Example: Lead compensator design

Design three lead compensators for the above given system that will reduce the settling
time by a factor of two while maintaining 30% overshoot. Compare the system
characteristics between the three designs.

Solution:
First determine the characteristics of the uncompensated system operating at 30%
overshoot.
30% overshoot  zeta=-log(pOS/100)/sqrt(pi^2+(log(pOS/100))^2)
ζ = 0.358  θ = 180 – cos-1ζ = 180 – rad2deg(acos(zeta)) = 180 – 69.03 = 110.9687o

The characteristics of the uncompensated system operating at 30% overshoot:

Ts = 4 / 1 = 4 (3.98) sec, Tp = π / 2.62 = 1.19 (1.31) sec.

Now let us do lead compensation.

The new Ts = 4 / 2 = 2 sec, σ = 4 / Ts_new = 4 / 2 = 2, ωd_old = 2*2.62 = 5.24
Therefore the new operating point: -2+j5.24
Design 1:
zc= -5
The pole location can be found as

–Tpc – T4 + T3 – T2 – T1 = (2k+1)π
Tpc = 7.4755  tan(Tpc) = 5.24 / (pc – 2)  pc = 2+5.24/tan(deg2rad(Tpc)) = 42
Now the gain for the compensated system
KGH=-1  K=-s1*(s1+4)*(s1+6)*(s1+42) / (s1+5) for s1=-2+5.24i
K = 1.4196e+003 -6.9737e+000i  1420 - j6.9  K = 1420
K=63.21; G=K/s/(s+4)/(s+6), T=feedback(G,1), step(T)
K1=1423; G1=K1*(s+5)/s/(s+4)/(s+6)/(s+42.96), T1=feedback(G1,1), step(T1)
K2=698.1; G2=K2*(s+4)/s/(s+4)/(s+6)/(s+20.09), T2=feedback(G2,1), step(T2)
K3=345.6; G3=K3*(s+2)/s/(s+4)/(s+6)/(s+8.971), T3=feedback(G3,1), step(T3)

Now let us do a 4th compensation:

Tpc=-rad2deg(-pi+atan(5.24/(6-2))-(pi-atan(5.24/(2-1)))+atan(5.24/(4-2))
+deg2rad(110.98)) = 48.1
pc = 2+5.24/tan(deg2rad(Tpc)) = 6.7
K= 273

G4 = K*(s+2) / s / (s+4) / (s+6) / (s+6.7)

 273( s  2)
K v  lim G ( s )  lim  Kv = 3.39, ess = 0.2945,
s 0 s 0 s ( s  4)( s  6)(s  6.7)
Ts = 3.83 sec, Tp = 0.7 sec (actually it is around 7 sec)