(GNP/Control Systems-2012)

Design of Lead and Lag compensator

Lead Compensator: Phase lead provided by the lead network is used to improve the phase
margin (and hence to improve stability)

Transfer function of a lead compensator is
1
1
) (
+
+
=
s
s
s G
C
ot
t
with 1 < o .
See the example in slide-5 of lecture-17. Design a lead compensator for a unity feedback system
with
) 2 (
) (
+
=
s s
K
s G . Design specifications are Kv = 10, Phase margin = 60.
Kv is higher means system is more accurate. Phase margin is higher means system is more
stable.
Let
m
| is the phase lead of the compensator,
u
| is the phase margin of the uncompensated system
and
d
| is the desired phase margin (the given specification) after compensator.

Now you can start to do the problem by following the steps given below. Note that lag and lead
design can be done analytically without drawing Bode plots.

1. First find the amplifier K to satisfy the accuracy condition.

Since Kv = K/2, K=10

2. With this K, draw Bode plots and find the phase margin of the uncompensated system.
(Alternatively you can find the phase margin analytically).

Phase margin of the uncompensated system(
u
| ) is 25.2 (See slide-6 of lecture-17).

3. Find the phase lead (
m
| ) of the compensator.
e u d m
| | | | + =
where
e
| is the extra phase to account for the shifting of gain cross over frequency.
(When we add a lead network, gain cross over frequency shifts to right resulting in lesser
phase margin). You can guess it as < < 15 5
e
|
In this problem we take = 8
e
| .
m
| =43. (See slide-7 of lecture-17)

4. Find the parameter o using the formula

In this example 17 . 0 = o

5. Find the new gain cross-over frequency where the uncompensated system has a gain of


m
m
|
|
o
sin 1
sin 1
+

=
)
1
log( 20
o

(GNP/Control Systems-2012)

In this example the uncompensated system has a gain cross over frequency of
4.25rad/sec. When we are adding a lead compensator the gain cross over will be higher
than 4.25. We place the lead network in such a way that the frequency at which the
maximum phase lead occurs (
m
e )at the new cross over frequency. We know the gain of
the lead network at this frequency is


In this example

Find the frequency at which the uncompensated system has a gain of -7.7dB. In this
example it is found as 6.8 rad/sec
6. Equate the frequency found in step 5 to
m
e



Hence
The lead compensator transfer function is


7. Check the phase margin of the compensated system. If the phase margin is less redesign
it.



Lag Compensator: Gain reduction of the lag network is used to improve the phase
margin (and hence to improve stability)

Transfer function of a lag compensator is
1
1
) (
+
+
=
s
s
s G
C
|t
t
with 1 > | .
See the example in slide-2 of lecture-18. Design a lag compensator for a unity feedback system
with
) 4 )( 1 (
) (
+ +
=
s s s
K
s G . Design specifications are Kv = 5, Phase margin = 43.

1. First find the amplifier K to satisfy the accuracy condition.

Since Kv = K/4, K=20

2. With this K, draw Bode plots of the uncompensated plant.

See slide-3 of lecture-18
)
1
log( 20
o
dB 7 . 7 )
1
log( 20 =
o
8 . 6
1
= =
ot
e
m
36 . 0 = t
1 06 . 0
1 36 . 0
+
+
s
s




(GNP/Control Systems-2012)

3. Find the new gain cross over frequency (
c
e ) where the uncompensated plant has a phase
margin of
e d
| | + where
d
| is the desired phase margin and
e
| is the extra phase to
compensate for the phase lag of the compensator. < < 15 5
e
|
In this problem
e d
| | + =43+12=55
That means the frequency at which the phase of the uncompensated has phase of -125 is 0.52
rad/sec. 52 . 0 =
c
e

If you are doing it analytically (without drawing Bode plots) you can skip step-2.
Remember there is no need to find the phase margin of the uncompensated system in the
design of lag networks.

4. Find the gain of the uncompensated plant at the new cross over frequency and equate it to

and find |

In this problem, the gain at 0.52 rad/sec (the new gain cross over frequency) is 20 dB.


10 = |

5. Place the upper corner frequency one decade to one octave below the new gain cross over
frequency.
c c
e
t
e 5 . 0
1
1 . 0 < <
You know the corner frequencies of the lag network are
t
1
(upper corner frequency) and
|t
1
(lower corner frequency)
In this problem we select

Hence the transfer function of the lag compensator is

6. Check the phase margin of the compensated system. If the phase margin is less redesign
it.

| log 20
20 log 20 = |
13 . 0
1
=
t
1 77
1 7 . 7
+
+
s
s