Compensator Design

Design of Phase-lead and Phase-lag compensators using Bode Plot Method

1. Phase-lead compensator design using Bode Plot Method

1
Goal: Design a phase-lead compensator for the system G  s   , such that the steady-
s s  1
state error is less than 0.1 for a unit ramp input and a % overshoot less than 25%.

Steady-state error specification

K 1
KV  lim sG  s   lim s K
s 0 s 0 s s  1
1 1
ess    0.1  K  10
KV K

% overshoot specification
Recall the relationship between % overshoot and damping ratio (  ) which is given by


1  2
% Overshoot  100e
and is shown in Figure %
Figure1. 1. Overshoot vs. Damping Ratio.

100

90

80

70

60
% Overshoot

50

40

30

20

10

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
damping ratio 

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Then, the relationship between phase margin (PM) and damping ratio (  ) for the special
 n2
case of open-loop transfer function G  s   which is given by
s s  2 n 
 
 2 
PM  tan 1  
 1  4 2
 2 2 
 
maintains that the phase margin of the compensated system should be greater than 45  to
obtain a percent overshoot less than 25% and is shown in Figure 2.

80

70

60

50
Phase Margin (PM)

40

30

20

10

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
damping ratio 

Figure2. Phase Margin vs. Damping Ratio.

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Phase-lead design procedure:

i.) Choose the DC gain constant K such that the steady-state error specification is met. From
above, we know K must be greater than or equal to 10, so let K  10 .
ii.) Obtain the gain margin and phase margin plots of the uncompensated system along with the
DC gain constant K found in (i.) to determine the amount of phase lead  m needed to
realize the required phase margin so that the percent overshoot specification is met.

Bode Diagrams

Gm = Inf, Pm=17.964 deg. (at 3.0842 rad/sec)

60

40

20
Phase (deg); Magnitude (dB)

-20

-100

-120

-140

-160

-180
-1 0
10 10
Frequency (rad/sec)

Figure 3. Bode plot of uncompensated system K  G  s  .

From Figure 3., the PM of the uncompensated system PM uncomp  20  . Thus, choosing the
PM of the compensated system as PM comp  45 , then the additional amount of phase lead
 m  PM comp  PM uncomp  25 . Now that  m has been determined, the parameter  of
the phase-lead compensator can be chosen from Figure 2.14 in Appendix A, which has
been chosen to be   0.3 which corresponds to a maximum phase lead of 33 .
iii.) The maximum phase lead  m must be added around the new gain-crossover frequency
 m . The phase-lead compensator contributes a gain around  10 log 0.3  5.2dB at the
new  m ; therefore, one must determine the frequency at which the uncompensated system
has a magnitude 10 log 0.3  5.2dB . Thus,  m should equal this frequency so that it
becomes the new 0-dB crossover frequency in the compensated system. From inspection
of Figure 3, the magnitude of the uncompensated system equals –5.2dB at the frequency
  4.5 rad sec . Let  m  4.5 rad sec .

iv.) Calculate the parameters of the phase-lead compensator based on the values obtained in
steps (i.) thru (iii.). The transfer function of a phase-lead compensator is given as
1 s 1 T jT  1
C s   or C  j   with   1
 s  1 T jT  1
1
where T  . Thus, for   0.3 , T  0.41 sec . This leads to a phase-lead
m 
compensator design of the following:

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 0.41s  1
C s 
0.123s  1

Phase-lead compensator simulation results:

Bode Diagrams

30

25
Phase (deg); Magnitude (dB)

20

30

20

10

-1 0 1 2
10 10 10 10
Frequency (rad/sec)

Figure 4. Bode plot of phase-lead compensator C  s  .

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 Bode Diagrams
50

M agnitude (dB)
0 uncompensated
compensated

-50

-100
-1 0 1 2
10 10 10 10

-80
P hase (deg)

-100
compensated uncompensated
-120 compensated
system
-140 uncompensated
system
-160

-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

Figure 5. Bode plots of uncompensated and compensated systems.

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 Step Response

1.6

1.4

uncompensated
1.2 compensated
Amplitude
1

0.8

0.6

0.4

0.2

0
0 2 4 6 8 10 12
Time (sec.)

Figure 6. Step response of uncompensated and compensated system.

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 Unit Ramp Input response
5

4.5

4
uncompensated
3.5 compensated
desired
3

2.5

1.5

0.5

0
0 1 2 3 4 5
Time (sec)

Figure 7. Response of uncompensated and compensated systems due to unit ramp input.

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2. Phase-lag compensator design using Bode Plot Method

1
Goal: Design a phase-lag compensator for the system G  s   , such that the steady-state
s s  1
error is less than 0.1 for a unit ramp input and a percent overshoot less than 25%.

Steady-state error specification

As computed in (1.), K  10 .

Percent overshoot specification

As obtained in (1.), PM comp  45 .

Phase-lag design procedure:

i.) Choose the DC gain constant K such that the steady-state error specification is met. From
above, we know K must be greater than or equal to 10, so let K  10 .
ii.) Obtain the gain margin and phase margin plots of the uncompensated system along with the
DC gain constant K found in (i.) to estimate the frequency at which the PM of 50
occurs. Denote this frequency as the new gain-crossover frequency  m . From Figure 8.,
let  m  0.84 rad sec .

Bode Diagrams

Gm = Inf, Pm=17.964 deg. (at 3.0842 rad/sec)

60

40

20
Phase (deg); Magnitude (dB)

-20

-100

-120

-140
m
-160

-180
-1 0
10 10
Frequency (rad/sec)

Figure 8. Bode plot of uncompensated system K  G  s  .

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iii.) Determine the magnitude of uncompensated system at  m  0.84 rad sec . From Figure
8., the magnitude of the uncompensated system at  m  0.84 rad sec is 20 dB. To bring
the magnitude curve down to 0 dB at  m , the phase-lag compensator must provide
20
20 log   20 dB or .
  10 20  10
iv.) Calculate the parameters of the phase-lag compensator based on the values obtained in
steps (i.) thru (iii.). The transfer function of a phase-lag compensator is given as
1 s 1 T jT  1
C s   or C  j   with   1
 s  1 T jT  1
10 1
where T   11 .9 sec . This is to ensure that the frequency at   is one decade
m T
below the new gain-crossover frequency  m . This leads to a phase-lag compensator
design of the following:
11 .9 s  1
C s  .
119 s  1

Phase-lead compensator simulation results:

Bode Diagrams

20

15

10
Phase (deg); Magnitude (dB)

-10
-20
-30
-40
-50
-3 -2 -1 0
10 10 10 10
Frequency (rad/sec)

Figure 9. Bode plot of phase-lag compensator C  s  .

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 Bode Diagrams
50

M agnitude (dB)
0 uncompensated
compensated

-50

-100
-1 0 1 2
10 10 10 10

-80 compensated
system
P hase (deg)

-100
uncompensated uncompensated
-120 system compensated

-140

-160

-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

Figure 10. Bode plots of uncompensated and compensated systems.

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 Step Response

1.6

1.4

uncompensated
1.2 compensated
Amplitude
1

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35
Time (sec.)

Figure 11. Step response of uncompensated and compensated system.

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 Unit Ramp Input response
5

4.5

4
uncompensated
3.5 compensated
desired
3

2.5

1.5

0.5

0
0 1 2 3 4 5
Time (sec)

Figure 12. Response of uncompensated and compensated systems due to unit ramp input.

the phase margin should be atleast 33

velocity error constant is 30.

Solution:
The velocity error constant is

On solving we get K =9600

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