β for the lead network
where  > 1
 For this design, α and β must be reciprocals of each other.
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Design via Frequency Response Lag-Lead Compensator Design
Form:

…
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Design via Frequency Response Lag-Lead Compensator Design
Design Procedure:
1) Using a second-order approximation, find the closed-loop bandwidth
required to meet the settling time, peak time, or rise time requirement (see Eqs.
(10.55) and (10.56)).

2) Set the gain, K, to the value required by the steady-state error specification.
3) Plot the Bode magnitude and phase diagrams for this value of gain.
4) Using a second-order approximation, calculate the phase margin to meet the
damping ratio or percent overshoot requirement, using Eq. (10.73).
5) Select a new phase-margin frequency near 𝜔BW .
6) At the new phase-margin frequency, determine the additional amount of
phase lead required to meet the phase-margin requirement. Add a small
contribution that will be required after the addition of the lag compensator.

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 54
Design via Frequency Response Lag-Lead Compensator Design
7) Design the lag compensator
The design of the lag compensator is not critical, and any design for the
proper phase margin will be relegated to the lead compensator. The lag
compensator simply provides stabilization of the system with the gain
required for the steady-state error specification.
 Select the higher break frequency one decade below the new phase-
margin frequency.
 Find the value of γ from the lead compensator’s requirements. Using the
phase required from the lead compensator, the phase response curve of
Figure 11.8 can be used to find the value of γ = 1/β. This value, along with the
previously found lag’s upper break frequency, allows us to find the lag’s
lower break frequency.

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 55
Design via Frequency Response Lag-Lead Compensator Design
8) Design the lead compensator.
 Using the value of γ from the lag compensator design and the value
assumed for the new phase-margin frequency, find the lower and upper
break frequencies for the lead compensator, (using Eq. (11.9) and solving for T.)
9) Check the bandwidth to be sure the speed requirement in Step 1 has been
met.
10)Redesign if phase-margin or transient specifications are not met, as shown
by analysis or simulation.

Try out
procedure on
Case Study

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Design via Frequency Response Next Topic
Conclude CH11 - Lag-Lead Compensation with Case Study

Overview:
Nyquist Criterion (not assessed – but you have to know)

Control Systems Engineering, 7th Edition by Norman S. Nise. Copyright © 2015. All rights reserved. 57